EtherCAT Master for Linux as part of EtherLab®

EtherLab is an Open Source Toolkit for rapid realtime application development under Linux®. Using a generic C-API or MATLAB®/Simulink® with the Real-Time Workshop, it provides support for the EtherCAT technology. The IgH EtherCAT Master is a part of EtherLab®.

Features of the IgH EtherCAT Master 1.5

• EtherCAT master conforming to IEC/PAS 62407
  • Kernel module for Linux 2.6 providing multiple masters
• Drivers for wide-spread Ethernet devices
  • Interrupt-less operation
  • Easy implementation of additional Ethernet drivers
• Supports any realtime environment
  • RTAI, Xenomai, RT-Preempt, etc
• Realtime Application API in kernel- and userspace
  • Dynamic slave configuration, including PDOs and SDOs
  • Slave groups with different sampling rates (domains)
  • Bus monitoring
  • SDO and VoE handlers
  • Userspace API via C-library
• Master finite state machine (FSM)
  • Slave states are read cyclically
  • Automatic scanning of the bus after a topology change
  • Automatic configuration of slaves
• Implementation of the CAN application protocol over EtherCAT (CoE) mailbox protocol
  • Configuration of CoE capable slaves
  • SDO information service (dictionary listing)
  • SDO transfers both via the application interface and the command-line tool
• Implementation of the Ethernet over EtherCAT (EoE) mailbox protocol
  • Virtual network interface for any EoE capable slave
• Implementation of the Vendor specific over EtherCAT (VoE) mailbox protocol
  • Communication with vendor-specific mailbox protocols via the API
• Userspace command-line tool 'ethercat'
  • Detailed information about master, slaves, domains and bus configuration
  • Full bus access for diagnosis and maintenance purposes
• Seamless integration in any GNU/Linux distribution. Includes init script and sysconfig file
• Virtual read-only network interface for debugging and traffic monitoring purposes (using Wireshark, etc.). No additional hardware necessary.