文件名称:
EtharCAT Master Documentation
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上传时间: 2015-08-08
详细说明： 1.1 Feature Summary The list below gives a short summary of the master features. • Designed as a kernel module for Linux 2.6 / 3.x. • Implemented according to IEC 61158-12 [2] [3]. • Comes with EtherCAT-capable native drivers for several common Ethernet chips, as well as a generic driver for all chips supported by the Linux kernel. – The native drivers operate the hardware without interrupts. – Native drivers for additional Ethernet hardware can easily be implemented using the common device interface (see section 4.6) provided b y the master module. – For any other hardware, the generic driver can be used. It uses the lower layers of the Linux network stack. • The master module supports multiple EtherCAT masters running in parallel. • The master code supports any Linux realtime extension through its independent architecture. – RTAI [11] (including LXRT via RTDM), ADEOS, RT-Preempt [12], Xeno- mai (including RTDM), etc. – It runs well even without realtime extensions. • Common “Application Interface” for applications, that want to use EtherCAT functionality (see chapter 3). • Domains are introduced, to allow grouping of process data transfers with dif- ferent slave groups and task periods. – Handling of multiple domains with different task periods. – Automatic calculation of process data mapping, FMMU and sync manager configuration within each domain. • Communication through several finite state machines. ...展开收缩
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