General Information

This is an open-source EtherCAT master implementation for Linux 2.6 or newer.

See the features file for a list of features. For more information, see https://etherlab.org/ethercat.

or contact

Dipl.-Ing. (FH) Florian Pose fp@igh.de Ingenieurgemeinschaft IgH Nordsternstraße 66 D-45329 Essen http://igh.de

Documentation

Handbook

The PDF documentation is generated via LaTeX and can be build with the following steps:

cd documentation
make

The PDF is automatically held up-to-date and can be downloaded from GitLab.

Doxygen

To generate the Doxygen documentation, the following commands can be used. Therefore, the configure script must have run (see the install file).

git submodule update --init
make doc

An up-to-date Doxygen output can be found on docs.etherlab.org.

Requirements

Software requirements

Configured sources for the Linux 2.6 (or newer) kernel are required to build the EtherCAT master.

Hardware requirements

A table of supported hardware can be found at: https://docs.etherlab.org/ethercat/1.6/doxygen/devicedrivers.html

Building and installing

See the install file.

Dry-run and Field Simulation

A limited set of the userspace API is available in libfakeethercat, a library which can be used to run an userspace application without an EtherCAT master or with emulated EtherCAT slaves. Please find some details here.

Realtime and Tuning

Realtime patches for the Linux kernel are supported, but not required. The realtime processing has to be done by the calling module (see API documentation). The EtherCAT master code itself is passive (except for the idle mode and EoE).

To avoid frame timeouts, deactivating DMA access for hard drives is recommended (hdparm -d0 <DEV>).

License

This file is part of the IgH EtherCAT Master.

The IgH EtherCAT Master is free software; you can redistribute it and/or modify it under the terms of the GNU General Public License version 2, as published by the Free Software Foundation.

The IgH EtherCAT Master is distributed in the hope that it will be useful, but WITHOUT ANY WARRANTY; without even the implied warranty of MERCHANTABILITY or FITNESS FOR A PARTICULAR PURPOSE. See the GNU General Public License for more details.

You should have received a copy of the GNU General Public License along with the IgH EtherCAT Master; if not, write to the Free Software Foundation, Inc., 51 Franklin St, Fifth Floor, Boston, MA 02110-1301 USA

Coding Style

Developers shall use the coding style rules in the coding style file.

chengchangwu/ethercat