Hier werden die Unterschiede zwischen zwei Versionen angezeigt.
Beide Seiten der vorigen RevisionVorhergehende ÜberarbeitungNächste Überarbeitung | Vorhergehende Überarbeitung | ||
embedded_systems:ethercat:understanding_acontis [2019-01-08 16:09] – mgehrig2 | embedded_systems:ethercat:understanding_acontis [2024-02-15 18:33] (aktuell) – Urs Graf | ||
---|---|---|---|
Zeile 2: | Zeile 2: | ||
===== Class A and Class B ===== | ===== Class A and Class B ===== | ||
- | The Acontis stack is divided into two parts. The [[https:// | + | The Acontis stack is divided into two parts. The [[https:// |
===== Software libraries and components ===== | ===== Software libraries and components ===== | ||
- | The entire toolchain consists of several components and libraries, some of which were purchased and some of which were developed in-house. | + | {{ : |
- | - **EtherCAT Master [libEcMaster.a]** Base of the EtherCAT stack. | + | |
- | * " | + | * Linux kernel module. Grants direct HW access from user space. |
- | - **atemsys.ko** Linux kernel module. Grants direct HW access from user space. | + | * Must be compiled for the kernel used. |
- | - **LinkLayer [libemllI8254x.so]** **Lib**rary **E**tharCAT **M**aster **L**ink **L**ayer for **I**ntel**8254X** EtherNet hardware. | + | * '' |
+ | * [[embedded_systems: | ||
+ | | ||
+ | | ||
+ | * '' | ||
+ | - **EC LinkLayer [libemllI8254x.so]** | ||
+ | | ||
+ | * Special Ethernet hardware driver optimized for use with EtherCAT. | ||
+ | * Replaces the installed ethernet driver | ||
+ | * Different LinkLayer may be needed for different Ethernet Hardware | ||
+ | * Check compatibility list in {{: | ||
+ | * '' | ||
- | ==== EEROS only components | + | ===== Usage ===== |
- | These components are only required if the stack is used together with [[http:// | + | The Acontis |
- | - **EEROS Application [movingchair]** The control application itself which is specially designed for each individual robot. | ||
- | - **EEROS [libeeros.so]** the roboter framework. | ||
- | - **[ecmasterlib]** Interface between Acontis and EEROS application (from NTB addapted EC-Demo of acontis "'' |