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Beide Seiten der vorigen RevisionVorhergehende ÜberarbeitungNächste Überarbeitung | Vorhergehende Überarbeitung | ||
embedded_systems:ethercat:understanding_acontis [2019-01-08 16:34] – mgehrig2 | embedded_systems:ethercat:understanding_acontis [2024-02-15 18:33] (aktuell) – Urs Graf | ||
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===== 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 toolchain consists of several components and libraries, some of which were purchased and some of which were developed in-house. | ||
- | |||
- | - **EtherCAT Master Core[libEcMaster.a]** | ||
- | * Base of the EtherCAT stack. | ||
- | * '' | ||
- **atemsys [atemsys.ko]** | - **atemsys [atemsys.ko]** | ||
* Linux kernel module. Grants direct HW access from user space. | * Linux kernel module. Grants direct HW access from user space. | ||
* Must be compiled for the kernel used. | * Must be compiled for the kernel used. | ||
- | * '' | + | * '' |
- | * How to build TODO link | + | * [[embedded_systems: |
+ | - **EtherCAT Master Core[libEcMaster.a]** | ||
+ | * Base of the EtherCAT stack. | ||
+ | * '' | ||
- **EC LinkLayer [libemllI8254x.so]** | - **EC LinkLayer [libemllI8254x.so]** | ||
* **Lib**rary **E**tharCAT **M**aster **L**ink **L**ayer for **I**ntel**8254X** EtherNet hardware. | * **Lib**rary **E**tharCAT **M**aster **L**ink **L**ayer for **I**ntel**8254X** EtherNet hardware. | ||
* Special Ethernet hardware driver optimized for use with EtherCAT. | * 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 {{: | ||
+ | * '' | ||
- | TODO " | ||
- | ==== 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 "'' |