Infoportal
Unterschiede
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 16:34] – mgehrig2 | embedded_systems:ethercat:understanding_acontis [2024-02-15 18:33] (aktuell) – Urs Graf | ||
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| 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 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 "'' | ||