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The Acontis EtherCAT Stack
Class A and Class B
The Acontis stack is divided into two parts. The Class B Master forms the basis. The Klass A Master is an add-on that allows synchronization with Distributed Clocks (DCM = Distributed Clocks Master Synchronization).
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. (Acontis) „EC-Master-V2.9-Linux_x64-Eval/SDK/LIB/Linux/x64/libEcMaster.a
“
atemsys.ko Linux kernel module. Grants direct HW access from user space. (Acontis)
LinkLayer [libemllI8254x.so] Library EtharCAT Master Link Layer for Intel8254X EtherNet hardware.
EEROS only components
These components are only required if the stack is used together with EEROS.
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 „EC-Master-ClassA-AddOn-V2.9/Examples/EcMasterDemoDc
“)