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--- embedded_systems:ethercat:understanding_acontis [2019-01-08 15:50] – mgehrig2
+++ embedded_systems:ethercat:understanding_acontis [2024-02-15 18:33] (aktuell) – Urs Graf
@@ Zeile 2: / Zeile 2: @@
 ===== Class A and Class B =====
-The Acontis stack is divided into two parts. The [[https://www.acontis.com/eng/products/ethercat/ec-master/index.php|Class B]] Master forms the basis. The [[https://www.acontis.com/eng/products/ethercat/ec-master/fp-master-synchronisation.php|Klass A]] Master is an add-on that allows synchronization with Distributed Clocks (DCM = Distributed Clocks Master Synchronization).
+The Acontis stack is divided into two parts. The [[https://www.acontis.com/eng/products/ethercat/ec-master/index.php|Class B]] Master forms the basis. The [[https://www.acontis.com/eng/products/ethercat/ec-master/fp-master-synchronisation.php|Class A]] Master is an addon 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.
+{{ :embedded_systems:ethercat:slide_43.jpg?direct&600 |}}
-  - **EtherCAT Master [libEcMaster.a]** Base of the EtherCAT stack. (//Acontis//) "''EC-Master-V2.9-Linux_x64-Eval/SDK/LIB/Linux/x64/libEcMaster.a''"
+  - **atemsys [atemsys.ko]**
-  - **atemsys.ko** Linux kernel module. Grants direct HW access from user space.  (//Acontis//)
+    * Linux kernel module. Grants direct HW access from user space.
-  - **LinkLayer [libemllI8254x.so]** **Lib**rary **E**tharCAT **M**aster **L**ink **L**ayer for **I**ntel**8254X** EtherNet hardware.
+    * Must be compiled for the kernel used.
+    * ''Sources/LinkOsLayer/Linux/atemsys''
+    * [[embedded_systems:ethercat:install_acontis_stack|How to build]]
+  - **EtherCAT Master Core[libEcMaster.a]**
+    * Base of the EtherCAT stack.
+    * ''SDK/LIB/Linux/x64/libEcMaster.a''
+  - **EC LinkLayer [libemllI8254x.so]**
+    * **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.
+    * Replaces the installed ethernet driver
+    * Different LinkLayer may be needed for different Ethernet Hardware
+    * Check compatibility list in {{:embedded_systems:ethercat:ec-master_classb.pdf|EC-Master_ClassB.pdf}} 2.3.1.3 Supported network controllers
+    * ''Bin/Linux/x64/libeml8254x.so''
-==== EEROS only components ====
+===== Usage =====
-These components are only required if the stack is used together with [[http://eeros.org/wordpress/|EEROS]].
+The Acontis stack can be used without limitation for 1 hour. After this the stack stops working. To overcome this limitation you have to acquire runtime licences from 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 "''EC-Master-ClassA-AddOn-V2.9/Examples/EcMasterDemoDc''")

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