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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 Class A Master is an addon that allows synchronization with Distributed Clocks (DCM = Distributed Clocks Master Synchronization).
Software libraries and components
EtherCAT Master Core[libEcMaster.a]
atemsys [atemsys.ko]
Linux kernel module. Grants direct HW access from user space.
Must be compiled for the kernel used.
EC-Master-V2.9-Linux_x64-Eval/Sources/LinkOsLayer/Linux/atemsys
-
EC LinkLayer [libemllI8254x.so]
Library EtharCAT Master Link Layer for Intel8254X 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
-
EC-Master-V2.9-Linux_x64-Eval/Bin/Linux/x64/libeml8254x.so
„EC-Master-V2.9-Linux_x64-Eval/SDK/LIB/Linux/x64/libAtemRasSrv.a“ Remote API Server, i.e. with EC-Lyser (optional?)
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
“)