EtherCAT Master for embedded (real-time) Operating Systems
EtherCAT Master Stack
The AT-EM / embedded EtherCAT Master Stack is designed and optimized
to run on different embedded (real time) operating systems.
Already existing implementations are available e.g. for Windows XP/CE, VxWorks,
On Time RTOS-32 and Windows XP.
For evaluation purposes a Windows XP non-real-time solution exists:
any network adapter card may be used to connect a PC with EtherCAT modules.
Using the source code the EtherCAT master stack can easily be ported on other
embedded operating systems.
Layer Architecture
AT-EM / embedded consists of the following components (see picture on the right):
Application Interface Layer
Interface to the EtherCAT master.
EtherCAT Master Core
The main EtherCAT master functionality is implemented in the core layer.
All protocol handling, e.g. process data transfer and mailbox protocols
(CoE, EoE, FoE, SoE) are executed here.
Ethernet Link Layer
Data exchange between master and slaves. Zero-copy and/or polling
techniques together with the core layer are supported to achieve
best real-time performance and minimize CPU load.
Configuration Layer
An OS independent XML parser supports the General Exchange
Format defined in the EtherCAT specification.
Operating System Layer
The only OS specific layer. All operating system calls are executed here.
To achieve best performance the most functions can be implemented
using simple "C"-language macros.
Technical Features:
Configuration: EtherCAT Configuration Exchange Format (XML)
Cyclic process data update
- Flexible user controlled master operation
- Memory provider interface for user application synchronization
Error detection and diagnosis, e.g.
- Bus scan with bus topology/configuration check
- Lost cable connection or missing EtherCAT slave response
- Wrong EtherCAT slave reaction (not all slaves responded)
- Slave operation monitoring
- Ethernet link layer debug messages for run-time error diagnostics
CanOpen over EtherCAT
- SDO Upload
- SDO Download
- SDO Information Service
- Emergency Request
Ethernet over EtherCAT (EoE) Protocol
Distributed Clocks
- SYNC unit support
- Latch unit support
- Master sync support
EtherCAT Bus Scan
- Slave detection without existing bus configuration
- Slave EEPROM information service
- Slave XML configuration information service
- Topology detection
Slave Alias Addressing support
Optional components
- Control of multiple, independent EtherCAT Busses
- Controller to synchronize master and slaves (DCM)
- Master Object Dictionary. Access with SDO services
- Remote API over TCP/IP network connection
Advantages:
Ready-to-run for Windows XP/CE, On Time RTOS-32, VxWorks and for the KUKA Windows real-time extensions.
Easy to port on other embedded operating systems.
Modular design, individual adjustments are easy to implement.
Together with our services you get professional partnership setting up your custom control system. On request you may get the complete system integration.
Reliable and robust implementation.
For example, the AT-EM EtherCAT Master Stack is running in the
KUKA Robot Control and in the Lenze-Digitec control systems.
All Windows CE network drivers are supported using the shipped NDISUIO link layer implementation
Optimized network drivers are available
AT-EM / VxWorks
EtherCAT Master for VxWorks
The EtherCAT Master Stack for VxWorks is shipped in source-code and will be adjusted to customer's environment (VxWorks version and processor architecture) in a system integration step.
Source-Code for integration into following VxWorks versions is available:
VxWorks 5.4 and VxWorks 5.5: All VxWorks network drivers are supported using the shipped etherLib link layer implementation.
VxWorks 6.1 to 6.6. The shipped SNARF link layer implementation enables support for all VxWorks network drivers
VxWorks 6.6. Support SMP operation
Optimized network drivers are available
AT-EM / Windows XP based on CeWin
EtherCAT Master for the KUKA Windows real-time extension CeWin
Available for:
CeWin Version 3.1
CeWin Version 3.3
CeWin Version 3.5
AT-EM / Windows XP based on VxWin
EtherCAT Master for the KUKA Windows real-time extension VxWin
The EtherCAT Master Stack for VxWin is shipped in source-code and will be adjusted to customer's VxWin environment in a system integration step.
Available for:
VxWin version 3.0
VxWin version 3.1
VxWin version 3.5
AT-EM / QNX
EtherCAT Master for QNX
Version 6.x
Optimized Link Layer for Intel Pro/1000 (8254x) network adapter
Optimized Link Layer for Intel Pro/100 (8255x) network adapter
AT-EM / On Time RTOS-32
EtherCAT Master for On Time RTOS-32
The EtherCAT Master Stack for RTOS-32 is available for:
Version 5.x
Optimized Link Layer for Intel Pro/1000 (8254x) network adapter
Optimized Link Layer for Intel Pro/100 (8255x) network adapter
AT-EM / Windows XP
EtherCAT Master for Windows XP without Real-Time requirements
All Windows XP network drivers are supported using the WinPCap link layer implementation
AT-EM / RTOS32Win
EtherCAT Master for Windows real-time virtualization RTOS32Win
The EtherCAT Master Stack for RTOS32Win is available for:
RTOS32Win Version 4.0
Link Layer Intel Pro/1000 (8254x) network controller
Link Layer Intel Pro/100 (8255x) network controller
EtherCAT Master Stack for further Operating Systems
AT-EM / other Operating Systems
Easy portable to other platforms
EtherCAT Master for uC/OS® (e.g. NIOS®).
EtherCAT Master for Pharlap ETS®
EtherCAT Master for RTX®
EtherCAT Master for Hilscher rcX®
EtherCAT Master for MQX® (ARM)
EtherCAT Master for Linux (RT/Linux)
EtherCAT Master for Windows Real-time virtualization and Real-time Hypervisor solutions
EtherCAT Master for KUKA RTOS-VM/VmfWin®
EtherCAT Master for RTS Real-Time Hypervisor
AT-EM / OS-Layer
EtherCAT Master OS Adaptation Layer
The OS adaptation layer enables a customer having the master stack source code to port the
software onto his own platform.
Several customer have already successfully ported the stack within a short time to their specific platforms.
Only a few quite simple functions have to be adjusted.
Performance critical functions usually will be implemented by macros.
Existing OS adaptations layers will be provided without costs.
The main functions are:
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