EtherCAT Master Stack Software

EtherCAT Master Stack The EtherCAT Master Stack is specifically optimized to run on embedded (real-time) operating systems: • Compliant to EtherCAT Master Classes Directive (ETG.1500) • Highly portable: independent from and Compiler • Small footprint, no file system required • High performance, minimum CPU load • CPU architectures: , ARM, PowerPC, SH, MIPS • Optimized for SMP multi-core operation (symmetric multipro- cessing) • Reliable and well proven in many customer applications worldwide. Market leading companies in the Semiconduc- tor, Robotics, PLC/Motion, Measurement and other indus- tries rely on this software. • Two product editions available: Class A: Full-featured Class B: Basic features

Ready-to-run implementations are already available for VxWorks, • Slave to Slave Communication Feature Packs (Options) Windows CE, Windows 7, QNX, On • Support of Safety over Ether- • Time RTOS-32, Linux, RTX, IN- CAT (FSoE) slaves Hot Connect support to dynam- time ® and T-Kernel. • Access to Slave EEPROM and ically connect and disconnect Registers slaves while others are in full • operation Features Class B Edition Sophisticated error detection • and diagnosis functions Redundancy support (ring • Support of EtherCAT network topology), can be combined information (ENI) configuration with Hot Connect Feature Pack file Features Class A Edition • Control of multiple, independent • Topology check: comparison of EtherCAT busses • All Class B features configured and actual network • Master Object Dictionary with • Synchronization with Distribut- during boot-up objects for master and slave ed Clocks (DC) including • Cyclic process data exchange state, error history, bus-scan Master Synchronization (DCM) • CANopen over EtherCAT (CoE) result. • ADS over EtherCAT (AoE) protocol: SDO upload and • TCP/IP remote interface with mailbox protocol download, SDO information identical API for remote and lo- • File Transfer over EtherCAT services (to access CANopen cal operation. Useful feature for (FoE) mailbox protocol diagnostic and configuration object dictionary), emergency • request Vendor over EtherCAT (VoE) tools. mailbox protocol • Servo Profile over EtherCAT (SoE) protocol • Ethernet over EtherCAT (EoE) protocol (virtual switch)

acontis technologies GmbH · Haehnlehofstr. 5 · D-88250 Weingarten Germany Tel.: +49 (0) 751 / 560 30 30 · Email: [email protected] · http://www.acontis.com

EtherCAT Master Stack Software

Modular Architecture EC-Master consists of the following components: • EtherCAT-Master-Core: The main EtherCAT master functionality is implemented in the core layer. All protocol han- dling, e.g. process data transfer and mailbox protocols (CoE, EoE, FoE, SoE, AoE) are exe- cuted 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 perfor- mance and minimize CPU load. • OS-Layer: The operating system calls are Operating System Support encapsulated here. To achieve best performance the most Wind River VxWorks IntervalZero RTX functions are implemented us- • All VxWorks Versions from 5.4 • RTX 8.1, RTX2009, RTX2011 ing simple „“-language up to 6.9 (SMP) macros. • VxWin (VxWorks + Windows) TenAsys INtime ® • x86, ARM, PowerPC, SH, MIPS • Version 3.x and 4.x

System integration CE Windows without Real-Time • Windows CE 5.0, 6.0, 7.0 • Windows 7 (32-Bit and 64-Bit) • You will get professional part- • CeWin (WinCE + Windows) • WinPCap Link Layer nership in setting up your • x86, XScale, ARM custom control system. On re- Windows with Real-Time quest we handle the complete On Time RTOS-32 • Windows 7 (32-Bit and 64-Bit) system integration. • Version 5.x • Customer specific development • RTOS32Win Real-Time exten- Linux (Real-Time: RT-PREEMPT) • including porting the EtherCAT sion (real-time virtualization) for Kernel 2.6.24 and higher master to other embedded op- Windows • Optimized Link Layer in User- erating systems Mode available • • Workshops and Consulting QNX Neutrino Non-GPL approved solution! • Version 6.x • Analysis and optimization of • x86 T-Kernel (iTron) system performance • Version 2.x • Development of Ethernet network drivers and software Other operating systems • MQX, rcX, ecos • More, on request

acontis technologies – EtherCAT Products and Services As a services company we offer both, the product as well as support and development services. Get your benefit using our knowledge on many different embedded operating systems as well as in implementing high-performance networking solutions. Many market leading companies rely on our EtherCAT expertise to get optimum and competitive solutions.

acontis technologies GmbH · Haehnlehofstr. 5 · D-88250 Weingarten Germany Tel.: +49 (0) 751 / 560 30 30 · Email: [email protected] · http://www.acontis.com