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The EtherCAT realtime library system of SYBERA enables a custom ethernet adapter under Windows as an EtherCAT Master

EtherCAT Realtime Master

EtherCAT Realtime Master Library Documentation SYBERA Copyright © 2014 The EtherCAT realtime library system of SYBERA enables a custom ethernet adapter under Windows as an EtherCAT Master. Therefore the base is the Sybera X-Realtime technology. The library system allows the deterministic control of EtherCAT slave participants (e.g., the EtherCAT modules from Beckhoff Automation GmbH). Depending on the PC hardware telegram update cycles upto 50 microseconds are realistic. As physical link customary INTEL or REALTEK chips are suitable. Beside numerous extended EtherCAT functions for Distributed Clock, COE and State management, the library system also allows to control EtherCAT devices, even without a corresponding XML file. With the integrated station management the devices may be completely administered and controlled almost implicitly, or every single functional step (FMMU, SYNCMAN, PDO, STATE...) may be controlled separately. In addition, SYBERA has developed the comprehensive test software ECATVERIFY which allows the developer to test Ethercat devices without programming and to parametrize the devices. Thereby the developer is led through the startup procedure interactively by single functional groups and states. Besides, all information are visualised in detail. On this occasion, not only the sending and receiving of ethernet frames under realtime condition due to the specification of the EtherCAT Technology Group (ETG) is realized. The interface allows the functional control of EtherCAT telegrams in a separate realtime task. The system is based on 4 realtime tasks, for sending and receiving of ethernet frames, error management and functional control. With an integrated state machine the tasks are functionally synchronized. A realtime error task recognizes any frame failure and hardware latency. It is checked if an answer was received to a sent telegram (integrated timeout condition), if the working counter of the answer telegram is 0 and if the index fields of the sending telegram match the and receiving telegram. In addition, an emergency telegram is deposited, being sent by the error task in case of an error condition. A frame filter will separate the EtherCAT telegrams within the ethernet frame and transfer them to the telegram stack. SYBERA GmbH, Hohenzollernstr. 2, 71088 Holzgerlingen, Germany, Tel: +49-7031-411-781 Page 6

EtherCAT Realtime Master Library Documentation SYBERA Copyright © 2014 One or more EtherCAT telegrams are embedded in an ethernet frame. On sending the Realtime Core pops the EtherCAT telegrams from the EtherCAT interface stack and build them inside an ethenet frame. On receiving the EtherCAT telegrams will be extracted from the ethernet frame and pushed to the EtherCAT stack. NIC-Driver Realtime Level 1 Task RTX Shared-Memory Frame-Filter SYBERA GmbH, Hohenzollernstr. 2, 71088 Holzgerlingen, Germany, Tel: +49-7031-411-781 Page 7

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