The DLR EtherCAT Library is a Modelica Library to communicate in real-time with EtherCAT slaves via the open source EtherCAT Master EtherLab.
It wraps the API of EtherLab and uses code-generation to create interface blocks in Modelica representing the slaves connected to the EtherCAT bus. These blocks subsequently can be used to build real-time models, running on a Linux based real-time system and therefore controlling the hardware directly from the model.
FEATURES OF THE LIBRARY
- Asynchronous communications with the slaves via SDO messages is possible directly from within Modelica
- Different communication rates are possible for slaves in different domains
- Model execution is synchronized with EtherCAT communication rate
- Interface models for EtherCAT PDOs are generated automatically with the slave information available on the EtherCAT bus.