|0.2.0||Aug 22, 2023|
|0.1.0||Jun 24, 2023|
#74 in Robotics
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This crate aims to bring yet a other implementation of an Ethercat master, The Ethercat communication protocol is a network protocol working on top of the Ethernet layer, designed for realtime industrial applications (like robotics). It is standardized by ETG (Ethercat Technology Group)
This library is designed to allow everything said possible in the ethercat specifications. No restriction shall be added by this implementation.
The user can decide what will be initialized or not on the master and each slave, and can dive deeply in the details the communication at the same time as performing higher level operations.
close to the ethercat intrinsics
We believe the best way to produce bloatfull code is trying to make a circle fit a square, so this library should be transparent on how the Ethercat protocol really works. Ethercat is a standard after all.
generic master implementation
This implementation shall be ready for any use.
maximum performance, reliability, flexibility
This master implementation shall be fast enough for realtime operations even running on poor hardware, and shall be reliable for industrial use. It is better to have it initialize fast as well.
rust memory safety prevents any unexpected error due to a bad usage of the memory through proposed tools. Here we define protocol safety to prevent unexpected communication error due to a bad usage of this library. It means the hereby proposed API makes it impossible for the master to break the communication without writing unsafe code.
ease of use
of course this crate must be nice to use
- no-std (at the moment)
- adapt to vendor-specific implementations of ethercat, or to vendor-specific devices
- make abstraction of what the Ethercat protocol really does
- fit the OSI model
Current complete feature list
master over different sockets
- raw ethernet
- PDU commands
- access to logical & physical memories
- slave information access
- generic messaging
- SDO read/write
- PDO read/write
- tools for mapping
- static drift
- dynamic drift
- logical memory & slave group management tools
- mapping tools
- multiple PDUs per ethercat frame (speed up and compress transmissions)
- tasks for different slaves or for same slave are parallelized whenever possible
- no dynamic allocation in transmission and realtime functions
- async API and implementation to avoid threads context switches
- if connecting to an ethercat segment with a direct ethernet connection (the common practice), you need permissions to open a raw-socket (usually root access)
- if connecting to an ethercat segment through a UDP socket, any normal user can proceed.
- no special OS dependency or configuration is needed, only what is in
take the path
The best way to take a tour of what
etherage can do is to look at the examples
First: check that the example takes the right network interface (default is
eno1) in the main of the desired example.
Then compile and run:
cargo build --example slaves_discovery sudo target/debug/examples/slaves_discovery
slave 7: "R88D-1SN01H-ECT" - ecat type 17 rev 0 build 3 - hardware "V1.00" software "V1.02.00" slave 0: "R88D-1SN02H-ECT" - ecat type 17 rev 0 build 3 - hardware "V1.00" software "V1.02.00" slave 6: "R88D-1SN02H-ECT" - ecat type 17 rev 0 build 3 - hardware "V1.01" software "V1.04.00" slave 3: "R88D-1SN02H-ECT" - ecat type 17 rev 0 build 3 - hardware "V1.00" software "V1.02.00" slave 5: "R88D-1SN02H-ECT" - ecat type 17 rev 0 build 3 - hardware "V1.00" software "V1.02.00" slave 4: "R88D-1SN02H-ECT" - ecat type 17 rev 0 build 3 - hardware "V1.00" software "V1.02.00" slave 1: "R88D-1SN02H-ECT" - ecat type 17 rev 0 build 3 - hardware "V1.00" software "V1.02.00" slave 2: "R88D-1SN04H-ECT" - ecat type 17 rev 0 build 3 - hardware "V1.01" software "V1.04.00"