tcwilliamson / ecat_userspace

EtherCAT Control Software Implementation using IgH EtherCAT library

Welcome to EtherCAT user space application by Veysi ADIN & Chunwoo Kim.

This repository contains EtherCAT based control software using CoE and CiA402 standard to control motors and receive sensor data, by wrapping IgH EtherCAT library functions. This implementation can be used with any robotic system with small modifications.Contains EtherCAT real-time thread with priority of 98. And USB communication with Xbox Controller.

Please check guides, links and documentations before installation, or using this control software.

Guides

• EtherCAT
• Etherlab Webpage
• IgH EtherCAT Library Documentation
• Real-time Linux
• Real-time Background
• Article on EtherCAT-RT PREEMPT- Xenomai

Prerequisites

• RT_Preempt Linux and IgH EtherCAT Implementation
• If you want to use Xenomai-Installation

Implementation

mkdir project-ws 
cd project-ws
git clone https://github.com/veysiadn/ecat_userspace ethercat-control
cd ethercat-control
cmake .
make
sudo ./ecat_node

Keep in mind that you can change and tinker with the program, don't forget to make changes on Makefile for customization, additionally, you can check "compile.txt" file.

Good Luck ⚡