SOMANET EtherCAT Component

The SOMANET EtherCAT Component provides the library necessary to build an EtherCAT Slave Device. The library communicates with the EtherCAT Slave Controller (ESC) to read and write the process data (PDOs) and accesses the mailbox requests for CAN over EtherCAT (CoE) and File over EtherCAT (FoE).

To be able to access all functions defined in SOMANET EtherCAT Component, be sure to:

  • Include lib_ethercat in your Makefile.
  • Include header ethercat_service.h in your application.

Hardware Compatibility

Required SOMANET Hardware
1x SOMANET Core
1x SOMANET Com
Supported SOMANET Devices
SOMANET Core: C22, C2X
SOMANET Com: EtherCAT

Modules

Our SOMANET EtherCAT Component is composed of the following modules:

  • EtherCAT Slave Library: This library contains the driver for the Beckhoff ET1100 EtherCAT Slave Controller (ESC) and supports PDO, CoE and FoE data handling

Examples

See the examples folder in EtherCAT Drive to see how this library is used.

Dependencies

To run your application it is necessary to include SOMANET Base.

The application should also include SOMANET CANopen Interface to make use of the object dictionary and the CoE mailbox protocol.

Important

To do a firmware update over EtherCAT use the FoE feature of your EtherCAT Master.

Visit our IgH EtherCAT Master for Linux Documentation for further information how to perform a firmware update with our Linux EtherCAT Master.

Note

SOMANET COM EtherCAT hardware modules are required to be used with this software.

Visit our SOMANET COM EtherCAT documentation for further information.