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Papers

RTAI based measuring and control over EtherCAT

Peter Fodrek, Slovak university of Technology
Jaroslav Kamenský, Slovak university of Technology

This paper describes how a measuring and control demo for an EtherCAT master was built.

It explains an RTAI-based EtherCAT master. It will be shown how to build it and which hardware it supports in which version. We will show a kernel module application with a Java based GUI frontend. The workplace contains an EtherCAT bus with analog I/O modules and analog computer to simulate analog process.  The worspace is intended as a demo for students to teach how to use and build Linux-based control systems on distributed bus. Communication between the front end and the kernel module backend is based on RT FIFOS.