Zhihao.zhu at 05:55, 2 March 2026

2026-03-02T05:55:58Z

Zhihao.zhu: Created page with " = Preface = IgH EtherCAT is an open-source EtherCAT master station program running on the Linux system. The IgH EtherCAT master station communicates with the EtherCAT master..."

2026-03-02T03:34:08Z

Created page with " = Preface = IgH EtherCAT is an open-source EtherCAT master station program running on the Linux system. The IgH EtherCAT master station communicates with the EtherCAT master..."

New page

= Preface =

IgH EtherCAT is an open-source EtherCAT master station program running on the Linux system. The IgH EtherCAT master station communicates with the EtherCAT master module by constructing a Linux character device,  the application program achieves this communication through accessing the character device.<br/> The IgH EtherCAT development package comes with EtherCAT tools. These tools provide various commands that can run in the Linux user layer, enabling direct access and configuration of slave stations, such as setting slave station addresses, displaying bus configuration, displaying PDO data, reading and writing SDO parameters, etc.

= Install =

The customer downloads the customized version of the image (including EtherCAT)

= EtherCAT IgH Software Environment =

EtherCAT: Kernel space, User space, EtherCAT application.

{| border="1" cellpadding="1" cellspacing="1" style="width: 500px;"
|-
| style="text-align: center;" | Layer
| style="text-align: center;" | built-in
| style="text-align: center;" | purpose
|-
| style="text-align: center;" | KernelSpace
| style="text-align: center;" | Y
| Provide a real-time driven environment.<br/> RT-patch and ethercat driver
|-
| style="text-align: center;" | UserSpace
| style="text-align: center;" | Y
| ethercat, libethercat.so
|-
| style="text-align: center;" | Applicaton
| style="text-align: center;" | N
| Customer Application
|}

     

= EtherCAT IgH Test =

Using the "ethercat --help" command allows you to view the EtherCAT IgH tools. These tools can provide various information about the slaves connected to the master station, which can be helpful for writing the master station application programs. The following introduces the usage of several commonly used commands and parameters. The [] brackets indicate mandatory parameters, while the <> brackets represent optional parameters.

== Set alias address ==

ethercat alias -p 0 0

== Set alias address (The following example represents changing the alias of location 0 to 1) ==

ethercat alias -a 0 1

== Output PDO information in C language format ==

ethercat cstruct

== Output the identified slave stations ==

ethercat slaves 0 0(别名)):0（位置） PREOP + MADHT1505BA1

== Output PDO information ==

ethercat pdos

== Official document ==

[https://docs.etherlab.org/ethercat/1.5/doxygen/index.html https://docs.etherlab.org/ethercat/1.5/doxygen/index.html]  

= Application Development =

= Performance Indicators and test =

@@ Line 37: / Line 37: @@
 Using the "ethercat --help" command allows you to view the EtherCAT IgH tools. These tools can provide various information about the slaves connected to the master station, which can be helpful for writing the master station application programs. The following introduces the usage of several commonly used commands and parameters. The [] brackets indicate mandatory parameters, while the <> brackets represent optional parameters.
-== Set alias address ==
+. Set alias address
 ethercat alias -p 0 0
-== Set alias address (The following example represents changing the alias of location 0 to 1) ==
+. Set alias address (The following example represents changing the alias of location 0 to 1)
 ethercat alias -a 0 1
-== Output PDO information in C language format ==
+. Output PDO information in C language format
 ethercat cstruct
-== Output the identified slave stations ==
+. Output the identified slave stations
 ethercat slaves 0 0(别名)):0（位置） PREOP + MADHT1505BA1
-== Output PDO information ==
+. Output PDO information
 ethercat pdos
-== Official document ==
+. Official document
 [https://docs.etherlab.org/ethercat/1.5/doxygen/index.html https://docs.etherlab.org/ethercat/1.5/doxygen/index.html] &nbsp;
 = Application Development =
 = Performance Indicators and test =

RK ALL EtherCAT - Revision history

Zhihao.zhu at 05:55, 2 March 2026

Zhihao.zhu: Created page with " = Preface = IgH EtherCAT is an open-source EtherCAT master station program running on the Linux system. The IgH EtherCAT master station communicates with the EtherCAT master..."