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available_plugins.md

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ethercat_plugins

Collection of plugin implementations of EtherCAT modules for the ethercat_driver.

Module list and configuration

The list of currently supported EtherCAT modules and the available parameters. All modules have the alias and position parameter to specify the bus topology.

Beckhoff

  • Beckhoff_EK1100: EtherCAT Coupler.
  • Beckhoff_EL1008: EtherCAT Terminal, 8-channel digital input, 24 V DC, 3 ms.
    • parameters: di.1..8 - requested digital input
  • Beckhoff_EL1018: EtherCAT Terminal, 8-channel digital input, 24 V DC, 10 us.
    • parameters: di.1..8 - requested digital input
  • Beckhoff_EL2008: EtherCAT Terminal, 8-channel digital output, 24 V DC, 0.5 A.
    • parameters: do.1..8 - requested digital output
  • Beckhoff_EL2088: EtherCAT Terminal, 8-channel digital output, 24 V DC, 0.5 A, ground switching.
    • parameters: do.1..8 - requested digital output
  • Beckhoff_EL2124: EtherCAT Terminal, 4-channel digital output, 5 V DC, 20 mA.
    • parameters: do.1..4 - requested digital output
  • Beckhoff_EL3102: EtherCAT Terminal, 2-channel analog input, voltage, ±10 V, 16 bit, differential.
    • parameters: ai.1..2 - requested analog input
  • Beckhoff_EL3104: EtherCAT Terminal, 4-channel analog input, voltage, ±10 V, 16 bit, differential.
    • parameters: ai.1..4 - requested analog input
  • Beckhoff_EL4132: EtherCAT Terminal, 2-channel analog output, voltage, ±10 V, 16 bit.
    • parameters: ao.1..2 - requested analog output
  • Beckhoff_EL4134: EtherCAT Terminal, 4-channel analog output, voltage, ±10 V, 16 bit.
    • parameters: ao.1..4 - requested analog output
  • Beckhoff_EL5101: EtherCAT Terminal, 1-channel encoder interface, incremental, 5 V DC (DIFF RS422, TTL), 1 MHz.
    • parameters:
      1. encoder_position - current encoder position
      2. convertion_factor - encoder tic to unit convertion factor
      3. encoder_reset - reset encoder counting (reset on 0->1 switch)

Maxon

  • EPOS3: EPOS3 70/10 EtherCAT, digital positioning controller, 10 A, 11 - 70 VDC
    • parameters:
      1. mode_of_operation: see EPOS3 documentation -> Table 8-116
      2. motor_position: current motor position
      3. motor_velocity: current motor velocity
      4. motor_torque: current motor torque
      5. target_position: target motor position
      6. target_velocity: target motor velocity
      7. target_torque: target motor torque

ATI

  • ATI_FTSensor: ATI EtherCAT F/T Sensor
    • parameters:
      1. force.[x|y|z].state_interface: state_interface name for force on [x|y|z]-axis
      2. force.[x|y|z].offset: data offset for force on [x|y|z]-axis
      3. torque.[x|y|z].state_interface: state_interface name for torque on [x|y|z]-axis
      4. torque.[x|y|z].offset: data offset for torque on [x|y|z]-axis

Advantech

  • AMAX-5074: EtherCAT Coupler with ID switch
  • AMAX-5051: Digital Input Module, 8-channel digital input, 24 V DC, 4 ms.
    • parameters: di.1..8 - requested digital input
  • AMAX-5056: Sink-type Digital Ouput Module, 8-channel digital output, 24 V DC, 0.3 A.
    • parameters: do.1..8 - requested digital output

Omron

  • Omron_NX_ECC201_NX_ID5442: Omron EtherCAT Coupler NX_ECC201 with Input module NX_ID5442.
  • Omron_NX_ECC201_NX_OD5256: Omron EtherCAT Coupler NX_ECC201 with Output module NX_OD5256.
  • Omron_NX_ECC202_NX_ID5142_1: Omron EtherCAT Coupler NX_ECC202 with Input module NX_ID5142_1.
  • Omron_NX_ECC202_NX_OD5256: Omron EtherCAT Coupler NX_ECC202 with Output module NX_OD5256.