epos4-soem-control

This is a real-time EtherCAT master application to control EtherCAT slave devices(e.g. epos4, elmo, ...).

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PREREQUISITES

• This application was developed with Preempt-rt patched Raspberry Pi 4
  • Developed Preempt-rt linux kernel version is 4.19.y-rt
  • Developed OS debian version is 10(buster)
  • For more details, go to the link
• To use this application with gui, extra Ethernet connection on Raspberry Pi is required
  • For example, WIZnet W5500 Ethernet module with SPI interface or wi-fi can be applied
  • If you are going to use the same solution, you can find out details here
• epos4-soem-gui installed remote PC is required for remote connection

FRAMEWORK:

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Dependency

Install SOEM

git clone https://github.com/OpenEtherCATsociety/SOEM

cd SOEM

mkdir build

cd build

cmake ..

make -j4

sudo make install

HOW TO LAUNCH

mkdir build

cd build

cmake ..

make -j4

sudo ./ex_robot eth0