Control Protocol SOFTWARE COMPONENT

Implementation of Communication protocol layer for Motor Control on SOMANET over EtherCAT.

• How to?

Latest release:	1.0
Maintainer:	[email protected]

Key Features

• Cyclic Synchronous Position Control
• Cyclic Synchronous Velocity Control
• Cyclic Synchronous Torque Control
• Profile Position Control
• Profile Velocity Control
• Profile Torque Control
• Homing mode
• Precise position control based on position sensor ticks
• Support motor and controller parameter update
• Support complex node topology
• Profile Generation for multinode configurations

Content

Module	Demo
lib_linux_ctrlproto
lib_linux_motor_drive
module_ctrlproto	app_ctrlproto-test
	app_linux_ctrlproto-csp-example
	app_linux_ctrlproto-cst-example
	app_linux_ctrlproto-csv-example
	app_linux_ctrlproto-hm-example
	app_linux_ctrlproto-ppm-example
	app_linux_ctrlproto-ptm-example
	app_linux_ctrlproto-master-example

Required software (dependencies)

• sc_somanet-base
• sc_pwm
• sc_sncn_ethercat
• sc_sncn_motorctrl_sin

Changelog

• 1.0 (2014-04-17)
  • Homing Mode
  • Profile Generation for multinode configurations
  • Precise position control based on position sensor ticks
• 0.9beta (2013-01-24)

License

Please see LICENSE.