ecat-enablekit

Ecat_EnableKit

Overview

Ecat_EnableKit is built on top of the IGH EtherCAT master stack and provides a simplified motion API for developing applications with various models of EtherCAT servo drives.

This version focuses on delivering a streamlined API and codebase, making it easier to integrate and use. Please note that the API is not backward compatible with previous versions or the original IGH EtherCAT master stack.

For detailed information, see the Introduction.

License

LGPL v2.1

Dependencies

libxml2-dev

• For Ubuntu

    apt-get install libxml2-dev

Installation

The shell commands are:

    ./autogen.sh
    ./configure
    make
    make install

How to compile

• For Preempt-rt OS

    ./autogen.sh

**Note:** If `libethercat.so` is not installed system-wide, use the following command to specify its location during the build process:

    ./autogen.sh LDFLAGS="-L<ethercat library path>"
    make

• For Xenomai/Dovetail OS

    autogen.sh --libdir=/usr/xenomai/lib --with-xenomai-dir=/usr/xenomai --with-xenomai-config=/usr/xenomai/bin/xeno-config
    make

Testing

Some example tests are provided in test-motionentry.c. You can modify this source file to create custom test cases or adapt it to your specific requirements.