开源Ethercat主站 SOEM和IgH的比较

梦里梦外; 2022-06-13 12:29 607阅读 0赞

# 简介 #

EtherCAT的主站开发是基于EtherCAT机器人控制系统的开发中非常重要的环节。目前常见开源的主站代码为的RT-LAB开发的SOEM (Simple OpenSource EtherCAT Master)和EtherLab的the IgH EtherCAT® Master。使用起来SOEM的简单一些，而the IgH EtherCAT® Master更复杂一些，但对EtherCAT的实现更为完整。

# 异同 #

具体比较如下表：

<table> 
 <thead> 
  <tr> 
   <th align="left">主站</th> 
   <th align="left">SOME(Simple OpenSource EtherCAT Master)</th> 
   <th>IgH EtherCAT Master</th> 
  </tr> 
 </thead> 
 <tbody> 
  <tr> 
   <td align="left">版本</td> 
   <td align="left">1.3.0</td> 
   <td>1.5.2</td> 
  </tr> 
  <tr> 
   <td align="left">更新日期</td> 
   <td align="left">2013-02-26</td> 
   <td>2013-02-12</td> 
  </tr> 
  <tr> 
   <td align="left">发布公司</td> 
   <td align="left">RT-LAB</td> 
   <td>EtherLab</td> 
  </tr> 
  <tr> 
   <td align="left">官方网站</td> 
   <td align="left">ethercat.rt-labs.com</td> 
   <td>www.etherlab.org</td> 
  </tr> 
  <tr> 
   <td align="left">支持的操作系统</td> 
   <td align="left">Linux,Windows</td> 
   <td>linux</td> 
  </tr> 
  <tr> 
   <td align="left">支持RT内核</td> 
   <td align="left">RTAI, Xenomai</td> 
   <td>RTAI, Xenomai, RT-Preempt</td> 
  </tr> 
  <tr> 
   <td align="left">支持的CPU</td> 
   <td align="left">Freescale i.MX53、 Blackfin 5xx、 Blackfin 6xx 、Intel</td> 
   <td>支持Linux内核的所有CPU</td> 
  </tr> 
  <tr> 
   <td align="left">支持的网卡</td> 
   <td align="left">-</td> 
   <td>8139too - RealTek 8139C (or compatible) Fast-Ethernet chipsets. •e1000 - Intel PRO/1000 Gigabit-Ethernet chipsets (PCI). e100 - Intel PRO/100 Fast-Ethernet chipsets.•r8169 - RealTek 8169/8168/8101 Gigabit-Ethernet chipsets.•e1000e - Intel PRO/1000 Gigabit-Ethernet chipsets (PCI Express).</td> 
  </tr> 
  <tr> 
   <td align="left">CANOpen over EtherCAT (CoE)</td> 
   <td align="left">√</td> 
   <td>√</td> 
  </tr> 
  <tr> 
   <td align="left">Vendor over EtherCAT (VoE)</td> 
   <td align="left">√</td> 
   <td>√</td> 
  </tr> 
  <tr> 
   <td align="left">Distributed clocks</td> 
   <td align="left">√</td> 
   <td>-</td> 
  </tr> 
  <tr> 
   <td align="left">SERCOS over EtherCAT (SoE)</td> 
   <td align="left">√</td> 
   <td>√</td> 
  </tr> 
  <tr> 
   <td align="left">Ethernet over EtherCAT (EoE)</td> 
   <td align="left">×</td> 
   <td>√</td> 
  </tr> 
  <tr> 
   <td align="left">File Access over EtherCAT (FoE)</td> 
   <td align="left">×</td> 
   <td>√</td> 
  </tr> 
  <tr> 
   <td align="left">Safety over EtherCAT (FSoE)</td> 
   <td align="left">×</td> 
   <td>×</td> 
  </tr> 
 </tbody> 
</table>

# 引用 #

> [http://blog.csdn.net/xkzju2010/article/details/49122311][http_blog.csdn.net_xkzju2010_article_details_49122311]  
> [http://openethercatsociety.github.io/][http_openethercatsociety.github.io]  
> [http://www.etherlab.org/en/ethercat/][http_www.etherlab.org_en_ethercat]  
> [https://github.com/sittner/linuxcnc-ethercat][https_github.com_sittner_linuxcnc-ethercat]

[http_blog.csdn.net_xkzju2010_article_details_49122311]: http://blog.csdn.net/xkzju2010/article/details/49122311
[http_openethercatsociety.github.io]: http://openethercatsociety.github.io/
[http_www.etherlab.org_en_ethercat]: http://www.etherlab.org/en/ethercat/
[https_github.com_sittner_linuxcnc-ethercat]: https://github.com/sittner/linuxcnc-ethercat