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Maxon EtherCAT SDK

Overview

This is a C++ library providing a high-level interface for controlling Maxon motor drivers of the EPOS line over EtherCAT (using the CANopen over EtherCAT CoE protocol). It is modified by Linghao Zhang based on elmo_ethercat_sdk by Jonas Junger.

The lower level EtherCAT communication is handled by the soem_interface library.

The maxon_epos_ethercat_sdk is developed on Ubuntu 20.04 LTS with ROS Noetic.

The source code is released under the BSD-3-Clause license. A copy of the license is available in the LICENSE file.

Authors: Linghao Zhang, Jonas Junger, Lennart Nachtigall

Maintainer: Linghao Zhang, [email protected]

Contributors: Fabio Dubois, Markus Staeuble, Martin Wermelinger

Installation

Dependencies

Catkin Packages

Repo url License Content
soem_interface https://github.com/leggedrobotics/soem_interface.git GPLv3 Low-level EtherCAT functionalities
ethercat_sdk_master https://github.com/leggedrobotics/ethercat_sdk_master BSD 3-Clause High-level EtherCAT functionalities
message_logger https://github.com/leggedrobotics/message_logger.git BSD 3-Clause simple log streams

System Dependencies (tested on Ubuntu 20.04 LTS)

Likely to work with ROS Meolodic and Ubuntu 18.04 LTS

Building from Source

To build the library from source, clone the latest version from this repository and from the dependencies into your catkin workspace and compile the package using

cd catkin_workspace/src
git clone https://github.com/leggedrobotics/soem_interface.git
git clone https://github.com/leggedrobotics/ethercat_sdk_master.git
git clone https://github.com/leggedrobotics/message_logger.git
git clone https://github.com/leggedrobotics/maxon_epos_ethercat_sdk.git
cd ../
catkin build maxon_epos_ethercat_sdk

Example

See ethercat_device_configurator for an minimal working example.

Usage

See Usage.md.

Contributing

See Contributing.md