Simple Open EtherCAT Master Library (RTNET VERSION)

This RTNE-SOEM is rtnet patched SOEM!. RTNET specific socket configuration codes are added on SOEM.

SOEM is an EtherCAT master library written in c, developed by OpenEthercatSociety (https://openethercatsociety.github.io/doc/soem/)

RTnet is an Open Soure hard real-time network protocol stack for Xenomai and RTAI (real-time Linux extensions)

RTnet_SOEM is RealTime EtherCAT master library.

This library is recommended to implemented at ubuntu 20.04, Linux 5.4.124, xenomai-3.1.1

In Ubuntu 18.04, RTnet did not operate normally

RTNET SOEM

Then test with Real 33DOF humanoid robot. It's working very well with almost no timeout!.

The stability test lasted for more than 20 hours(not in once), of which timeout occurred only once

Test Configuration

• Ubuntu 20.04
• Linux 5.4.124, Xenomai-3.1.1.

Tested With Humanoid Robot TOCABI

Tested Master PC :

• CPU : i7-10700

• M/B : Gigabyte H470i

• NIC : Intel I340-T4 ( 4 Port PCI NIC )

• Slave : ELMO GOLD WHISTLE

• 18 slaves Redundant (2 Port) + 15 slaves Redundant (2 Port)

How to Use RTNET with SOEM?

You need to make your own Shell script files to start rtnet.

You can check example rtnet shell script at rtnet_script folder.

On example shell script, It contains,

• load rtpacket kernel module with modprobe.
• unbind non-rt driver of nic, and bind rt driver.
• activate rt nic with rtifconfig.

other rtnet modules like rtcap, rtudp... rt.... are not essential.

you can test rtnet-soem with red_test!

red_test is build default with SOEM.

• ./red_test rteth0 rteth1 500

PROGRAMMING

It is recommended to place rt-specific code(like communication codes of soem) in real-time thread!

Only ec_init or ec_init_redundant must be placed in main thread!

When the ec_init or ec_init_redundant codes are in the real-time thread, the initialization process of ethercat communication does not proceed successfully.

Other communication codes except ec_init, ec_init_redundant must be placed on real-time thread.

You can find our robot's RTNET-SOEM ethercat communication codes in here Tocabi ECAT

BUILDING

Prerequisites for all platforms

• CMake 3.9 or later

Linux (XENOMAI ONLY!)

• mkdir build
• cd build
• cmake ..
• make

Documentation

See https://openethercatsociety.github.io/doc/soem/

Want to contribute to SOEM or SOES?

If you want to contribute to SOEM or SOES you will need to sign a Contributor License Agreement and send it to us either by e-mail or by physical mail. More information is available in the PDF.