Article | Proceedings of the 2nd Japanese Modelica Conference Tokyo, Japan, May 17-18, 2018 | The DLR EtherCAT Library - A template based code-generation scheme for accessing real-time hardware from Modelica Linköping University Electronic Press Conference Proceedings
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Title:
The DLR EtherCAT Library - A template based code-generation scheme for accessing real-time hardware from Modelica
Author:
Tobias Bellmann: Institute of System Dynamics and Control , German Aerospace Center (DLR), Germany Fabian Buse: Institute of System Dynamics and Control , German Aerospace Center (DLR), Germany
DOI:
10.3384/ecp18148130
Download:
Full text (pdf)
Year:
2018
Conference:
Proceedings of the 2nd Japanese Modelica Conference Tokyo, Japan, May 17-18, 2018
Issue:
148
Article no.:
019
Pages:
130-136
No. of pages:
7
Publication type:
Abstract and Fulltext
Published:
2019-02-21
ISBN:
978-91-7685-266-8
Series:
Linköping Electronic Conference Proceedings
ISSN (print):
1650-3686
ISSN (online):
1650-3740
Publisher:
Linköping University Electronic Press, Linköpings universitet


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In this paper, a new concept to access real-time hardware from within Modelica via the EtherCAT bus is introduced and the implementation of a prototype library is demonstrated. The DLR EtherCAT library uses the open source EtherCAT library EtherLab to gather information about the connected bus slaves. Thereupon, the slave information is used in a code generation process to build native Modelica blocks providing the interfaces to their hardware counterparts. These blocks subsequently can be used to build real-time models, running on a Linux based real-time system and therefore controlling the hardware directly from the model. The application of the library is shown in a robotic testbed where a motor drive is controlled via EtherCAT.

Keywords: Real-time, EtherCAT, Code-Generation

Proceedings of the 2nd Japanese Modelica Conference Tokyo, Japan, May 17-18, 2018

Author:
Tobias Bellmann, Fabian Buse
Title:
The DLR EtherCAT Library - A template based code-generation scheme for accessing real-time hardware from Modelica
DOI:
http://dx.doi.org/10.3384/ecp18148130
References:

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Proceedings of the 2nd Japanese Modelica Conference Tokyo, Japan, May 17-18, 2018

Author:
Tobias Bellmann, Fabian Buse
Title:
The DLR EtherCAT Library - A template based code-generation scheme for accessing real-time hardware from Modelica
DOI:
https://doi.org10.3384/ecp18148130
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