Author: Maier-Manojlovic, D.
Paper Title Page
MOPGF027 Real-Time EtherCAT Driver for EPICS and Embedded Linux at Paul Scherrer Institute (PSI) 1
  • D. Maier-Manojlovic
    PSI, Villigen, Villigen, Switzerland
  EtherCAT bus and interface are widely used for external module and device control in accelerator environments at PSI, ranging from undulator communication, over basic I/O control to Machine Protection System for the new SwissFEL accelerator. A new combined EPICS/Linux driver has been developed at PSI, to allow for simple and mostly automatic setup of various EtherCAT configurations. The new driver is capable of automatic scanning of the existing device and module layout, followed by self-configuration and finally autonomous operation of the EtherCAT bus real-time loop. If additional configuration is needed, the driver offers both user- and kernel-space APIs, as well as the command line interface for fast configuration or reading/writing the module entries. The EtherCAT modules and their data objects (entries) are completely exposed by the driver, with each entry corresponding to a virtual file in the Linux procfs file system. This way, any user application can read or write the EtherCAT entries in a simple manner, even without using any of the supplied APIs. Finally, the driver offers EPICS interface with automatic template generation from the scanned EtherCAT configuration.  
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