Bellmann, Tobias und Buse, Fabian (2018) The DLR EtherCAT Library A template based code-generation scheme for accessing real-time hardware from Modelica. In: Proceedings of the 2nd Japanese Modelica Conference, Seiten 130-136. Modelica Association. 2nd Japanese Modelica Conference, 2018-05-17 - 2018-05-18, Tokyo. doi: 10.3384/ecp18148130.
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Offizielle URL: https://www.modelica.org/events/modelica2018japan/conference-proceedings/modelica-final-proceedings-2018-Japan.pdf
Kurzfassung
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
elib-URL des Eintrags: | https://elib.dlr.de/123896/ | ||||||||||||
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Dokumentart: | Konferenzbeitrag (Vortrag) | ||||||||||||
Titel: | The DLR EtherCAT Library A template based code-generation scheme for accessing real-time hardware from Modelica | ||||||||||||
Autoren: |
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Datum: | 17 Mai 2018 | ||||||||||||
Erschienen in: | Proceedings of the 2nd Japanese Modelica Conference | ||||||||||||
Referierte Publikation: | Ja | ||||||||||||
Open Access: | Nein | ||||||||||||
Gold Open Access: | Nein | ||||||||||||
In SCOPUS: | Nein | ||||||||||||
In ISI Web of Science: | Nein | ||||||||||||
DOI: | 10.3384/ecp18148130 | ||||||||||||
Seitenbereich: | Seiten 130-136 | ||||||||||||
Herausgeber: |
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Verlag: | Modelica Association | ||||||||||||
Status: | veröffentlicht | ||||||||||||
Stichwörter: | Real-time, EtherCAT, Code-Generation | ||||||||||||
Veranstaltungstitel: | 2nd Japanese Modelica Conference | ||||||||||||
Veranstaltungsort: | Tokyo | ||||||||||||
Veranstaltungsart: | internationale Konferenz | ||||||||||||
Veranstaltungsbeginn: | 17 Mai 2018 | ||||||||||||
Veranstaltungsende: | 18 Mai 2018 | ||||||||||||
HGF - Forschungsbereich: | Luftfahrt, Raumfahrt und Verkehr | ||||||||||||
HGF - Programm: | Raumfahrt | ||||||||||||
HGF - Programmthema: | Technik für Raumfahrtsysteme | ||||||||||||
DLR - Schwerpunkt: | Raumfahrt | ||||||||||||
DLR - Forschungsgebiet: | R SY - Technik für Raumfahrtsysteme | ||||||||||||
DLR - Teilgebiet (Projekt, Vorhaben): | R - Terrestrische Assistenz-Robotik (alt) | ||||||||||||
Standort: | Oberpfaffenhofen | ||||||||||||
Institute & Einrichtungen: | Institut für Systemdynamik und Regelungstechnik > Raumfahrt-Systemdynamik | ||||||||||||
Hinterlegt von: | Bellmann, Tobias | ||||||||||||
Hinterlegt am: | 03 Dez 2018 13:12 | ||||||||||||
Letzte Änderung: | 24 Apr 2024 20:27 |
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