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The DLR EtherCAT Library A template based code-generation scheme for accessing real-time hardware from Modelica

Bellmann, Tobias and 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, pp. 130-136. Modelica Association. 2nd Japanese Modelica Conference, 17-18. Mai 2018, Tokyo. DOI: 10.3384/ecp18148

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Official URL: https://www.modelica.org/events/modelica2018japan/conference-proceedings/modelica-final-proceedings-2018-Japan.pdf

Abstract

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

Item URL in elib:https://elib.dlr.de/123896/
Document Type:Conference or Workshop Item (Speech)
Title:The DLR EtherCAT Library A template based code-generation scheme for accessing real-time hardware from Modelica
Authors:
AuthorsInstitution or Email of AuthorsAuthors ORCID iD
Bellmann, TobiasTobias.Bellmann (at) DLR.deUNSPECIFIED
Buse, Fabianfabian.buse (at) dlr.deUNSPECIFIED
Date:17 May 2018
Journal or Publication Title:Proceedings of the 2nd Japanese Modelica Conference
Refereed publication:Yes
Open Access:No
Gold Open Access:No
In SCOPUS:No
In ISI Web of Science:No
DOI :10.3384/ecp18148
Page Range:pp. 130-136
Editors:
EditorsEmail
Hirano, YutakaUNSPECIFIED
Kher, SameerUNSPECIFIED
Publisher:Modelica Association
Status:Published
Keywords:Real-time, EtherCAT, Code-Generation
Event Title:2nd Japanese Modelica Conference
Event Location:Tokyo
Event Type:international Conference
Event Dates:17-18. Mai 2018
HGF - Research field:Aeronautics, Space and Transport
HGF - Program:Space
HGF - Program Themes:Space Technology
DLR - Research area:Raumfahrt
DLR - Program:R SY - Technik für Raumfahrtsysteme
DLR - Research theme (Project):R - Vorhaben Terrestrische Assistenz-Robotik
Location: Oberpfaffenhofen
Institutes and Institutions:Institute of System Dynamics and Control > Space System Dynamics
Deposited By: Bellmann, Tobias
Deposited On:03 Dec 2018 13:12
Last Modified:15 Jul 2019 10:06

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