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
Ladda ner artikel
http://dx.doi.org/10.3384/ecp18148130Ingår i: Proceedings of the 2nd Japanese Modelica Conference, Tokyo, Japan, May 17-18, 2018
Linköping Electronic Conference Proceedings 148:19, s. 130-136
Publicerad: 2019-02-21
ISBN: 978-91-7685-266-8
ISSN: 1650-3686 (tryckt), 1650-3740 (online)
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.
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