Maxon EtherCAT SDK

Overview

This is a C++ library providing a high-level interface for controlling Maxon motor drivers of the EPOS line over EtherCAT (using the CANopen over EtherCAT CoE protocol). It is modified by Linghao Zhang based on elmo_ethercat_sdk by Jonas Junger.

The lower level EtherCAT communication is handled by the soem_interface library.

The maxon_epos_ethercat_sdk is developed on Ubuntu 20.04 LTS with ROS Noetic.

The source code is released under the BSD-3-Clause license. A copy of the license is available in the LICENSE file.

Authors: Linghao Zhang, Jonas Junger, Lennart Nachtigall

Maintainer: Linghao Zhang, lingzhang@ethz.ch

Contributors: Fabio Dubois, Markus Staeuble, Martin Wermelinger

Installation

Dependencies

Catkin Packages

Repo	url	License	Content
soem_interface	https://github.com/leggedrobotics/soem_interface.git	GPLv3	Low-level EtherCAT functionalities
ethercat_sdk_master	https://github.com/leggedrobotics/ethercat_sdk_master	BSD 3-Clause	High-level EtherCAT functionalities
message_logger	https://github.com/leggedrobotics/message_logger.git	BSD 3-Clause	simple log streams

System Dependencies (tested on Ubuntu 20.04 LTS)

• ROS Noetic
• catkin
• yaml-cpp

Likely to work with ROS Meolodic and Ubuntu 18.04 LTS

Building from Source

To build the library from source, clone the latest version from this repository and from the dependencies into your catkin workspace and compile the package using

cd catkin_workspace/src
git clone https://github.com/leggedrobotics/soem_interface.git
git clone https://github.com/leggedrobotics/ethercat_sdk_master.git
git clone https://github.com/leggedrobotics/message_logger.git
git clone https://github.com/leggedrobotics/maxon_epos_ethercat_sdk.git
cd ../
catkin build maxon_epos_ethercat_sdk

Example

See ethercat_device_configurator for an minimal working example.

Usage

See Usage.md.

Contributing

See Contributing.md