It is kindly informed that a new version of KPA EtherCAT Master 2 for Xenomai 3.3 x64 is now available: version 2.8.2311.0, succeeding version 2.7.1310.0.
The following improvements have been introduced since the previous release:
- Individual configuration for each Master instance
A new API has been introduced to allow overriding the default Master configuration when creating a Master instance. To implement this API use PARAM_MASTER_INI or PARAM_MASTER_INI_ATTACH. - Master Redundancy enable separately
Now Master Redundancy can be enabled/disabled separately for each Master instance in Multimaster configurations via the INI file (master.redundancy.enable). - Control Master Redundancy mode via Process Image
Added support for controlling the Master mode (from Primary to Secondary and from Secondary to Primary) via Process Image variables. - EoE configuration with the Posix network stack wrapper
From now on, the MDK package uses the Posix network stack wrapper by default to configure EoE support and create a TAP device. - Modular device scan example
A new 12_MailboxCoE_ModulesRead sample has been added to demonstrate how to read/write CoE to detect attached module IDs. - Servo Drive Master Redundancy example
A new 57_MR_ServoDriveDemo has been introduced to show Motion Control capabilities with Master Redundancy enabled. - 40_Codesys sample
Added a new 40_Codesys sample which shows how to integrate KPA EtherCAT Master into Codesys PLC.
To compile and run this sample, Codesys SDK is required. The following features are also included in the sample:
– Introduced full cycle scan and automatic start
– PLC integration example for Codesys environment - 40_SimplePLC_Integration sample
A new sample, 40_SimplePLC_Integration, has been added to demonstrate how to integrate an EtherCAT Master extension into an existing PLC cycle. This sample includes PLC and EtherCAT cycle synchronization as well as asynchronous function block execution. The following features are also included in the sample:
– Demonstration of requesting ID read
– Automatic module scan - Multimaster improvement
For the systems where multiple independent time lines can be established (such as Linux or Xenomai with high resolution timers) now it is possible to enable DC synchronization on each Master instance when using Multimaster. On other systems DC can be enabled on only one Master instance, and the other Masters are synchronized with it. - Boolean Data Type parsing
XML parser detects Boolean Data Type according to ETG.2100 v1.0.3, as follows:
– ‘false’ or ‘0’ means FALSE
– ‘true’ or ‘1’ means TRUE - libUSB libraries update
From now on, libusb.so and matrix.so are no longer included in the MDK package. They are now linked to the ecatmkpa.so library.
