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Elmo EtherCAT SDK

Overview

This is a C++ library providing a high-level interface for controlling Elmo motor controllers of the Gold line over EtherCAT (using the CANopen over EtherCAT CoE protocol).

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

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

The source code is released under the GPLv3 license. A copy of the license is available in the COPYING file.

Authors: Jonas Junger, Johannes Pankert

Maintainer: Johannes Pankert, [email protected]

Contributors: Fabio Dubois, Lennart Nachtigall, 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 (Ubuntu 20.04 LTS)

Likely to work on Ubuntu 18.04 with ROS Melodic

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/elmo_ethercat_sdk.git
cd ../
catkin build elmo_ethercat

To build the examples, execute the following command inside of your catkin workspace:

catkin build elmo_examples

Firmware version

This library is known to work with the following firmware versions:

  • 01.01.15.00
  • 01.01.16.00