* [Xenomai] Xenomai, rtnet and ethercat @ 2013-05-25 10:57 Franz Engel 2013-05-25 18:08 ` Anders Blomdell 0 siblings, 1 reply; 6+ messages in thread From: Franz Engel @ 2013-05-25 10:57 UTC (permalink / raw) To: xenomai@xenomai.org Hi, I have to connect my realtime xenomai system with an lasertracker. The tracker is using ethercat. Has somebody experiences to do this? I would like to use rtnet as realtime stack. Is it possible to use an ethercat master with rtnet driver? Or is there a realtime ethercat master available? I found the following Ethercat projects (but I think they have no ethercat capables): http://soem.berlios.de/ http://etherlab.org/en/ethercat/index.php Thanks and regards, Franz ^ permalink raw reply [flat|nested] 6+ messages in thread
* Re: [Xenomai] Xenomai, rtnet and ethercat 2013-05-25 10:57 [Xenomai] Xenomai, rtnet and ethercat Franz Engel @ 2013-05-25 18:08 ` Anders Blomdell 2013-05-26 0:24 ` Leopold Palomo Avellaneda 0 siblings, 1 reply; 6+ messages in thread From: Anders Blomdell @ 2013-05-25 18:08 UTC (permalink / raw) To: Franz Engel; +Cc: xenomai@xenomai.org On 05/25/2013 12:57 PM, Franz Engel wrote: > Hi, > > I have to connect my realtime xenomai system with an lasertracker. The tracker is using ethercat. Has somebody experiences to do this? I would like to use rtnet as realtime stack. Is it possible to use an ethercat master with rtnet driver? Or is there a realtime ethercat master available? > > I found the following Ethercat projects (but I think they have no ethercat capables): > http://soem.berlios.de/ > http://etherlab.org/en/ethercat/index.php Read the licensing terms carefully, last time I looked, the EtherCAT license was not compatible with open licenses like GPL (see https://mail.gna.org/public/xenomai-help/2009-10/msg00074.html) Regards Anders Blomdell ^ permalink raw reply [flat|nested] 6+ messages in thread
* Re: [Xenomai] Xenomai, rtnet and ethercat 2013-05-25 18:08 ` Anders Blomdell @ 2013-05-26 0:24 ` Leopold Palomo Avellaneda 2013-05-26 7:00 ` Wolfgang Denk 0 siblings, 1 reply; 6+ messages in thread From: Leopold Palomo Avellaneda @ 2013-05-26 0:24 UTC (permalink / raw) To: xenomai; +Cc: Franz Engel A Dissabte, 25 de maig de 2013, Anders Blomdell va escriure: > On 05/25/2013 12:57 PM, Franz Engel wrote: > > Hi, > > > > I have to connect my realtime xenomai system with an lasertracker. The > > tracker is using ethercat. Has somebody experiences to do this? I would > > like to use rtnet as realtime stack. Is it possible to use an ethercat > > master with rtnet driver? Or is there a realtime ethercat master > > available? > > > > I found the following Ethercat projects (but I think they have no > > ethercat capables): http://soem.berlios.de/ > > http://etherlab.org/en/ethercat/index.php > > Read the licensing terms carefully, last time I looked, the EtherCAT > license was not compatible with open licenses like GPL (see > https://mail.gna.org/public/xenomai-help/2009-10/msg00074.html) > I'm not a lawyer and I cannot make an opinion about that. I have read a lot about ethercat, and its license and I have to admit that it's a bit of mess. My recommendation is that if you don't want to make a commercial product, or sell your software, you can use any of the two ethercat master: soem and etherlab. I don't think that Beckhoff makes you problems. If you want to do any commercial product, ask to Beckoff first. About your question, etherlab provides a ethercat master under xenomai or rtai. You have a limited options of drivers with both, but realtime capabilities. Etherlab provides also ethercat master with standard kernel drivers with PREMPT_RT, so you could have a softrealtime with any NIC supported by the kernel. Soem provides also ethercat master, but it doesn't provides officially support under xenomai (or rtai). You must use any standard driver and could work under PREMPT_RT. The orocos developers have a version of soem that works with rtnet, but it has not been worked quit well for us, so by now, I cannot recommend it. However, I have to say that I have to review it because it has been changed a lot. We have use soem with an standard ethernet driver and xenomai and we have been able to communicate with or servos at 1 ms. Hope it helps. Regards, Leopold -- -- Linux User 152692 PGP: 0xF944807E Catalonia ------------------------------------- A: Because it messes up the order in which people normally read text. Q: Why is top-posting such a bad thing? A: Top-posting. Q: What is the most annoying thing in e-mail? ^ permalink raw reply [flat|nested] 6+ messages in thread
* Re: [Xenomai] Xenomai, rtnet and ethercat 2013-05-26 0:24 ` Leopold Palomo Avellaneda @ 2013-05-26 7:00 ` Wolfgang Denk 2013-05-27 9:52 ` Anders Blomdell 0 siblings, 1 reply; 6+ messages in thread From: Wolfgang Denk @ 2013-05-26 7:00 UTC (permalink / raw) To: Leopold Palomo Avellaneda; +Cc: Franz Engel, xenomai Dear Leopold Palomo Avellaneda, In message <201305260224.59809.leo@alaxarxa.net> you wrote: > > My recommendation is that if you don't want to make a commercial product, or > sell your software, you can use any of the two ethercat master: soem and > etherlab. I don't think that Beckhoff makes you problems. If you want to do any > commercial product, ask to Beckoff first. The license terms make no such difference. As soon as you distribute any such system (no matter if commercial or otherwise, even for free) you are violating the terms. Best regards, Wolfgang Denk -- DENX Software Engineering GmbH, MD: Wolfgang Denk & Detlev Zundel HRB 165235 Munich, Office: Kirchenstr.5, D-82194 Groebenzell, Germany Phone: (+49)-8142-66989-10 Fax: (+49)-8142-66989-80 Email: wd@denx.de A fanatic is a person who can't change his mind and won't change the subject. - Winston Churchill ^ permalink raw reply [flat|nested] 6+ messages in thread
* Re: [Xenomai] Xenomai, rtnet and ethercat 2013-05-26 7:00 ` Wolfgang Denk @ 2013-05-27 9:52 ` Anders Blomdell 2013-05-27 10:23 ` Leopold Palomo-Avellaneda 0 siblings, 1 reply; 6+ messages in thread From: Anders Blomdell @ 2013-05-27 9:52 UTC (permalink / raw) To: Wolfgang Denk; +Cc: Franz Engel, xenomai On 2013-05-26 09:00, Wolfgang Denk wrote: > Dear Leopold Palomo Avellaneda, > > In message <201305260224.59809.leo@alaxarxa.net> you wrote: >> >> My recommendation is that if you don't want to make a commercial product, or >> sell your software, you can use any of the two ethercat master: soem and >> etherlab. I don't think that Beckhoff makes you problems. If you want to do any >> commercial product, ask to Beckoff first. > > The license terms make no such difference. As soon as you distribute > any such system (no matter if commercial or otherwise, even for free) > you are violating the terms. > It's even worse than that, you are not even allowed to use it internally without signing the EtherCAT license. At 2007 when ethercat.org was still stating that EtherCAT was GPL compatible/friendly, we wrote an EtherCAT master in realtime Java ([1], [2]). After having completed that when we were about to release it to the world, we were told by Beckhoff that in order to distribute or use it (even internal use!), we had to sign the Beckhoff license (hence that project was scrapped!). The GPL wording was also removed from the EtherCAT site at this time (the whole process of triyng to get the licensing right took almost two year, after this time we finally got an answer from Gerd Hoppe [3]). Regards Anders [1] http://fileadmin.cs.lth.se/cs/Personal/Sven_Gestegard_Robertz/publ/jtres-flexpicker.pdf [2] http://youtu.be/xH1yUXd9krU?t=3m47s [3] Excerpt from email 2009-04-08: "Therefore, any use of EtherCAT requires a license in addition to a copyright license for code such as L/GPL, regardless of any split of code in a licensed part and a L/GPL part." -- Anders Blomdell Email: anders.blomdell@control.lth.se Department of Automatic Control Lund University Phone: +46 46 222 4625 P.O. Box 118 Fax: +46 46 138118 SE-221 00 Lund, Sweden ^ permalink raw reply [flat|nested] 6+ messages in thread
* Re: [Xenomai] Xenomai, rtnet and ethercat 2013-05-27 9:52 ` Anders Blomdell @ 2013-05-27 10:23 ` Leopold Palomo-Avellaneda 0 siblings, 0 replies; 6+ messages in thread From: Leopold Palomo-Avellaneda @ 2013-05-27 10:23 UTC (permalink / raw) To: Anders Blomdell; +Cc: Franz Engel, xenomai A Dilluns, 27 de maig de 2013, Anders Blomdell va escriure: > On 2013-05-26 09:00, Wolfgang Denk wrote: > > Dear Leopold Palomo Avellaneda, > > > > In message <201305260224.59809.leo@alaxarxa.net> you wrote: > >> > >> My recommendation is that if you don't want to make a commercial product, or > >> sell your software, you can use any of the two ethercat master: soem and > >> etherlab. I don't think that Beckhoff makes you problems. If you want to do any > >> commercial product, ask to Beckoff first. > > > > The license terms make no such difference. As soon as you distribute > > any such system (no matter if commercial or otherwise, even for free) > > you are violating the terms. > > > > It's even worse than that, you are not even allowed to use it internally > without signing the EtherCAT license. At 2007 when ethercat.org was > still stating that EtherCAT was GPL compatible/friendly, we wrote an > EtherCAT master in realtime Java ([1], [2]). After having completed that > when we were about to release it to the world, we were told by Beckhoff > that in order to distribute or use it (even internal use!), we had to > sign the Beckhoff license (hence that project was scrapped!). The GPL > wording was also removed from the EtherCAT site at this time (the whole > process of triyng to get the licensing right took almost two year, after > this time we finally got an answer from Gerd Hoppe [3]). > this is sad ... in ethercat.org theres a point in the FAQ: from there: http://www.ethercat.org/en/faq.html#790 -------------------------------------------------------- 3.4 How about Open Source? EtherCAT technology itself is not Open Source. Backed by the standardization of EtherCAT by IEC, ISO and SEMI, access to EtherCAT technology is available to everyone to non-discriminatory terms. Additionally, Master Licenses are free of royalties. Maintenance and all further development of the technology is available to all users by membership within the ETG, the user group for EtherCAT technology. If you have questions regarding implementing or using EtherCAT in conjunction with shared source or open source systems please contact ETG headquarters or Beckhoff, the EtherCAT technology licensor. -------------------------------------------------------- I have asked, so when I got the answer I will inform. regards, Leopold -- -- Linux User 152692 Catalonia ^ permalink raw reply [flat|nested] 6+ messages in thread
end of thread, other threads:[~2013-05-27 10:23 UTC | newest] Thread overview: 6+ messages (download: mbox.gz follow: Atom feed -- links below jump to the message on this page -- 2013-05-25 10:57 [Xenomai] Xenomai, rtnet and ethercat Franz Engel 2013-05-25 18:08 ` Anders Blomdell 2013-05-26 0:24 ` Leopold Palomo Avellaneda 2013-05-26 7:00 ` Wolfgang Denk 2013-05-27 9:52 ` Anders Blomdell 2013-05-27 10:23 ` Leopold Palomo-Avellaneda
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