SOEM

SoemLink is a Link implementation using SOEM, an EtherCAT master written in C.

cargo add autd3-rs-link-soem

pip install autd3-link-soem

dotnet add package AUTD3.Link.Soem

Because it handles an Ethernet raw socket, running it on Linux/macOS requires root privileges (or CAP_NET_RAW). On Windows, npcap must be installed in “WinPcap API-compatible mode”.

API

SoemLinkOption {
iface,
sync0_period,
sync0_shift,
sync_tolerance,
sync_timeout,
};

SoemLinkOption(
iface,
sync0_period,
sync0_shift,
sync_tolerance,
sync_timeout,
)

new SoemLinkOption(
iface,
sync0Period,
sync0Shift,
syncTolerance,
syncTimeout
);

Field	Type	Description
`iface`	`Interface`	network interface to use. `Interface::Auto` for automatic selection, `Interface::Name(..)` to specify by name
`sync0_period`	`Duration`	period of the SYNC0 signal
`sync0_shift`	`Duration`	shift amount of the SYNC0 signal
`sync_tolerance`	`Duration`	tolerance considered as synchronization complete
`sync_timeout`	`Duration`	timeout to wait for synchronization to complete

SoemLinkOptionFull, which fully configures SOEM, is also provided (Rust only).

Rust

SoemLinkOptionFull {
iface,
sync0_period,
sync0_shift,
send_cycle,
sync_tolerance,
sync_timeout,
state_timeout,
op_wait_timeout,
};

Field	Type	Description
`iface`	`Interface`	network interface to use. `Interface::Auto` for automatic selection, `Interface::Name(..)` to specify by name
`sync0_period`	`Duration`	period of the SYNC0 signal
`sync0_shift`	`Duration`	shift amount of the SYNC0 signal
`send_cycle`	`Duration`	period of process data transmission
`sync_tolerance`	`Duration`	tolerance considered as synchronization complete
`sync_timeout`	`Duration`	timeout to wait for synchronization to complete
`state_timeout`	`Duration`	timeout to wait for the transition to the SAFE-OP state
`op_wait_timeout`	`Duration`	timeout to wait for the transition to the OP state