echocat

EchocatLink is a Link implementation using echocat, an EtherCAT main device written for AUTD3.

Installation

Rust

cargo add autd3-rs-link-echocat

Python

pip install autd3-link-echocat

C#

dotnet add package AUTD3.Link.Echocat

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

Rust

EchocatLinkOption {
    iface,
    sync0_period,
    pdu_timeout,
    state_transition_timeout,
    dc_static_sync_iterations,
    dc_start_delay,
    sync_tolerance,
    sync_timeout,
    process_data_watchdog,
    sleep_strategy,
};

Python

echocat.EchocatLinkOption(
    iface,
    sync0_period,
    pdu_timeout,
    state_transition_timeout,
    dc_static_sync_iterations,
    dc_start_delay,
    sync_tolerance,
    sync_timeout,
    process_data_watchdog,
    spin_margin,
)

C#

new EchocatLinkOption(
    iface,
    sync0Period,
    pduTimeout,
    stateTransitionTimeout,
    dcStaticSyncIterations,
    dcStartDelay,
    syncTolerance,
    syncTimeout,
    processDataWatchdog,
    spinMargin
);

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 (= the cyclic frame period)
pdu_timeout	Duration	timeout to wait for the response to a single PDU
state_transition_timeout	Duration	timeout to wait for an EtherCAT state transition (INIT → PRE-OP → SAFE-OP → OP)
dc_static_sync_iterations	u32	number of frames used for DC static drift compensation
dc_start_delay	Duration	how far ahead of the current bus time the SYNC0 start time is placed
sync_tolerance	Duration	tolerance considered as synchronization complete
sync_timeout	Duration	timeout to wait for synchronization to complete
process_data_watchdog	Duration	time after which a subdevice detects that process data has stopped
sleep_strategy	SleepStrategy	how to wait for the next cycle

The default sync0_period is 2 ms on Windows and 1 ms elsewhere.

Waiting (SleepStrategy)

Selects how the RT thread waits for the next cycle.

Rust

SleepStrategy::Sleep;
SleepStrategy::Spin {
    margin: Duration::from_micros(100),
};

Variant	Description
Sleep	waits with std::thread::sleep.
Spin { margin }	sleeps until margin before the deadline, then spins

The default is Sleep.