This is the development version of the documentation. It may change before the next release. See 0.6.x for the latest release.

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