http://github.com/rios-ai/<internal_dx_robot_control>.git
- Neal Kurande (neal.kurande@rios.ai)
Hardware abstraction layer for industrial I/O devices.
There are 2 configuration files required:
- Global I/O description (example) lists all I/O in the system, what type they are, which device they're connected to, and other info.
- This device's configuration (example) - settings for working with the specific device instance for this container. There should be an example with documentation for all device types here.
There is a webui tab for I/O status and setting developers/techs.
From software, use the commander available from cpp and python.
The node for the subsystem is here. Essentially it creates a specific I/O device instance based on configuration. Each type of I/O device must inherit from the interface definition. The node advertises some state topics, as well as listens for commands on command topics for each I/O point mapped to this device.
The main I/O device type currently in use is EtherCAT.
This uses the SOEM library to connect to an EtherCAT slave, which can then have one or mote IO-Link slaves. The EtherCAT slave is limited to 1 per network interface.