Introduction
STEP is linux embedded controller and uses Linux/Xenomai kernel which is hard realtime OS for real-time control. PlatformSDK is a software framework that enables development of system interface and application program using STEP. Using PlatformSDK, developers can easily make their own linux embedded real-time control applications in MS Windows environment.
STEP
STEP is integrated with EtherLab, which has been proven open-source EtherCAT master stack for many systems, for multi-axes synchronized high-speed realtime distributed control. Development of standard EtherCAT based realtime cotrol applications is supported by CoE (CANopen-over-EtherCAT) protocol based programming interface. Legacy devices with RS485 or CAN interfaces can be connected for standard ports.
Neuromeka provide two types of STEP.
- STEP2: EtherCAT master PC that provides multi-axes synchronized high-speed realtime distributed control.
- STEP3: High performance model for advanced research purpose. EtherCAT master PC with high performance NVIDIA GPU card and TensorRT library. It enables developing system that integrates high-speed deep learning inference, EtherCAT communication, and real time control.
Note
STEP2 and STEP3 ensure 4kHz and 8kHz control rate, respectively, including computing inverse kinematics and dynamics of 6-DOF robot manipulator. Please refer to detailed specification of STEP in https://www.neuromeka.com/controller.
Also, STEP provide various IO ports and related API (Please refer to STEP communication)
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GPIO 16 pin (STEP3 not provided)
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RS422 1 port, RS485 1 port 1
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Fieldbus interface: CAN 1 port, Ethernet 1 port for EtherCAT
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Ethernet 1 port for network connection
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PlatformSDK
NRMKPlatform SDK is a powerful development environment for embedded realtime applications providing a complete tool-chain running directly on Windows.
Eclipse is provided as main programming IDE. Also, following linux-based realtime control tool, and various CDT (C/C++ Development Tools) are provided.
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GNU cross compiler for i686 target in Cygwin
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Real-time Kernel Libraries: Xenomai (Real-time)
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Prebuilt Etherlab EtherCAT master
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Third-party libraries for NRMKFoundation including Eigen, Poco, etc.
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Online debugger via SSH for STEP
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Direct execution/downloading binary files to STEP
Components of PlatformSDK to develop STEP application
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RS485 port cannot be used in blue cover STEP2. Please refer to RS485 port setting. ↩