AJBuilder / AKD-Ethercat-Master

An EtherCAT master for a Kollmorgen AKD drive using SOEM

AKD Ethercat Master

Building

mkdir build
cd build
cmake ..
make

Debug mode will print more data to stdout. If you would like to build in debug mode, replace the cmake command with :

cmake -DDEBUG_MODE=ON ..

Using for ROS

If you'd like to use this in a ROS enviroment without having to install the library on the system, I wrote a ROS wrapper for the library.

Also, a ROS example.