{"id":19855106,"url":"https://github.com/leggedrobotics/maxon_epos_ethercat_sdk","last_synced_at":"2026-03-13T01:32:40.658Z","repository":{"id":37858503,"uuid":"355201132","full_name":"leggedrobotics/maxon_epos_ethercat_sdk","owner":"leggedrobotics","description":"Implementation of an ethercat device driver for the maxon epos 4","archived":false,"fork":false,"pushed_at":"2024-10-23T05:12:03.000Z","size":565,"stargazers_count":26,"open_issues_count":1,"forks_count":20,"subscribers_count":23,"default_branch":"master","last_synced_at":"2025-10-14T15:24:23.508Z","etag":null,"topics":[],"latest_commit_sha":null,"homepage":null,"language":"C++","has_issues":true,"has_wiki":null,"has_pages":null,"mirror_url":null,"source_name":null,"license":"bsd-3-clause","status":null,"scm":"git","pull_requests_enabled":true,"icon_url":"https://github.com/leggedrobotics.png","metadata":{"files":{"readme":"README.md","changelog":null,"contributing":"Contributing.md","funding":null,"license":"LICENSE","code_of_conduct":null,"threat_model":null,"audit":null,"citation":null,"codeowners":null,"security":null,"support":null,"governance":null,"roadmap":null,"authors":null,"dei":null,"publiccode":null,"codemeta":null}},"created_at":"2021-04-06T13:36:14.000Z","updated_at":"2025-04-24T10:05:56.000Z","dependencies_parsed_at":"2024-10-23T10:12:04.904Z","dependency_job_id":null,"html_url":"https://github.com/leggedrobotics/maxon_epos_ethercat_sdk","commit_stats":null,"previous_names":[],"tags_count":0,"template":false,"template_full_name":null,"purl":"pkg:github/leggedrobotics/maxon_epos_ethercat_sdk","repository_url":"https://repos.ecosyste.ms/api/v1/hosts/GitHub/repositories/leggedrobotics%2Fmaxon_epos_ethercat_sdk","tags_url":"https://repos.ecosyste.ms/api/v1/hosts/GitHub/repositories/leggedrobotics%2Fmaxon_epos_ethercat_sdk/tags","releases_url":"https://repos.ecosyste.ms/api/v1/hosts/GitHub/repositories/leggedrobotics%2Fmaxon_epos_ethercat_sdk/releases","manifests_url":"https://repos.ecosyste.ms/api/v1/hosts/GitHub/repositories/leggedrobotics%2Fmaxon_epos_ethercat_sdk/manifests","owner_url":"https://repos.ecosyste.ms/api/v1/hosts/GitHub/owners/leggedrobotics","download_url":"https://codeload.github.com/leggedrobotics/maxon_epos_ethercat_sdk/tar.gz/refs/heads/master","sbom_url":"https://repos.ecosyste.ms/api/v1/hosts/GitHub/repositories/leggedrobotics%2Fmaxon_epos_ethercat_sdk/sbom","scorecard":null,"host":{"name":"GitHub","url":"https://github.com","kind":"github","repositories_count":286080680,"owners_count":30453639,"icon_url":"https://github.com/github.png","version":null,"created_at":"2022-05-30T11:31:42.601Z","updated_at":"2026-03-12T21:31:01.033Z","status":"ssl_error","status_checked_at":"2026-03-12T21:30:43.161Z","response_time":114,"last_error":"SSL_connect returned=1 errno=0 peeraddr=140.82.121.5:443 state=error: unexpected eof while reading","robots_txt_status":"success","robots_txt_updated_at":"2025-07-24T06:49:26.215Z","robots_txt_url":"https://github.com/robots.txt","online":false,"can_crawl_api":true,"host_url":"https://repos.ecosyste.ms/api/v1/hosts/GitHub","repositories_url":"https://repos.ecosyste.ms/api/v1/hosts/GitHub/repositories","repository_names_url":"https://repos.ecosyste.ms/api/v1/hosts/GitHub/repository_names","owners_url":"https://repos.ecosyste.ms/api/v1/hosts/GitHub/owners"}},"keywords":[],"created_at":"2024-11-12T14:11:43.302Z","updated_at":"2026-03-13T01:32:40.628Z","avatar_url":"https://github.com/leggedrobotics.png","language":"C++","funding_links":[],"categories":[],"sub_categories":[],"readme":"# Maxon EtherCAT SDK\n\n## Overview\n\nThis is a C++ library providing a high-level interface for controlling [Maxon](https://www.maxonmc.com/) motor drivers of the [EPOS line](https://www.maxongroup.com/maxon/view/content/epos-detailsite) over EtherCAT (using the [CANopen over EtherCAT CoE](https://www.ethercat.org/en/technology.html#1.9.1) protocol). It is modified by Linghao Zhang based on [elmo_ethercat_sdk](https://github.com/leggedrobotics/elmo_ethercat_sdk) by Jonas Junger.\n\nThe lower level EtherCAT communication is handled by the [soem_interface](https://github.com/leggedrobotics/soem_interface) library.\n\nThe `maxon_epos_ethercat_sdk` is developed on Ubuntu 20.04 LTS with [ROS Noetic](https://wiki.ros.org/noetic).\n\nThe source code is released under the BSD-3-Clause license.\nA copy of the license is available in the [LICENSE](LICENSE) file.\n\n**Authors:** Linghao Zhang, Jonas Junger, Lennart Nachtigall\n\n**Maintainer:** Linghao Zhang, lingzhang@ethz.ch\n\n**Contributors:** Fabio Dubois, Markus Staeuble, Martin Wermelinger\n\n## Installation\n\n### Dependencies\n\n#### Catkin Packages\n\n|        Repo         |                          url                          |   License    |               Content               |\n| :-----------------: | :---------------------------------------------------: | :----------: | :---------------------------------: |\n|   soem_interface    | https://github.com/leggedrobotics/soem_interface.git  |    GPLv3     | Low-level EtherCAT functionalities  |\n| ethercat_sdk_master | https://github.com/leggedrobotics/ethercat_sdk_master | BSD 3-Clause | High-level EtherCAT functionalities |\n|   message_logger    | https://github.com/leggedrobotics/message_logger.git  | BSD 3-Clause |         simple log streams          |\n\n#### System Dependencies (tested on Ubuntu 20.04 LTS)\n\n- [ROS Noetic](https://wiki.ros.org/noetic)\n- catkin\n- yaml-cpp\n\n\u003e Likely to work with [ROS Meolodic](https://wiki.ros.org/melodic) and Ubuntu 18.04 LTS\n\n### Building from Source\n\nTo build the library from source, clone the latest version from this repository and from the dependencies into your catkin workspace and compile the package using\n\n```bash\ncd catkin_workspace/src\ngit clone https://github.com/leggedrobotics/soem_interface.git\ngit clone https://github.com/leggedrobotics/ethercat_sdk_master.git\ngit clone https://github.com/leggedrobotics/message_logger.git\ngit clone https://github.com/leggedrobotics/maxon_epos_ethercat_sdk.git\ncd ../\ncatkin build maxon_epos_ethercat_sdk\n```\n\n## Example\n\nSee [ethercat_device_configurator](https://github.com/leggedrobotics/ethercat_device_configurator) for an minimal working example.\n\n## Usage\n\nSee [Usage.md](doc/Usage.md).\n\n## Contributing\n\nSee [Contributing.md](Contributing.md)\n","project_url":"https://awesome.ecosyste.ms/api/v1/projects/github.com%2Fleggedrobotics%2Fmaxon_epos_ethercat_sdk","html_url":"https://awesome.ecosyste.ms/projects/github.com%2Fleggedrobotics%2Fmaxon_epos_ethercat_sdk","lists_url":"https://awesome.ecosyste.ms/api/v1/projects/github.com%2Fleggedrobotics%2Fmaxon_epos_ethercat_sdk/lists"}