EtherCAT Master Stack for different real-time OS

KPA Master Stack is based on ANSI "C" and optimized for short execution time and small memory footprint to meet requirements of hard real-time operation and enable deployment in embedded systems on different hardware platform. The cycle time can go down to 50µs depending on CPU, operating system and amount of data.

KPA Master is ENI based, thus accepts any configuration created in accordance with EtherCAT specifications.KPA Master is ENI based, thus accepts any configuration created in accordance with EtherCAT specifications.

KPA Master has a modular architecture and consists of following layers (see picture):

• RPC Server – control, monitoring, adjustment or testing of the Master can be performed remotely using Remote Procedure Call Server
• Application layer – API allows to interact with user applications or tools
• Master Core – implementation of EtherCAT Master functions 
• Operating System Abstraction Layer – OS-dependent functions and network adapter driver module for portability to different hardware platforms and operating systems
  

Supported Hardware Platforms:

• x86 
• freescale
• ARM 

Supported Operating Systems:

• Windows® XP 
• RTX® 7.1; 8.1
• INtime 3.1; 4.01
• CE 6.0 (in preparation) 
• OnTime RTOS 32
• QNX 6.4.0; 6.4.1 
• Linux 2.4/2.6 with RTAI+RTNET 
• Linux 2.6.24 with Preemption Patch 
• Xenomai 2.4.7
• VxWorks 6.8
• PikeOS 2.1

KPA Master is scalable and available in following packages:

Basic (EtherCAT Master Class B)
In extension to the requested features stated inside ETG.1500

• Adjustable scan rate for each SM (Sync Manager) 
• Multiple Master instances
• Explicit Device Identification
• Station Alias Addressing
• Write access to EEPROM 
• Distributed Clocks -time distribution
• Statistics
• CoE Complete Access 
• CoE SDO Info Service
• File Access over EtherCAT (FoE)

Standard (EtherCAT Master Class A)
In addition to Basic Version

• Distributed Clocks (DC)
  synchronization of master and slaves with continuous delay compensation 
• Servo drive profile over EtherCAT (SoE)
• Ethernet over EtherCAT (EoE) 
• Vendor specific protocol over EtherCAT (VoE)
  

EtherCAT Feature Packs

• Hot-Connect 
• Cable Redundancy 
• TCP or UDP / IP Mailbox Gateway
• External Synchronization

Extension Packs

• Access Rights for different users of Master
• Data- and Frame-Logger