EtherCAT Slave Stack Code ET9300

The EtherCAT Slave Stack Code is an example source code in ANSI C supporting both the µC and the SPI interface. The code serves as a development base for implementation of EtherCAT in devices with own processor.

Features

• EtherCAT handling in the controller
• Handling of the EtherCAT State Machine (ESM)
• Distributed Clocks (DC) 
• Mailbox handling
• Protocol handling for:
  • CoE (CAN Application Layer over EtherCAT)
  • FoE (File Access over EtherCAT)
  • EoE (Ethernet over EtherCAT)
  • SoE (Servo Drive Profile over EtherCAT)
  • AoE (ADS over EtherCAT)
• Sample applications for all variants
• Sample implementation of CiA402 Drive Profile according to ETG.6010 Specification