EtherCAT Slave Stack

SOES (Simple OpenSource EtherCAT Slave Stack) is an opensource slave stack that is very easy to use and provides a small footprint. It is a good alternative to more complex stacks on the market and is especially well suited for embedded systems.

Features as of SOES

  • Address offset based HAL for easy ESC read/write access via any interface
  • Mailbox with data link layer
  • CoE
  • Object dictionary
  • SDO read and write for all sizes including segmented transfers
  • Easy portable C-code suited for embedded applications
  • Fixed PDO mapping
  • FoE with bootstrap template
  • Support for Little and Big endian targets
  • Run polling, mixed polling/interrupt or interrupt
  • Support for SM Synchronization
  • Support DC sync0 and DC Synchronization
  • Add stack configuration via new configuration paramater to/or from “stack”_init

Source code and documenation

Please refer to Open EtherCAT Society

License Terms

SOES can be licensed under commercial license.
Licensing of Open EtherCAT Society’s Simple Open EtherCAT Master (SOEM) under a commercial license for use in a named product / product line. The SOEM stack changes names when released under a commercial license to Versatile EtherCAT Master Library (VEML).

Please contact for further information on commercial alternatives when using SOES