SOEM EtherCAT Master Library, written in C, is used to write custom EtherCAT Master applications. Can run on a large number of platforms, the main requirement is that the platform can send and receive RAW Ethernet Layer 2 frames.
SOEM provides a small footprint. It is a good alternative to more complex stacks on the market and is especially well suited for embedded systems.
Memroy allocated statically , low foot print, easy to port driver and application layer (require time reference, object locking and abillity to send and receive ethernet frames).
Mailbox Box protocols:
- CoE, read and write SDO
- FoE, read and write file
- EoE, send and receive ethernet frame fragments
- SoE, read and write IDN
Distributed clocks (DC)
- Automatic DC configuration of DC slaves
- Clock synchronization included in process data
Cable reduncancy over 2 Ethernet interfaces