Safety-over-EtherCAT is a safety communication layer primarily for EtherCAT networks. It uses a black channel approach and does not rely on the communication medium for any safety related purposes. Hence, theoretically any communication medium can be used.
FSoE is standardized by the ETG organization and is used to communicate with EtherCAT safety devices.
The rt-labs FSoE component is available for rt-labs SOEM and SOES.
The FSoE component is supplied with full sources. TODO: API etc.
(Link to SOEM, SOES)
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