EtherCAT Slave Library (SOES)

SOES EtherCAT Slave Library, written in C, used to write custom EtherCAT Slave applications.


Can run on a large number of platforms, the main requirement is that the platform include or can interface an EtherCAT Slave Controller(ESC).

It is 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.

Price and documentation

How to obtain
PriceGPL with exception
Product categoryCommunication stacks
Link to documentation
Link to download



  • Memory allocated statically,
  • Low foot print
  • Easy to port driver and application layer via ESC read/write layer.

Hardware support

  • ET1100, ET1200
  • LAN9252
  • IP 181x
  • TI soft ESC
  • XMC4

Mailbox Box protocols:

  • CoE
  • FoE
  • EoE


  • Freerun
  • Syncmanager synchronous
  • Distributed Clocks

Modes of operation

  • Polling – will poll for events and data
  • Mixed polling/interrupt – will poll for events and trigger in data interrupts
  • Interrupt – will trigger on events and data interrupts