EtherCAT master stack has a modular structure to respond to a challenge of each particular implementation. It makes the master scalable to fit the size of application, portable to different operating systems, adaptable to various hardware platforms and allows developing or customizing each module separately while keeping the functionality of the others intact.
Master’s modules are grouped in the following layers, thereby all functions are clearly separated:
Application layer
Application layer is responsible for interaction with various programming or/and configuration environments and other applications or devices. It encapsulates and
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ensures access to master’s functions from the side of applications or process tasks
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allows interaction with the master by means of Remote Procedure Calls service and provides TCP/IP or/and UDP connections, for example, for mailbox communication with slaves via UDP
