KPA EtherCAT Slave Stack is a software stack designed to run on microcontrollers, CPUs or DSPs with or without any operating system. It is provided as a source code or compiled library.
General
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Code written in “C”
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Small footprint for 8- and 16 Bit- microcontrollers e.g. SAB 80x16x (Infineon), ARM 3.9 (ARM), ATmega128 (Atmel), ppc 52xx, MPC8536 (Freescale), MicroBlaze (Xilinx), Sitara (TI)
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Depending on size of Object Dictionary and Process Image
– ROM (flash) size >= 64kB Standard (55kB Basic)
– RAM size >= 8kB Standard (3kB Basic)
KPA EtherCAT Slave Stack Development Kit (184.0 KiB, 1,000 hits)
KPA EtherCAT Slave Stack Flyer (180.3 KiB, 904 hits)
Interfaces
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Compatible with any Beckhoff EtherCAT Slave Controllers (ESC):
– ASIC ET 1xxx and IP-Core -
Operating System -based or OS-less
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IRQ-handling of hardware events
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Polling of mailbox (Mbx) and Process Image
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Static Object Dictionary (OD) with pointer given from application
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Supporting Intel- and Motorola-data formats
EtherCAT functions
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Mailbox protocols: CoE, EoE, FoE, SoE VoE
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Distributed Clocks (DC)
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Different scan rates
KPA EtherCAT Slave Stack Delivery Options
Extended features
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Operating System Abstraction
– Hardware Abstraction Layer instead of separate “defines”
– Operating System Abstraction Layer for adaptation to operating systems -
Runtime generation/changing of Object Dictionary (OD) using standard xml file or customer-specific OD-description data from ROM, flash memory or ECS’s EEPROM
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Live trace of code execution for efficient debugging and diagnostics
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Different scan rates for process image exchange
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Virtual NIC support (optional)
Delivery Package
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Source code license for unrestricted use *1)
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As compiled library *2), implementation example included for Linux POSIX
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Documentation and sample applications
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One-year technical support and assistance in conformance testing included
*1) for product 7040 0002 only
*2) for products 7040 001, 3-8 only
