KPA EtherCAT Slave Stack

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.


  • Code written in “C”
  • Small footprint for 8 and 16 Bit microcontrollers:
    • SAB 80x16x (Infineon)
    • XMC4800 (Infineon)
    • MicroBlaze (Xilinx)
    • Sitara AM335x with integrated ESC in PRUs (Texas Instruments)
    • C2000 (Texas Instruments)
    • STM32 (ST)
    • NIOS II (Intel FPGA/Altera)
    • ARM 3 – 9, ATmega128 (Atmel)
    • PPC 52xx, MPC8536 (Freescale)
  • Supported operating systems:
    • Linux (with/without RT-Preemption patch)
    • Linux with Xenomai
    • QNX
    • SYS BIOS
    • VxWorks
    • Windows
    • INtime
    • RTX/RTX64
    • OS-less
  • Depending on size of Object Dictionary and Process Image
    • ROM (flash) size >= 64kB Standard (55kB Basic)
    • RAM size >= 8kB Standard (3kB Basic)
  • SSDK contains the samples demonstrating various PDI usage
  • Basing on KPA EtherCAT Slave Stack various EtherCAT slaves are implemented

  KPA EtherCAT Slave Stack Development Kit (213.9 KB, 2,664 hits)

  KPA EtherCAT Slave Stack Flyer (283.1 KB, 2,163 hits)


  • Compatible with any Beckhoff EtherCAT Slave Controllers (ESC):
    • ASIC ET 1xxx
    • IP-Core
  • IRQ-handling of hardware events
  • Polling of mailbox and Process Image
  • Static Object Dictionary (OD) with pointer given from application
  • Supporting Intel- and Motorola-data formats

EtherCAT functions

  • Mailbox protocols: CoE, EoE, FoE, SoE VoE
  • Distributed Clocks (DC)
  • Different scan rates

KPA EtherCAT Slave Stack Delivery Options

Extended features

  • 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
  • Live trace of code execution for efficient debugging and diagnostics
  • Different scan rates for process image exchange
  • Virtual NIC support (optional)
  • Interface Card Driver (optional)

Delivery Package

  • Source code license for unrestricted use1
  • As compiled library2, implementation example included for Linux POSIX
  • Documentation and sample applications
  • One-year technical support and assistance in conformance testing included

1 for product 7040 0002 only
2 for products 7040 001, 3-8 only

Ready to try our KPA EtherCAT Slave Stack?

Request a free trial

Get more information if you have any questions

By entering your email address you agree that we will answer your request via email.

This site is protected by reCAPTCHA and the Google Privacy Policy and Terms of Service apply.

Consider using our product?
Get a free trial version!

Make a request