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KPA EtherCAT Slave

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

  • Code written in “C”
  • 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).
  • Depending on size of Object Dictionary and Process Image
    – ROM (flash) size >= 64kB Standard (55kB Basic)
    – RAM size >= 8kB Standard (3kB Basic)

Interfaces

  • Compatible with any Beckhoff EtherCAT Slave Controllers (ESC):
    – ASIC ET 1xxx and IP-Core
  • Operating System -based or OS-less
  • IRQ-handling of hardware events
  • Polling of mailbox (Mbx) 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

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