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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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