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  • EtherCAT is a real-time capable fieldbus system.
  • A PC with real-time OS, like Linux with RT-patch, and Ethernet hardware can be used as the master.
  • The slaves require special EtherCAT hardware.
  • With EtherCAT, data packets, so-called PDOs (process data objects), are sent cyclically from the master to the slaves and from the slaves to the master.
  • A PDO can, for example, be an encoder value or an output value for a drive.
  • Acyclic messages, so-called SDOs (service data objects), are not discussed in this documentation.

This article deals mainly with Linux based masters.

In this example workflow a Linux based master with Acontis stack and EEROS is used.

  1. Get the ecmasterlib , build, and install, see ecmasterlib and EtherCATInterface
  2. Get the EtherCATInterfaceElmo, build, and install, see ecmasterlib and EtherCATInterface and run the example therein.
  3. Full example with NTB teststand

ecmasterlib, EtherCATInterface and EEROS

The ecmasterlib and EtherCATInterface offer a relative easy way to use EtherCAT with EEROS or in a standalone project. ecmasterlib offers the low level interface to the Acontis stack (class A). It is based on the demo application EcMasterDemoDC from Acontis. EtherCATInterfaceElmo interface is specific for Gold Twitter drives from ElmoMC. Other drives (i.e. Maxon Maxpos 50/5) need a different interface. You may copy and adapt EtherCATInterfaceElmo for your drive type.

EtherCATInterfaceBase is the base interface to ecmasterlib. It is inherited by all EtherCATInterfaces. If you want to use EtherCAT in an EEROS application, the ecmasterlib with an EtherCATInterface is recommended.
EEROS > EtherCATInterfaceElmo > ecmasterlib & EtherCATInterfaceBase > Acontis Stack

Detailed description



The „EC-Teststand“ (EtherCAT test setup) is a setup with 2 Elmo Drives, 2 motors, powersupply and PC with RT-Linux and the following software:

  • Acontis EtherCAT stack
  • ecmasterlib
  • EtherCATInterfaceElmo including test application

More detailed description here.

Contact Acontis

Christoph Widmann Geschäftsführer / Managing Director
acontis technologies GmbH
St.-Konrad-Str. 51, 88250 Weingarten, Germany
Phone: +49 (0) 751 5 60 30 32