[Etherlab-users] Ethercat slave

Graeme Foot Graeme.Foot at touchcut.com
Tue Jun 8 00:15:58 CEST 2021

Hi Vincent,

We have developed a slave using an Infineon XMC4800 development board (V2).  All our slave required was the EtherCAT interface and a 100base T ethernet port for a small run of slaves, so we didn't need to develop a custom slave.

Infineon provides the DAVE development environment that runs within Microsoft Visual Studio.  The DAVE projects use the Beckhoff SSC tools (Slave Stack Code) for the base EtherCAT API.  I don't know how well DAVE would support non-Infineon products.

Our slave has uses two projects, a bootloader and the main application.  The bootloader allows firmware updates via FoE.

I found the Infineon forums reasonably helpful and they had quite a few helpful examples.  The biggest hurdle was that a number of the relevant examples were for the previous Beckhoff SSC (V5.11) and I was using V5.12, so I needed to work out a few of the required changes myself.  (This was in 2019, not sure what versions things are now.)

The ETG forum will also be required: https://www.ethercat.org/memberarea/en/forum.htm.  One of the forums posts bug fixes for each SSC release version.

Another issue is licensing.  The XMC4800 development board came with its own slave license.  If you are developing from scratch with FPGA's for example you will need to purchase slave licenses by the bundle.  Separately you will also need to:
- Apply to ETG for a Vendor ID.  This is only given out to organizations, not individuals.  This gives you access to the SSC and gives you your unique vendor ID.
- Purchase the Conformance Test Tool (CTT) license.  This is an annual license that is required for the entire time you want to sell / distribute / support your own EtherCAT slaves.  (Available from your local Beckhoff office.)  You must test all slaves / firmware releases against the CTT to be able to sell / distribute your slaves.


From: Etherlab-users <etherlab-users-bounces at etherlab.org> On Behalf Of BUSSIERES Vincent
Sent: Tuesday, 8 June 2021 08:36
To: etherlab-users at etherlab.org
Subject: [Etherlab-users] Ethercat slave

Sorry for that irrelevant question, but I'd like to develop an EtherCAT slave on a PC.
Has any of you ever done that and with which EtherCAT stack ?

Best regards

Responsable Technique Logiciel

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