Downloads & Support


Open source projects

Here are our github pages with further information and the possibility to download SOEM (Simple Open EtherCAT Master stack) and SOES (Simple Open EtherCAT Slave stack) or get more documentation and reference manuals:

EtherCAT Slave Editor

The EtherCAT Slave Editor is a tool for generating ESI, EEPROM and object dictionaries for slaves using the SOES stack.

EtherCAT Slave example code

An example project for implementing a SOES slave on the Freescale K60 Tower system together with the IXXAT EtherCAT slave board.

Help & Support

Below are some examples of the available reference designs rt-labs provides. All reference designs are available as either a barebone codebase or with a real-time operating system (RTOS): rt-kernel. rt-kernel is built for determinism and to support hard real time. Static time-based schedules can be defined and the core supervises that deadlines are kept, in combination with managing less time-critical event-based functionality in a flexible and smooth way.

EtherCAT Master using SOEM
  • Freescale i.MX53
  • Blackfin 5xx
  • Blackfin 6xx
  • Intel
EtherCAT Slave using SOES
  • Freescale K10 – using Beckhoff ET1100
  • Freescale K60 – using Beckhoff ET1100
  • Xilinx Zynq – using Beckhoff ET1815
Supported profiles/features
  • CANOpen over EtherCAT (CoE)
  • Vendor over EtherCAT (VoE)
  • Distributed clocks
  • SERCOS over EtherCAT (SoE)

If you have questions regarding our products, please send an e-mail to If you would like to request support or use one of our solutions, please send an e-mail to