Home of SOEM and SOES

This is the official page for SOEM (Simple Open EtherCAT Master) and SOES (Simple Open EtherCAT Slave). SOEM and SOES are small EtherCAT stacks for the embedded market.

Reference manuals

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
Infineon XMC47/XMC48

EtherCAT Slave using SOES

Freescale K10 - using Beckhoff ET1100
Freescale K60 - using Beckhoff ET1100
Xilinx Zynq - using Beckhoff ET1815
Infineon XMC43/XMC48
Microchip LAN9252

Supported profiles/features

CANOpen over EtherCAT (CoE)
Vendor over EtherCAT (VoE)
Distributed clocks
SERCOS over EtherCAT (SoE)

Releases

For the latest codebase, see the GitHub repository
SOEM 1.3.1
SOEM 1.3.0
SOEM 1.2.8
SOEM 1.2.5
SOEM 1.2.4
SOEM 1.2.3
SOEM 1.2.2
SOEM 1.2.0

Need help with SOEM or SOES?

RT-Labs provides education and workshops regarding SOEM, SOES and other EtherCAT related issues. For more information, see EtherCAT for embedded systems – Master, and EtherCAT for embedded systems – Slave.

Want to contribute to SOEM or SOES

If you want to contribute to SOEM or SOES you will need to sign a Contributor License Agreement and send it to us either by e-mail or by physical mail. More information is available in the PDF.

SOEM/SOES ecosystem

EtherCAT SDK: EtherCAT SDK is a complete toolset for developing and maintaining EtherCAT slaves. It includes EtherCAT Slave Editor and EtherCAT Explorer. Together with SOES EtherCAT Slave Stack the developer has an all-in-one tool for developing EtherCAT slaves in an efficient way. Read more here.