[{"data":1,"prerenderedAt":-1},["ShallowReactive",2],{"detail-sidebar-cat-0-en-105":3,"doc-seo-501668-105":59,"doc-detail-501668-en":130},{"code":4,"msg":5,"data":6},0,"success",[7,13,18,23,28,33,38,43,48,51,55],{"id":8,"doc_module":4,"doc_module_name":9,"category_name":10,"show_sort_weight":11,"slug":12},1,"Document","Story & Novel",90,"story-novel",{"id":14,"doc_module":4,"doc_module_name":9,"category_name":15,"show_sort_weight":16,"slug":17},2,"Literature",80,"literature",{"id":19,"doc_module":4,"doc_module_name":9,"category_name":20,"show_sort_weight":21,"slug":22},4,"Exam",70,"exam",{"id":24,"doc_module":4,"doc_module_name":9,"category_name":25,"show_sort_weight":26,"slug":27},5,"Comic",60,"comic",{"id":29,"doc_module":4,"doc_module_name":9,"category_name":30,"show_sort_weight":31,"slug":32},6,"Technology",50,"technology",{"id":34,"doc_module":4,"doc_module_name":9,"category_name":35,"show_sort_weight":36,"slug":37},7,"Healthcare",40,"healthcare",{"id":39,"doc_module":4,"doc_module_name":9,"category_name":40,"show_sort_weight":41,"slug":42},8,"Research & Report",30,"research-report",{"id":44,"doc_module":4,"doc_module_name":9,"category_name":45,"show_sort_weight":46,"slug":47},9,"Religion & Spirituality",20,"religion-spirituality",{"id":46,"doc_module":4,"doc_module_name":9,"category_name":49,"show_sort_weight":46,"slug":50},"World Cup","world-cup",{"id":52,"doc_module":4,"doc_module_name":9,"category_name":53,"show_sort_weight":52,"slug":54},10,"Lifestyle","lifestyle",{"id":56,"doc_module":4,"doc_module_name":9,"category_name":57,"show_sort_weight":24,"slug":58},19,"General","general",{"code":4,"msg":60,"data":61},"ok",{"site_id":62,"language":63,"slug":64,"title":65,"keywords":66,"description":67,"schema_data":68,"social_meta":123,"head_meta":125,"extra_data":127,"updated_unix":129},105,"en","igh-ethercat-master-1-feature-summary-overview","IgH EtherCAT Master 1 - Feature Summary - Overview","","IgH EtherCAT Master 1.6.13 documentation revision 1.6.13 dated September 15, 2026 describes the EtherCAT master stack in a structured way. It covers feature summary, licensing, core architecture modules, master phases, process data, and application interfaces including cyclic operation, VoE handlers, distributed clocks, and examples. It further explains Ethernet device networking, state machine theory and models, mailbox protocol implementations (EoE, CoE, VoE, SoE), userspace command-line and library interfaces, timing aspects, and installation/build steps.",{"@graph":69,"@context":122},[70,84,105],{"@type":71,"itemListElement":72},"BreadcrumbList",[73,77,79,82],{"item":74,"name":75,"@type":76,"position":8},"https://docshare.wps.com","Home","ListItem",{"item":78,"name":9,"@type":76,"position":14},"https://docshare.wps.com/document/",{"item":80,"name":30,"@type":76,"position":81},"https://docshare.wps.com/document/technology/",3,{"item":83,"name":65,"@type":76,"position":19},"https://docshare.wps.com/document/igh-ethercat-master-1-feature-summary-overview/501668/",{"url":83,"name":65,"@type":85,"image":86,"author":91,"headline":65,"publisher":94,"fileFormat":97,"inLanguage":63,"description":67,"dateModified":98,"datePublished":99,"encodingFormat":97,"isAccessibleForFree":100,"interactionStatistic":101},"DigitalDocument",{"url":87,"@type":88,"width":89,"height":90},"https://docshare.wps.com/thumbnails/igh-ethercat-master-1-feature-summary-overview/501668.png","ImageObject",300,407,{"name":92,"@type":93},"Bulrr","Person",{"url":74,"name":95,"@type":96},"DocShare","Organization","application/pdf","2026-10-17","2026-10-03",true,{"@type":102,"interactionType":103,"userInteractionCount":44},"InteractionCounter",{"@type":104},"ViewAction",{"@type":106,"mainEntity":107},"FAQPage",[108,114,118],{"name":109,"@type":110,"acceptedAnswer":111},"What does the documentation describe about the IgH EtherCAT Master?","Question",{"text":112,"@type":113},"It describes the EtherCAT master documentation for version 1.6.13, including feature summary, architecture, application interfaces, protocol implementations, userspace tools, timing, and installation steps.","Answer",{"name":115,"@type":110,"acceptedAnswer":116},"Which main components are covered in the architecture section?",{"text":117,"@type":113},"The architecture section covers the master module, master phases and transitions, and process data, forming the basis for how the master operates.",{"name":119,"@type":110,"acceptedAnswer":120},"How are userspace interfaces provided in this documentation?",{"text":121,"@type":113},"Userspace interfaces include a command-line tool, a userspace library, an RTDM interface, system integration components (scripts and systemd integration), and debug interfaces.","https://schema.org",{"og:url":83,"og:type":124,"og:title":65,"og:site_name":95,"og:description":67},"article",{"robots":126,"canonical":83},"index,follow",{"doc_id":128,"site_id":62},501668,1791052653,{"code":4,"msg":5,"data":131},{"doc_id":128,"user_id":132,"nickname":92,"user_avatar":133,"doc_module":4,"category_id":29,"category_name":30,"doc_title":65,"doc_description":67,"doc_content":134,"file_id":135,"file_url":136,"file_type":137,"file_size":138,"view_count":44,"is_deleted":4,"is_public":8,"is_downloadable":8,"audit_status":8,"page_count":139,"language":140,"language_code":63,"site_id":62,"html_lang":63,"table_of_contents":141,"faqs":142,"seo_title":143,"seo_description":67,"update_tm":144,"read_time":145},5909892115043,"https://ap-avatar.wpscdn.com/davatar_6f874abed73319feea01a86fa6f0fab8","IgH  Master 1.6.13 Documentation  \nDipl.-Ing. (FH) Florian Pose, [fp@igh. de](fp@igh. de)[ ](fp@igh. de)Ingenieurgemeinschaft   \nEssen, September 15, 2026 Revision 1.6.13  \nii 1.6. 13, September 15, 2026  \nContents  \nConventions .................................... x  \n1 The IgH EtherCAT Master 1  \n1.1 Feature Summary .............................. 1  \n1.2 License .................................... 3  \n2 Architecture 5  \n2.1 Master Module ............................... 7  \n2.2 Master Phases ................................ 9  \n2.3 Process Data ................................ 9  \n3 Application Interface 13  \n3.1 Master Con􀀌guration ............................ 13  \n3.1.1 Slave Con􀀌guration ......................... 13  \n3.2 Cyclic Operation .............................. 15  \n3.3 VoE Handlers ................................ 17  \n3.4 Concurrent Master Access ......................... 17  \n3.5 Distributed Clocks ............................. 19  \n3.6 Application Interface Header ........................ 22  \n3.7 Userspace Application Example ...................... 71  \n4 Ethernet Devices 79  \n4.1 Network Driver Basics ........................... 79  \n4.2 Native EtherCAT Device Drivers ..................... 81  \n4.3 Generic EtherCAT Device Driver ..................... 84  \n4.4 Providing Ethernet Devices ........................ 85  \n4.5 Redundancy ................................. 85  \n4.6 EtherCAT Device Interface ......................... 85  \n4.7 Patching Native Network Drivers ..................... 86  \n5 State Machines 87  \n5.1 State Machine Theory ........................... 88  \n5.2 The Master's State Model ......................... 90  \n5.3 The Master State Machine ......................... 93  \n5.4 The Slave Scan State Machine ....................... 93  \n5.5 The Slave Con􀀌guration State Machine .................. 96  \n5.6 The State Change State Machine ..................... 98  \n1.6. 13, September 15, 2026 iii  \n5.7 The SII State Machine ........................... 99  \n5.8 The PDO State Machines ......................... 100  \n6 Mailbox Protocol Implementations 105  \n6.1 Ethernet over EtherCAT (EoE) ...................... 105  \n6.1.1 EoE Interface Con􀀌guration .................... 108  \n6.2 CANopen over EtherCAT (CoE) ..................... 109  \n6.3 Vendor speci􀀌c over EtherCAT (VoE) ................... 111  \n6.4 Servo Pro􀀌le over EtherCAT (SoE) .................... 111  \n7 Userspace Interfaces 113  \n7.1 Command-line Tool ............................. 113  \n7.1.1 Character Devices .......................... 113  \n7.1.2 Setting Alias Addresses ....................... 114  \n7.1.3 Displaying the Bus Con􀀌guration ................. 114  \n7.1.4 Display CRC Error Counters .................... 115  \n7.1.5 Output PDO information in C Language ............. 115  \n7.1.6 Displaying Process Data ...................... 116  \n7.1.7 Setting a Master's Debug Level .................. 116  \n7.1.8 Con􀀌gured Domains ........................ 116  \n7.1.9 SDO Access ............................. 117  \n7.1.10 EoE Statistics ............................ 119  \n7.1.11 File-Access over EtherCAT ..................... 119  \n7.1.12 Creating Topology Graphs ..................... 120  \n7.1.13 Setting Ethernet-over-EtherCAT IP Parameters ......... 120  \n7.1.14 Master and Ethernet Devices ................... 121  \n7.1.15 Sync Managers, PDOs and PDO Entries ............. 121  \n7.1.16 Register Access ........................... 122  \n7.1.17 Trigger a Bus Scan ......................... 123  \n7.1.18 SDO Dictionary ........................... 124  \n7.1.19 SII Access .............................. 124  \n7.1.20 Slaves on the Bus .......................... 126  \n7.1.21 SoE IDN Access ........................... 127  \n7.1.22 Requesting Application-Layer States ............... 129  \n7.1.23 Displaying the Master Version ................... 129  \n7.1.24 Generating Slave Description XML ................ 129  \n7.2 Userspace Library .............................. 1","cbCairNSxfm8zpkL","https://ap.wps.com/l/cbCairNSxfm8zpkL","pdf",913836,163,"English","# Conventions\n# The IgH EtherCAT Master 1\n## Feature Summary\n## License\n# Architecture\n## Master Module\n## Master Phases\n## Process Data\n# Application Interface\n## Master Configuration\n## Slave Configuration\n## Cyclic Operation\n## VoE Handlers\n## Concurrent Master Access\n## Distributed Clocks\n## Application Interface Header\n## Userspace Application Example\n# Ethernet Devices\n## Network Driver Basics\n## Native EtherCAT Device Drivers\n## Generic EtherCAT Device Driver\n## Providing Ethernet Devices\n## Redundancy\n## EtherCAT Device Interface\n## Patching Native Network Drivers\n# State Machines\n## State Machine Theory\n## The Master’s State Model\n## The Master State Machine\n## The Slave Scan State Machine\n## The Slave Configuration State Machine\n## The State Change State Machine\n## The SII State Machine\n## The PDO State Machines\n# Mailbox Protocol Implementations\n## Ethernet over EtherCAT (EoE)\n## CANopen over EtherCAT (CoE)\n## Vendor specific over EtherCAT (VoE)\n## Servo profile over EtherCAT (SoE)\n# Userspace Interfaces\n## Command-line Tool\n## Userspace Library\n## RTDM Interface\n## System Integration\n## Debug Interfaces\n# Timing Aspects\n## Application Interface Profiling\n## Bus Cycle Measuring\n# Installation\n## Getting the Software\n## Building the Software\n## Building the Interface Documentation\n## Installing the Software\n## Automatic Device Node Creation","[{\"question\":\"What does the documentation describe about the IgH EtherCAT Master?\",\"answer\":\"It describes the EtherCAT master documentation for version 1.6.13, including feature summary, architecture, application interfaces, protocol implementations, userspace tools, timing, and installation steps.\"},{\"question\":\"Which main components are covered in the architecture section?\",\"answer\":\"The architecture section covers the master module, master phases and transitions, and process data, forming the basis for how the master operates.\"},{\"question\":\"How are userspace interfaces provided in this documentation?\",\"answer\":\"Userspace interfaces include a command-line tool, a userspace library, an RTDM interface, system integration components (scripts and systemd integration), and debug interfaces.\"}]","IgH EtherCAT Master 1 - Feature Summary - Overview | PDF",1791022371,411]