EtherCAT Slave Stack Code (SSC) ET9300

The EtherCAT Slave Stack Code (SSC) is an example source code in ANSI C supporting both the µC and the SPI interface. The code serves as a development base for implementation of EtherCAT in devices with own processor.


  • EtherCAT handling in the controller
  • Handling of the EtherCAT State Machine (ESM)
  • Distributed Clocks (DC) 
  • Mailbox handling
  • Protocol handling for:
    • CoE (CAN application protocol over EtherCAT)
    • FoE (File Access over EtherCAT)
    • EoE (Ethernet over EtherCAT)
    • SoE (Servo Drive Profile over EtherCAT)
    • AoE (ADS over EtherCAT)
  • Sample applications for all variants
  • Sample implementation of CiA402 Drive Profile according to ETG.6010 Specification

The “Object Dictionary Tool” (OD-Tool) has been integrated into the SSC OD configuration tooling, supporting a consistent definition of offline and online object dictionary.

  • Description of object dictionary using a spreadsheet file
  • Generation of file for online object dictionary
  • Generation of offline object dictionary to include into the slave’s ESI file

The Slave Stack Code can be requested for free via the following link:
SSC Download