Simple Open Source EtherCAT Slave ==== SOES (Simple OpenSource EtherCAT Slave Stack) is an opensource slave stack that is very easy to use and provides a small footprint. It is a good alternative to more complex stacks on the market.

EtherCAT协议的开源实现，包括EtherCAT主站和从站(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 Xili

ethercat 主协议栈,开源免费，快速搭建通讯链路(ethercat Master protocol stack)

It's beckhoff in xml