# EtherCAT device driver

> Learn how to acquire data from and control EtherCAT devices using Synnax.

The Synnax Driver supports reading and writing data from [EtherCAT](https://www.ethercat.org/) devices. EtherCAT (Ethernet for Control Automation Technology) is a real-time industrial Ethernet protocol designed for high-performance automation and control applications.

## Supported EtherCAT masters

The Synnax Driver supports two EtherCAT master implementations:

### IgH EtherCAT Master

The [IgH EtherCAT Master](https://etherlab.org/en_GB/ethercat) is a Linux kernel module that provides deterministic, real-time EtherCAT communication.

* **Recommended for production deployments**
* Higher performance with deterministic timing
* Requires kernel module installation
* Linux only (including NI Linux Real-Time)

> For installation instructions, see the [IgH EtherCAT Master documentation](https://etherlab.org/en_GB/ethercat). Note that IgH requires a compatible network interface card.

### SOEM (Simple Open EtherCAT Master)

[SOEM](https://github.com/OpenEtherCATsociety/SOEM) is a user-space EtherCAT master library that runs on multiple platforms.

* **Bundled with the Synnax Driver** - no additional installation required
* Cross-platform: Windows, macOS, and Linux
* Good for development, testing, and non-real-time applications
* Does not require kernel modifications

## Compatible devices

The Synnax Driver works with any EtherCAT-compatible device. Common vendors include:

| Vendor                                 | Device types                     |
| -------------------------------------- | -------------------------------- |
| [Dewesoft](https://dewesoft.com/)      | Data acquisition systems         |
| [Beckhoff](https://www.beckhoff.com/)  | I/O terminals, drives, PLCs      |
| [Omron](https://automation.omron.com/) | Servo drives, I/O modules        |
| [Yaskawa](https://www.yaskawa.com/)    | Servo drives, motion controllers |
| [Lenze](https://www.lenze.com/)        | Drives, controllers              |

## Supported operating systems

| Platform           | Status          | Master options |
| ------------------ | --------------- | -------------- |
| Windows            | ✓ Supported     | SOEM           |
| Linux              | ✓ Supported     | IgH or SOEM    |
| NI Linux Real-Time | ✓ Supported     | IgH or SOEM    |
| macOS              | ✓ Supported     | SOEM           |
| Docker             | ✗ Not Supported | -              |

> Docker is not supported because EtherCAT requires direct access to the network interface for raw Ethernet communication.

## Key terminology

EtherCAT uses specific terminology that differs from other industrial protocols:

* **Master** -> The controller that manages the EtherCAT network (IgH or SOEM in Synnax).
* **Slave (Device)** -> An EtherCAT device on the network. This documentation uses “device” for clarity.
* **PDO (Process Data Object)** -> Cyclic data exchanged between master and devices.
* **TxPDO** -> Transmit PDO. Data sent FROM the device TO Synnax (sensor readings).
* **RxPDO** -> Receive PDO. Data sent TO the device FROM Synnax (control commands).
* **CoE (CAN over EtherCAT)** -> Protocol for accessing device parameters using index and subindex addressing.