====== Use with EEROS ====== 
[[http://eeros.org/|EEROS]] offers predefined blocks for using EtherCAT within its control system. First [[http://wiki.eeros.org/getting_started/install|download and install]] EEROS. You have to compile EEROS with ''-DUSE_ETHERCAT=TRUE'' when calling cmake.
<code>
...
cmake -DCMAKE_INSTALL_PREFIX=/absolute/path/to/working/directory/install-x86 -DUSE_ETHERCAT=TRUE ..
...
</code>
This will alter the timing of the executor.

See [[https://wiki.eeros.org/eeros_architecture/control_system/available_blocks#blocks_for_interfacing_with_can|Available Blocks]] for control system blocks used to send signals over EtherCAT and receive signals from EtherCAT bus.