The „ecmasterlib“ provides a callback function (void callbackFct(…)) which is called by the Acontis stack once per EtherCAT cycle. This method:

• Copies the received data from the stack into the receive buffer of „ecmasterlib“
• Copies the data to be sent from the send buffer of „ecmasterlib“ to the stack.

The receive and send buffers of „ecmasterlib“ are byte arrays (uint8_t* inBuffer; uint8_t* outBuffer;) which are the same size as the PDOs.

The „ecmasterlib“ also provides a condition variable (std::condition_variable cv;) to synchronize the user application (i.e. EEROS).

When an „ecmasterlib“ object is created, an instance (monotonic) is created. The stack is started in the same way as in the „EcMasterDemoDC“ of Acontis.