The Acontis stack is divided into two parts. The Class B Master forms the basis. The Klass A Master is an add-on that allows synchronization with Distributed Clocks (DCM = Distributed Clocks Master Synchronization).

The entire toolchain consists of several components and libraries, some of which were purchased and some of which were developed in-house.

1. EtherCAT Master [libEcMaster.a] Base of the EtherCAT stack.
   • „EC-Master-V2.9-Linux_x64-Eval/SDK/LIB/Linux/x64/libEcMaster.a“
2. atemsys.ko Linux kernel module. Grants direct HW access from user space. Must be compiled for the kernel used.
3. LinkLayer [libemllI8254x.so] Library EtharCAT Master Link Layer for Intel8254X EtherNet hardware.

These components are only required if the stack is used together with EEROS.

1. EEROS Application [movingchair] The control application itself which is specially designed for each individual robot.
2. EEROS [libeeros.so] the roboter framework.
3. [ecmasterlib] Interface between Acontis and EEROS application (from NTB addapted EC-Demo of acontis „EC-Master-ClassA-AddOn-V2.9/Examples/EcMasterDemoDc“)