The EtherCAT Master by ESD Electronic System is a software designed for several (Real-Time) OS. The software contains configuration and management of the whole Ether CAT networks. It uses a cyclic exchange principle when processing data and API common to all types of implementations. For communication, it uses mailbox system. It can communicate easily with different communication network such as protocol over EtherCAT (CoE), Ethernet over EtherCAT (EoE), file over EtherCAT (FoE) and Servo Drive over EtherCAT (SoE). Plus, it comes with detailed diagnostics and profiling functions. The software it is written with ANSC-C design.