The EtherCAT Master Stack is based on the Beckhoff Master Sample Code and optimized to meet the requirements of hard real-time operation under the supported Operating Systems. The cycle time can go down to 50µs depending on CPU-performance, number of slaves and data size. EtherCAT Master is ENI based, thus accepts any configuration created in accordance with EtherCAT specifications. EtherCAT Master has a modular architecture and consists of the following layers to adapt the programmers need to create user applications on different convenience and complexity levels.