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# EtherCAT Motion Control (ECMC)
ECMC is an EPICS-based motion control and data acquisition module for EtherCAT systems. It combines axis control, realtime PLC logic, data acquisition, and runtime extensions in one IOC-oriented package. The growing list of EtherCAT hardware supported by Controls forms the basis of the SLS 2.0 Motion Control Standard.
## EtherCAT Hardware Portfolio
### Preferred EtherCAT terminals
We maintain an active list of preferred EtherCAT terminals. The list accessed via the following url, under Standards Dokumente:
[El-Net Motion Control](https://intranet.psi.ch/de/el-net/el-net-psidrive-control)
Using hardware from this catalog guarantees turnkey support, pre-tested motor profiles, and in most cases spare part replacement.
### Supported EtherCAT terminals
A auto-generated list of supported Beckhoff EtherCAT terminals is available here:
[ECMC supported slaves](https://paulscherrerinstitute.github.io/ecmccfg/manual/general_cfg/supported_slaves)
The use of non-preferred, but otherwise supported, terminals should be discussed with local beamline contact and motion expert. Availability of spare parts on stock is not guaranteed.
## Scope of support
The support of EtherCAT hardware often extends past EPICS integration of basic motion control and I/O. For further information, see the ECMC subsection in the Service Portfolio tab.
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# Motion Hardware Portfolio
Here you can find a short description of all hardware that is supported by the Controls section. For related contact information, please consult the "Contacts Support" part off this website.
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# Hardware Portfolio
Here you can find a short description of all hardware that is supported by the Controls section. For related contact information, please consult the "Contacts Support" part off this website.