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cpp4ec ------ EtherCat for CPP. The main objective of this library is to encapsulate the soem  library in a class to use in a C++ program. The library is inspired in the philosofy of the soem master , but decoupling from the orocos framework. It also could use Xenomai as Realtime interface.  http://soem.berlios.de  http://git.mech.kuleuven.be/robotics/soem.git