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Follow table shows which features are available for uGOAL and GOAL.

Feature

Remark

Supported in Release with

GOAL 2.0

uGOAL 2.0

GOAL 2.1

uGOAL 2.1

GOAL core framework

Basic GOAL core functionally as:

  • Timers

  • Tasks

  • Semaphores

    • Memory allocation

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RPC wrapper functionality

RPC wrappers for:

  • EtherCAT

  • PROFINET

  • EtherNet/IP

    • HTTP

  • TCP/UDP channels

    • CCM manangement functions

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Inter CPU logging support

Transportation of logging messages from AC to CC or CC to AC. See following functions:

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Mapping process data to the RPC transport for PROFINET

This feature is described in the corresponding application note.

This feature allows to extend available process data beyond 73 bytes of the data mapper.

008 - Extending process data using RPC transport

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Mapping process data to the RPC transport for EtherNet/IP

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Mapping process data to the RPC transport for EtherCAT

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PROFINET MRP

Media redundancy slave suppport

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EtherNet/IP ACD

Support for Address Conflict Detection

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EtherNet/IP Virtual Class Support

Parameters for EtherNet/IP Adapters

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Simplified PROFINET API

Handling of data mapper is done automatically within device setup functions (Slot, Subslot, Module)

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PROFINET Alarm Queue Support

Alarms can be queued for determined order

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PROFINET Reorganisation of modules mapped to the Data Mapper

Once plugged modules, which were mapped to the data mapper, can now be reorganised (Pull and Re-Plug) during runtime.

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