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:
| ✔ | ❌ | ✔ | ❌ |
RPC wrapper functionality | RPC wrappers for:
| ✔ | ✔ | ✔ | ✔ |
Inter CPU logging support | Transportation of logging messages from AC to CC or CC to AC. See following functions: | ✔ | ❌ | ✔ | ❌ |
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. | ✔ | ✔ | ✔ | ✔ |
Mapping process data to the RPC transport for EtherNet/IP | ❌ | ❌ | ✔ | ✔ | |
Mapping process data to the RPC transport for EtherCAT | ❌ | ❌ | ✔ | ✔ | |
PROFINET MRP | Media redundancy slave suppport | ❌ | ❌ | ✔ | ✔ |
EtherNet/IP ACD | Support for Address Conflict Detection | ❌ | ❌ | ✔ | ✔ |
EtherNet/IP Virtual Class Support | Parameters for EtherNet/IP Adapters | ❌ | ❌ | ✔ | ✔ |
Simplified PROFINET API | Handling of data mapper is done automatically within device setup functions (Slot, Subslot, Module) | ❌ | ❌ | ✔ | ✔ |
PROFINET Alarm Queue Support | Alarms can be queued for determined order | ❌ | ❌ | ✔ | ✔ |
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. | ❌ | ❌ | ✔ | ✔ |