Feature comparison between uGOAL and GOAL

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

✔

❌

✔

❌

RPC wrapper functionality

RPC wrappers for:

• EtherCAT

• PROFINET

• EtherNet/IP

  • HTTP

• TCP/UDP channels

  • CCM manangement functions

✔

✔

✔

✔

Inter CPU logging support

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

• https://portgmbh.atlassian.net/wiki/spaces/IRJ45SOM/pages/169508928/The+GOAL+Application+Programming+Interface#appl_ccmLogEnable

• https://portgmbh.atlassian.net/wiki/spaces/IRJ45SOM/pages/169508928/The+GOAL+Application+Programming+Interface#appl_ccmLogToAcEnable

✔

❌

✔

❌

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

✔

✔

✔

✔

Mapping process data to the RPC transport for EtherNet/IP

❌

❌

✔

✔

Mapping process data to the RPC transport for EtherCAT

❌

❌

✔

✔