When we started this project, EtherCAT was new to us. Without ACS’ know-how, flexibility and support, it would have taken us much more time to complete the project. ACSPL+ provided the real-time environment and the parallelism we needed, enabling us to make changes and test them easily. This, together with the SPiiPlus Simulator, which all our software developers use heavily to test their software, saved us a lot of development time.