About the Role

We are looking for an experienced Embedded Software Engineer to develop and maintain an EtherCAT Master system for controlling motor clusters (servos/actuators) on robotic platforms. This role is central to ensuring real-time, precise, and stable communication between the central controller and slave devices (motor drivers, encoders, sensors...) within the system.

Responsibilities

• Research, design, and develop EtherCAT Master software (based on SOEM, IgH EtherCAT Master, Acontis, or equivalent stacks)

• Build and optimize real-time communication between the Master and Slave devices controlling motors (servo drives, motor controllers)

• Develop and fine-tune parameters via CoE (CAN over EtherCAT) protocol, using standard profiles such as CiA 402

• Debug, analyze, and resolve timing, jitter, and synchronization (distributed clock) issues within the EtherCAT network

• Maintain and upgrade existing systems; write technical documentation and testing procedures

• Collaborate with mechanical, control, and high-layer software teams to integrate the low-layer control system into the overall robot platform

Required Qualifications

• Bachelor's/Master's degree in Electrical/Electronic Engineering, Mechatronics, Computer Science, or related field

• Hands-on experience with the EtherCAT protocol (Master or Slave), with solid understanding of CoE architecture, distributed clock, PDO/SDO

• Proficient in C/C++ on Linux, with experience in real-time operating systems (RTOS, PREEMPT_RT, Xenomai...)

• Strong ability to read technical documentation and datasheets in English

• Proactive, strong problem-solving mindset, able to work both independently and in a team

Preferred Qualifications

• Experience with robotic systems

• Experience working with measurement tools: oscilloscope, logic analyzer, Wireshark (for EtherCAT frame analysis)

• Understanding of motor control principles (servo motors, BLDC)