# QEC: Industrial EtherCAT Platform by ICOP Technology

> QEC is an open EtherCAT industrial control platform combining real-time main-device controllers (QEC MDevice), distributed EtherCAT sub-devices (QEC SubDevice), an open-source IDE based on Arduino (86Duino IDE), and a command-line build tool (86duino-cli). Designed for machine builders, system integrators, and embedded teams adopting EtherCAT without rebuilding their entire control stack. Maintained by ICOP Technology Inc. (Taiwan).

## AI-Readable References

- [llms-full.txt](https://www.qec.tw/llms-full.txt): Single-file authoritative reference for AI agents. Contains full 86duino-cli usage, all 13 QEC/86Duino FQBNs, port detection rules, build/upload commands, and the complete library catalog. Recommended starting point for ChatGPT, Claude, Cursor, Copilot, or Gemini.
- [86duino-cli skill specification](https://www.qec.tw/cli-skills/hermes-86duino-cli-skill.md): Natural-language skill specification (Markdown). Drop into Claude Code, Cowork, Cursor, or any AI tool that accepts custom skills.
- [86duino-cli skill reference data](https://www.qec.tw/cli-skills/hermes-86duino-cli-reference.md): Supplementary lookup tables (board list, port detection examples, error templates).
- [86duino-cli legacy specification](https://www.qec.tw/cli-skills/Hermes_86duino_cli.txt): Original plain-text specification.

## Quick Start

- [Overview](https://www.qec.tw/overview/): What QEC is, what problems it solves, who it is for. Best landing page for new visitors.
- [Set up the QEC MDevice for 86Duino](https://www.qec.tw/ethercat/ethercat-application/set-up-the-qec-for-86duino/): First-time setup walkthrough from unboxing to first sketch.
- [Software downloads](https://www.qec.tw/software/): 86Duino IDE, 86duino-cli, PL2303 USB-Serial driver. Contains an "AI banner" pointing to the AI references above.
- [FAQ](https://www.qec.tw/faq/): 48 questions across 8 sections (Platform, EtherCAT & Architecture, MDevice, SubDevice, Software & Tools, Getting Started, Purchasing & Support, Troubleshooting). All entries are marked with FAQPage schema for direct AI consumption.

## Core Documentation

### 86duino-cli (command-line build tool)

- [86duino-cli Manual](https://www.qec.tw/documentation/86duino-cli/): Complete reference for the command-line compiler and uploader. Covers commands (board, compile), all approved flags (--fqbn, --clean, --verbose, --port, --upload), FQBN reference table for 13 boards, port detection for Windows/macOS/Linux, complete examples, and AI agent integration patterns.

### 86Duino IDE

- [86Duino Development Environment overview](https://www.qec.tw/86duino/86duino-development-environment/): IDE installation, configuration, and toolchain overview.
- [86Duino Language Reference](https://www.qec.tw/86duino/86duino-language-reference/): C/C++ syntax, control flow, and Arduino-compatible API for 86Duino sketches.
- [Hardware Configuration for QEC-M](https://www.qec.tw/86duino/86duino-hardware-configuration-introduction-qec-m/): QEC-M pin assignments, peripherals, and hardware interfaces.
- [Library Catalog](https://www.qec.tw/86duino/libraries/): Index of all 23 official libraries shipped with 86Duino IDE.

### EtherCAT Programming

- [EtherCAT Library API Manual](https://www.qec.tw/ethercat/api/ethercat-library-api-user-manual/): Main-device library reference for building EtherCAT master applications on QEC.
- [CiA 402 Motion Profile](https://www.qec.tw/ethercat/api/cia402/): EtherCATDevice_CiA402 class for controlling any CiA 402-compliant servo drive.
- [86EVA - EtherCAT-Based Virtual Arduino](https://www.qec.tw/ethercat/86eva/): Network configuration and Virtual Arduino mapping tool.

### Other Development Tools

- [86HMI Editor](https://www.qec.tw/86duino/86hmi/): HMI design framework for QEC panel PCs (LVGL-based).
- [ArduBlock](https://www.qec.tw/86duino/ardublock/): Visual block-based programming for 86Duino (Scratch-style).

## Library Reference (86Duino libraries, 23 total)

### Supported Arduino Standard Libraries (10)

- [EEPROM](https://www.qec.tw/86duino-library/eeprom-library/): Reading and writing persistent storage.
- [Ethernet](https://www.qec.tw/86duino-library/ethernet-library/): Internet connectivity via the onboard LAN connector.
- [Firmata](https://www.qec.tw/86duino-library/firmata-library/): Standard serial protocol for host-PC applications.
- [LiquidCrystal](https://www.qec.tw/86duino-library/liquidcrystal-library/): Controlling character LCDs.
- [SD](https://www.qec.tw/86duino-library/sd-library/): Reading and writing SD cards.
- [Servo](https://www.qec.tw/86duino-library/servo-library/): Controlling servo motors.
- [SPI](https://www.qec.tw/86duino-library/spi-library/): Serial Peripheral Interface bus.
- [SoftwareSerial](https://www.qec.tw/86duino-library/softwareserial-library/): Software-implemented serial on digital pins.
- [Stepper](https://www.qec.tw/86duino-library/stepper-library/): Controlling stepper motors.
- [Wire](https://www.qec.tw/86duino-library/wire-library/): I2C / Two-Wire Interface communication.

### 86Duino-Only Libraries (6)

- [Motion86](https://www.qec.tw/86duino-library/motion86-library/): Multi-axis motion controller functionality.
- [Modbus](https://www.qec.tw/86duino-library/modbus-library/): Modbus ASCII / RTU / TCP master and slave.
- [CANBus](https://www.qec.tw/86duino-library/canbus-library/): Controller Area Network (CAN Bus) communication.
- [FirmataPlus86](https://www.qec.tw/86duino-library/firmataplus86-library/): Scratch integration via FirmataPlus protocol.
- [Servo86](https://www.qec.tw/86duino-library/servo86-library/): Extended servo-motor library for robot motion.
- [AIServo86](https://www.qec.tw/86duino-library/aiservo86-library/): Serial-servo-motor library for robot motion.

### Non-Standard Arduino Libraries (5)

- [Audio](https://www.qec.tw/86duino-library/audio-library/): Onboard HD Audio interface (Arduino Due API compatible).
- [TimerOne](https://www.qec.tw/86duino-library/timerone-library/): 32-bit hardware timer (Arduino TimerOne API).
- [MsTimer2](https://www.qec.tw/86duino-library/mstimer2-library/): Second hardware timer (Arduino MsTimer2 API).
- [Time86](https://www.qec.tw/86duino-library/time86-library/): On-board RTC (Arduino Time library API).
- [SCoop](https://www.qec.tw/86duino-library/scoop/scoop-library/): Simple Cooperative Scheduler for multi-threaded sketches.

## Hardware Products

### QEC MDevice (Main-Device / Controller)

Real-time EtherCAT controllers programmed with 86Duino IDE. Three form factors: compact, open-frame, and panel PC.

- [QEC-M-01](https://www.qec.tw/product/qec-m-01/): Compact EtherCAT MDevice, baseline controller.
- [QEC-M-02](https://www.qec.tw/product/qec-m-02/): Compact EtherCAT MDevice variant.
- [QEC-M-070T](https://www.qec.tw/product/qec-m-070t/): Open-frame Panel PC with 7-inch LCD.
- [QEC-M-090T](https://www.qec.tw/product/qec-m-090t/): Open-frame Panel PC with 9-inch LCD.
- [QEC-M-150T](https://www.qec.tw/product/qec-m-150t/): Open-frame Panel PC with 15-inch LCD.
- [QEC-PPC-M-090T](https://www.qec.tw/product/qec-ppc-m-090t/): Industrial Panel PC with 9-inch touchscreen.
- [QEC-PPC-M-150T](https://www.qec.tw/product/qec-ppc-m-150t/): Industrial Panel PC with 15-inch touchscreen.

### QEC SubDevice (Sub-Device / Distributed I/O)

EtherCAT sub-devices for digital I/O, analog I/O, gateway bridging, motor control, and topology design.

- [QEC-RXXDT0](https://www.qec.tw/product/qec-rxxdt0/): 32-channel Digital Input module.
- [QEC-RXXD0T](https://www.qec.tw/product/qec-rxxd0t/): 32-channel Digital Output module.
- [QEC-RXXD0F](https://www.qec.tw/product/qec-rxxd0f/): Compound digital I/O module.
- [QEC-RXXD88](https://www.qec.tw/product/qec-rxxd88/): Compound digital I/O module variant.
- [QEC-RXXDF0](https://www.qec.tw/product/qec-rxxdf0/): Compound digital I/O module variant.
- [QEC-RXXA44S](https://www.qec.tw/product/qec-rxxa44s/): Analog I/O module (4-in / 4-out).
- [QEC-RXXHU8S](https://www.qec.tw/product/qec-rxxhu8s/): Gateway / hub module variant.
- [QEC-RXXHU9S](https://www.qec.tw/product/qec-rxxhu9s/): Gateway / hub module variant.
- [QEC-RXXJT2S](https://www.qec.tw/product/qec-rxxjt2s/): EtherCAT junction module (topology).
- [QEC-RXXJT3S](https://www.qec.tw/product/qec-rxxjt3s/): EtherCAT junction module variant.
- [QEC-RXXMV3S](https://www.qec.tw/product/qec-rxxmv3s/): Motor driver module.
- [QEC-RXXMP3S](https://www.qec.tw/product/qec-rxxmp3s/): 3-axis Stepper Motor Controller (CiA402 + G-code).
- [QEC-RXXCFFL](https://www.qec.tw/product/qec-rxxcffl/): Connector module.
- [QEC-RXXCFFG](https://www.qec.tw/product/qec-rxxcffg/): Connector module variant.

### Browse All Products

- [Product Catalog](https://www.qec.tw/product-catalog/): Full catalog of QEC MDevice + SubDevice product families with filters.

## Application Tutorials & Start Guides

- [Set up the QEC MDevice for 86Duino](https://www.qec.tw/ethercat/ethercat-application/set-up-the-qec-for-86duino/): Initial QEC + 86Duino IDE integration walkthrough.
- [QEC-M-01 with Delta ASDA-B3/A2 AC Servo Series](https://www.qec.tw/tutorials/delta-asda-b3-a2/): Third-party servo drive integration guide.
- [QEC-M-01 with SANYO DENKI SANMOTION G Series](https://www.qec.tw/tutorials/sanmotion-g/): Third-party servo drive integration guide.
- [Remote EtherCAT Motor Control over Ethernet via Python with QEC-M-01](https://www.qec.tw/tutorials/qec-python-ethercat-motor-control/): Python-based remote control example.
- [QEC MQTT Publish Control - Configure and Publish from the HMI](https://www.qec.tw/tutorials/qec-mqtt-connection/): Connecting QEC to MQTT brokers from HMI.

## Resources & Support

- [Online Resources](https://www.qec.tw/resources/): Curated documentation index and quick-link hub.
- [Document Library](https://www.qec.tw/document-library/): Downloadable PDF manuals, datasheets, and certifications.
- [Document Search](https://www.qec.tw/document-search/): Full-text search across PDF documents.
- [Newsletter](https://www.qec.tw/newsletter/): Monthly EtherCAT tips and updates.
- [Contact QEC](https://www.qec.tw/contact/): Technical review, PoC inquiries, FAE contact.

## Multilingual Versions

- English (default): https://www.qec.tw/
- 繁體中文 (zh-TW): https://www.qec.tw/zh/
- 日本語 (ja): https://www.qec.tw/ja/

All major pages have parallel translations at the `/zh/` and `/ja/` prefixes. The `/llms-full.txt` and `/llms.txt` files are shared across languages (root-level).

## About

- [About QEC](https://www.qec.tw/overview/): Platform overview and value proposition.
- [ICOP Technology](https://www.icop.com.tw/): Parent company (industrial computing, 32+ years).

## Optional

- [Sitemap Index](https://www.qec.tw/sitemap_index.xml): Full XML sitemap for crawlers.
- [robots.txt](https://www.qec.tw/robots.txt): Crawler permissions (all major AI bots explicitly allowed).