The EEROS library includes many basic blocks. See http://api.eeros.org for further information. Important details about blocks are given below.

Name	Inputs	Outputs	clock-dependent?
Mean (Arithmetic Filter)	1	1
Constant	0	1
Differentiator	1	1
Delay	1	1
Demultiplexer	1	N
Gain	1	1
Basic Block	1	1
Integrator	1	1
Kalman Filter	0	2
Keyboard Input	0	2
Mouse Input	0	2
Multiplexer	N	1
Multiplier	2	1
Path Planner Cubic	0	4
Path Planner Constant Acceleration	0	3
Path Planner Constant Jerk	0	4
Peripheral Input	0	1
Peripheral Output	1	0
Saturation	1	1
Space Navigator Input	0	2
Step	0	1
Signal Checker	1	0
Socket Data	0/1	0/1
Sum	N	1
Switch	N	1
Trace	1	0
Transition	1(1)	1
XBox Input	0	2
ZTransferFunction	1	1

ROS is a flexible framework for writing robot software. It is great collection of tools, libraries, and conventions. Special blocks in EEROS take care of sending signals to and receiving signals from ROS.

Name	Inputs	Outputs	clock-dependent?
ROS Publisher Double	1	0
ROS Publisher Double Array	1	0
ROS Publisher Laser Scan	1	0
ROS Publisher Safety Level	0	0
ROS Subscriber Double	0	1
ROS Subscriber Double Array	0	1
ROS Subscriber Laser Scan	0	1

Special blocks in EEROS take care of sending signals to and receiving signals from a CAN bus.

Name	Inputs	Outputs	clock-dependent?
CAN Handle	0	0
CAN Send Faulhaber	1	0
CAN Receive Faulhaber	0	2

Special blocks in EEROS take care of sending signals to and receiving signals from an EtherCAT bus.

Name	Inputs	Outputs	clock-dependent?
Beckhoff EL1008 Digital Input	0	8
Beckhoff EL2008 Digital Output	8	0
Beckhoff EL3004 Analog Input	0	8
Beckhoff EL4004 Analog Output	0	8