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EtherCAT
Dynamic PDO assignment and dynamic PDO mapping
SDO Info service
SDO service
Distributed Clocks
Frame specification
Range | Length | Description |
|---|---|---|
0 .. 3 | 4 byte | MCTC SPI header |
4 .. 76 | 73 byte | cyclic data (data mapper) |
77 .. 126 | 50 byte | RPC data |
127 | 1 byte | reserved |