Features & Known Restrictions
Feature | Support |
Mailbox protocol | yes |
CANopen over EtherCAT | yes |
EtherCAT State machine | yes |
Bootstrap Mode | yes |
CoE Object Dictionary | yes |
CoE SDO communication | yes |
SDO Expedited transfer | yes |
SDO normal transfer | yes |
SDO Segmented transfer | yes |
SDO Complete Access | yes |
SDO Info Service | yes |
CoE Emergency Producer | yes |
File Access over EtherCAT | yes |
Ethernet over EtherCAT | yes |
Servodrive over EtherCAT | no |
Vendor Specific over EtherCAT | no |
ADS over EtherCAT | no |
Sync Manager | 4 |
Distributes clocks | yes |
SM-Synchronization | yes |
DC-Synchronization | yes |
EEPROM PDI access | yes |
EEPROM Emulation | yes |
Transmit PDOs | 512 |
Receive PDOs | 512 |
PDO transmission over Sync Manager | yes |
PDO transmission over mailbox | no |
Dynamic PDO mapping | yes |
Mailbox watchdog monitoring | yes |
Usage of CANopen profiles | yes |
MII Management (Phy Access) | yes |
Acknowledge by Write | yes |
Explicit Device Identification | yes |
RUN and ERROR LED Emulation | yes |
Modular Device Profile | yes, with restrictions: |
Safety over EtherCAT (FSoE) | yes (3rd party stack required) (currently only supported for non-GOAL version) |