Features & Known Restrictions

Owned by Michael Struwe
Last updated: Jun 03, 2022
1 min read

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:
currently only one instance of each module is supported

Safety over EtherCAT (FSoE)

yes (3rd party stack required)

(currently only supported for non-GOAL version)