EtherCAT Protocol Mapping
EtherCAT® supports several overlay protocols. Simulink® Real-Time™ supports some of the protocols directly, provides others with minimal support, and does not support some other protocols.
Overlay Protocol | Protocol Description | Support Type | Action |
|---|---|---|---|
CANopen over EtherCAT (CoE) | Implements CANopen functionality by using EtherCAT | Direct | Model CoE by using SDO upload and download blocks |
Ethernet over EtherCAT (EoE) | Provides EtherCAT wrapper around Ethernet packets. EtherCAT acts as network switch | Minimal | Send wrapped EoE messages between separate subordinate devices |
File Access over EtherCAT (FoE) | Updates the EtherCAT board ROM | Not supported | Update the EtherCAT subordinate device ROM with TwinCAT® 3. |
Functional Safety over EtherCAT (FSoE) | Sends asynchronous safety messages over the network | Not supported | Not applicable |
Servcos over EtherCAT (SoE) | Wraps vendor-specific servo commands in a common protocol | Direct | SoE by using SSC up and down |
CoE and SoE are two addressing schemes for configuration parameters in subordinate devices. SoE is used for some motor drives. For more information, see the device documentation.
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