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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 slave devices

File Access over EtherCAT (FoE)

Updates the EtherCAT board ROM

Not supported

Update the EtherCAT slave 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 slave devices. SoE is used for some motor drives. For more information, see the device documentation.