EtherCAT Protocol Mapping

EtherCAT® supports several overlay protocols. Simulink® Real-Time™ supports some of the protocols directly, provides others with minimal support, and ignores some others.

Overlay Protocol

Protocol Description

Support Type

Means of Support

CANopen over EtherCAT (CoE)

Implements CAN functionality using EtherCAT


Model CoE using SDO upload and download blocks.

Ethernet over EtherCAT (EoE)

Provides EtherCAT wrapper around Ethernet packets. EtherCAT acts as network switch


Send wrapped EoE messages between separate slave devices.

File Access over EtherCAT (FoE)

Updates the EtherCAT board ROM


Update the EtherCAT slave ROM with TwinCAT® 3.

Functional Safety over EtherCAT (FSoE)

Sends asynchronous ‘safety’ messages over the network.



Servo over EtherCAT (SoE)

Wraps vendor-specific servo commands in a common protocol.