EtherCAT Slave  1.04.01
Supported EtherCAT Functionality
Feature Description Implementation
Distributed clocks By using distributed clocks the EtherCAT real-time Ethernet protocol is able to synchronize the time in all local bus devices within a very narrow tolerance range. Yes
CiA 402 This profile standardizes the functional behavior of controllers for servo drives, frequency inverters, and stepper motors. Yes
Mailbox queue Mailbox services will be stored in a queue. Mailbox services can be processed in parallel. Yes
AoE ADS over EtherCAT service support. No
CoE CANopen over EtherCAT service support. Yes
Complete access support Accessing all entries of an object with one SDO service is supported. Yes
Segmented SDO support Segmented SDO service is supported. Yes
SDO response interface If a SDO response cannot be generated immediately, return ABORTIDX_WORKING. Yes
Backup parameter supported Object values will be stored when they are written. No
Diagnosis support Diagnosis messages are supported. No
Emergency support Emergency messages are supported. Yes
VoE Vendor Specific Protocol over EtherCAT service support. No
SoE Sercos over EtherCAT service support. Yes*. Interface to the SoE mailbox provided. No cyclic data supported
OP state requires process data Transition from SafeOP to OP State requires process data. Yes
Explicit device ID Explicit device ID requests are handled. No
OP state requires process data Transition from SafeOP to OP State requires process data. Yes