EtherCAT Slave  1.04.06
References
  1. ETG.1000.6 S (R) V1.0.4 EtherCAT Specification - Part 6, Application Layer protocol specification
  2. ETG.2000 S (R) V1.0.12 Slave Information - Specification
  3. ETG.6010 D (R) V1.1.0 Implementation Directive for CiA 402 Drive Profile - Directive for using IEC 61800-7-201 within EtherCAT-based servo drives