| Feature | Description |
|---|
| Maximum number of cyclic input data | 1024 bytes | | Maximum number of cyclic output data | 1024 bytes | | Acyclic communication (CoE) | SDO SDO master-slave SDO slave-slave (depending on master capability) | | Type | complex slave | | Number of FMMU channels | 8 | | Number of Sync Manager channels | 4 | | Distributed Clocks | supported with 32 bit timestamps and Isochronous PDI functionality (Sync0, Sync1) | | Support of Synchronization Modes | - Freerun (Slave’s application is not synchronized to EtherCAT)
- Synchron with SYNCMAN Event (Slave’s application is synchronized to the SM2/3 Event)
- Synchron with SYNC Event (Slave’s application is synchronized to the SYNC0 or SYNC1 Event)
| | Supported Protocols | - SDO client and server side protocol
- CoE emergency messages (CoE stack)
- Ethernet over EtherCAT (EoE)
- File Access over EtherCAT (FoE)
| | Supported Features | - PDI watchdog
- EtherCAT mailbox handling
- EtherCAT state machine handling
- master-to-slave SDO communication
- slave-to-slave SDO communication
- integrated CoE object dictionary (ODV3)
- Ethernet over EtherCAT (EoE) handling
- File Access over EtherCAT (FoE) server
| | Ethernet | - 2 Ethernet Interfaces 100BASE-TX/FX, 1 green Link/Activity LED per Ethernet Interface
- integrated Dual-PHY (supports Auto-Negotiation and Auto-Crossover)
|
RestrictionsEtherCAT Slave Stack - AoE application interface not yet available for host application on DPM in Release Version v5.1.0.xFoE for for firmare upload is supported, but application interface not yet available for host application on DPM in Release Version v5.1.0.x(planned for future release)
- VoE (Vendor specific protocol over EtherCAT) is not yet available for host application on DPM in Release Version v5.1.0.x(planned for future release)
- SoE (Servo Profile over EtherCAT) is not supported
ESC - EtherCAT Slave Controller - no DC Latch Functionality
- no support of bit-wise FMMU mapping (Exception: Fill Status of Transmit Mailbox)
- restricted DC Sync-Signal Generation
- no Single-Shot Mode support
- no Acknowledge Mode support
- restricted DC Control Functionality
- no adjustment of Register Speed Counter Start (0x0930:0x931)
- no showing of Register Speed Counter Diff (0x0932:0x933)
- no MIO (PHY Management Interface) access from EtherCAT Master side
- no physical Read-Write commands supported (APRW, FPRW, BRW)
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