E1 Series Servo Drive EtherCAT(CoE) Communications Command Manual EtherCAT Communication
2-4 HIWIN MIKROSYSTEM Corp.
2.3 EtherCAT frame structure
EtherCAT frames (Ethernet frames with EtherType 0x88A4, see Figure 2.3.1) are processed by EtherCAT
Slave Controller (ESC) on the fly. EtherCAT datagrams are processed before the complete frame is
received. If frame checksum is invalid, the slave will set the data invalid for local application.
Figure 2.3.1
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