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EtherCAT (CoE) network reference model is mainly composed of two parts: data link layer and application layer.
The data link layer is mainly in charge of the EtherCAT communication protocol, and the application layer is
embedded with CANopen drive Profile (DS402) communication conventions. The object dictionary in the application
layer of CoE includes communication parameters, application data and PDO mapping information.
Process data objects (PDO) consist of objects in the object dictionary that can be PDO mapped, and the PDO data is
defined by PDO mapping. The reading/writing of PDO data is cyclic without requirements to look up the object
dictionary, while the reading/writing of service data objects (SDO) is non-cyclic with requirements to look up the
object dictionary.
4. EtherCAT state machine
EtherCAT state machine is used to describe the status and status change of slave applications.
The request for status change is made by the master station, and slave stations respond to it correspondingly.
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