EtherCAT Information
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11/17/2009 TR - ECE - BA - DGB - 0069 - 02 Page 75 of 119
4.4.1 CANopen over EtherCAT (CoE)
EtherCAT can provide the same communication mechanisms as those known from
2
CANopen:
• Object dictionary
• PDO, Process Data Objects
• SDO, Service Data Objects
• NMT, Network Management
EtherCAT can thus be implemented on devices that were previously equipped with
CANopen, with minimal expense. Extensive parts of the CANopen firmware can be re-
used. The objects can be optionally extended.
Comparison of CANopen / EtherCAT in the ISO/OSI layer model
Figure 4: CANopen organized in the ISO/OSI layer model
Figure 5: EtherCAT organized in the ISO/OSI layer model
2
EN 50325-4: Industrial Communication Systems, based on ISO 11898 (CAN) for Controller Device Interfaces.
Part 4: CANopen.
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