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09/29/2020 TR-EMO-BA-GB-0022 v03 Page 23 of 153
4.4 Device profile
The device profile describes the application parameters and the functional behavior of
the device, including the device class-specific state machine. With EtherCAT you do
not develop individual device profiles for device classes. Instead, simple interfaces are
provided for existing device profiles:
The encoTRive supports the CANopen-over-EtherCAT (CoE) mailbox protocol, and
consequently the "Device Profile Drives and Motion Control", CiA DS 402, known
from CANopen.
Figure 4: CANopen over EtherCAT communication mechanism
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