TR-Electronic MP-200 - Canopen over Ethercat (Coe); Figure 5: Canopen Organized in the ISO;OSI Layer Model; Figure 6: Ethercat Organized in the ISO;OSI Layer Model

EtherCAT Information
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Page 24 of 153 TR-EMO-BA-GB-0022 v03 09/29/2020
4.4.1 CANopen over EtherCAT (CoE)
EtherCAT can provide the same communication mechanisms as those known from
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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 5: CANopen organized in the ISO/OSI layer model
Figure 6: EtherCAT organized in the ISO/OSI layer model
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EN 50325-4: Industrial Communication Systems, based on ISO 11898 (CAN) for Controller Device Interfaces.
Part 4: CANopen.