Canopen Over Ethercat (Coe) - TR-Electronic CEV-58 Benutzerhandbuch

4.4.1 CANopen over EtherCAT (CoE)

EtherCAT can provide the same communication mechanisms as those known from
2
CANopen:
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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.
Printed in the Federal Republic of Germany
10/21/2014
Object dictionary
PDO, Process Data Objects
SDO, Service Data Objects
NMT, Network Management
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