EtherCAT Protocol Mapping

EtherCAT^® supports several overlay protocols. Simulink^® Real-Time™ supports some of the protocols directly, provides others with minimal support, and does not support some other protocols.

Overlay Protocol	Protocol Description	Support Type	Action
CANopen over EtherCAT (CoE)	Implements CANopen functionality by using EtherCAT	Direct	Model CoE by using SDO upload and download blocks
Ethernet over EtherCAT (EoE)	Provides EtherCAT wrapper around Ethernet packets. EtherCAT acts as network switch	Minimal	Send wrapped EoE messages between separate subordinate devices
File Access over EtherCAT (FoE)	Updates the EtherCAT board ROM	Not supported	Update the EtherCAT subordinate device ROM with TwinCAT® 3.
Functional Safety over EtherCAT (FSoE)	Sends asynchronous safety messages over the network	Not supported	Not applicable
Servcos over EtherCAT (SoE)	Wraps vendor-specific servo commands in a common protocol	Direct	SoE by using SSC up and down

CoE and SoE are two addressing schemes for configuration parameters in subordinate devices. SoE is used for some motor drives. For more information, see the device documentation.