Protocol
Description
CANopen over EtherCAT CoE
Data transmission in accordance with CANopen, CiA301
Ethernet over EtherCAT EoE
Data transmission in accordance with IEEE 802.3
Tab. 458 Overview: protocol
Byte format
With EtherCAT, the 16-bit values (word) and the 32-bit values (double word) are presented as follows.
Byte format
Data type
Byte order
1)
(LSB)
(MSB)
–
–
Word
(0xCDEF)
0xEF
0xCD
–
–
(LSB)
…
(MSB)
Little endian
Double word
(0x89ABCDEF)
0xEF
0xCD
0xAB
0x89
1) LSB: least significant byte, MSB: most significant byte
Tab. 459 Byte order
Layout of the Ethernet and EtherCAT frame
The graph shows the layout of the Ethernet and EtherCAT frame with the embedded "CANopen over
EtherCAT (CoE)" and "Ethernet over EtherCAT (EoE)" protocols.
EtherCAT
519
Festo — CMMT-ST-SW — 2019-02
Summary of Contents for CMMT-ST-SW
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