KPA Master Core mailbox module deploys protocols to handle service data objects (SDP), data transfer and data exchange. The following protocols – according to the EtherCAT standard – are already supported:
CAN application protocol over EtherCAT (CoE)
Ethernet over EtherCAT (EoE)
Servo Profile over EtherCAT (SoE)
File Access over EtherCAT (FoE)
Vendor specific Profile over EtherCAT (VoE)
ADS over EtherCAT (AoE)
Process Image Module
Process Image addresses are provided by EtherCAT network information (ENI) file, generated by a configuration tool. Access to the process image from control/process tasks is carried out through the master interface.
Distributed Clocks Module
Frame Scheduler Module – Different Scan Rates for PDO
In the configuration tool the user defines scan rates for each slave individually. Frame Scheduler module manages velocity of EtherCAT frames by forwarding them to EtherCAT network driver.