EtherCAT Communication
EPOS4 Communication Guide
CCMC | 2019-11 | rel8759
4-41
4 ETHERCAT COMMUNICATION
The functionality of the EPOS4 can be extended with an EtherCAT communication by using an EtherCAT
Card in extension slot 1 or a Connector Board with EtherCAT functionality.
• ETG.1000 V1.0.4: EtherCAT Specification ([6])
corresponds with the international standard IEC 61158-x-12 Industrial communication networks –
Fieldbus specifications (CPF 12: EtherCAT) ([9])
• ETG.1020 V1.2.0: EtherCAT Protocol Enhancements Specification ([7])
• ETG.2000 V1.0.9: EtherCAT Slave Information (ESI) Specification ([8])
• CiA 402 V4.0: CANopen Drives and motion control device profile ([5])
corresponds with international standard IEC 61800-7 Ed 2.0; Generic interface and use of profiles
for power drive systems – profile type 1 ([10])
Reference
You may access all relevant data and the free-for-download documentation from the EtherCAT website at
http://ethercat.org/. Navigate to the downloads section and search for the document “EtherCAT Technol-
ogy Introduction”.
The document “EtherCAT_Introduction_xxxx.pdf” will serve well as an introduction to EtherCAT and does
include information on the technology, implementation, and possible applications.
For EPOS4 firmware and hardware, consult maxon's comprehensive documentation set available at
http://epos.maxongroup.com. Among others, you will find the following documents:
EPOS4 FIRMWARE SPECIFICATION
• Operating modes
• Communication and error handling
• Object dictionary
•etc.
EPOS4 HARDWARE REFERENCE
• Technical data
• Wiring diagrams and connection overview
•etc
EPOS4 APPLICATION NOTES
• EtherCAT integration
•etc
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