The EtherCat options are only available on V5 hardware but almost all of the code is present in both V4 and V5.

Two Model options have been added, EtherCAT CL and EtherCAT MA.

Both options are required because EtherCAT consumes the single Ethernet Port that is available on the hardware.

EtherCAT CL is only available on the Closed Loop to force the use of the EtherCAT protocol to control the Servo Drives.

EtherCAT MA enables the support for Multi-Axis servos that use EtherCAT SoE, Servo (SERCOS) over EtherCAT protocol.

When EtherCAT MA is selected the Multi-Axis (X) option is also automatically enabled.

SERCOS and EtherCAT are mutually exclusive. If EtherCAT is enabled, SERCOS is disabled and disallowed.

The use and configuration of EtherCAT is nearly identical to SERCOS with several notable exceptions; 1.) Editing of the Drive Parameters from the XL is not supported.
2.) The drives have a State Progression rather than a Phase Progression.

Other than the above exceptions, working with the EtherCAT drives will look and feel identical to the SERCOS drives. In the XL Software there will be options for EtherCAT SoE, instead of, or in addition to, SEROCS.

These are the States:;

1. Init - In this state the prescense of drives is performed. If the correct number of drives has been found, the next state will be attempted.
2. Pre-Operational - In this state, the drives are configured for their mode of operation. If a drive passes its transition test it will go to the next state.
3. Safe-Operation - Cyclical data begins being transfered back and forth from the drive. If all drives are communicating cyclical data properly they will transition to the next state.
4. Operational - Cyclical data is still being transfered but now the drives are capable of being enabled and are fully operational.