EtherCAT Supports two standard protocols for Servo Drives, SoE and CoE. SoE is, a Servo specific protocol. CoE supports Servos by using the CiA 402 standard for servos which defines a set of Object ID's and functionality.

Support was added for CoE servos but specifically only the Mitsubishi J5 series drives. Support for other manufactures will have to be enabled and tested on a case-by-case basis.

Some non-standard (Manufacturer Specific) Object Id's had to be used to support the drive.

For Scaling the drive, I would have liked to use the CiA standard object 0x6080 but Mitsubishi did not provide a way to set it in their parameters. I had to use 0x2108 instead, which maps to their PT08 Overspeed Alarm setting.

There is no standard way of enabling or disabling Absolute Encoder Evaluation. I had to use Object ID 0x2003, which maps to PA03.

There is a One-Note on the Mitsubishi J5 that describes everything else required to commission a drive.