The relevant research of CoE protocol in EtherCAT Industrial Ethernet
Yongming Chen, Hua Chen, Mingzhong Zhang, Li Yin · 2010
This document explains and demonstrates how the CoE protocol works in the application layer of EtherCAT, and its function. Using the PIC24H series MCU as the application controller, the FB1111-0142 as the ESC and TwinCAT as the master, the experiment results show the CoE work mechanism and function exactly.