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The Xentara EtherCAT Driver v1.4
User Manual
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The Xentara EtherCAT driver allows Xentara to communicate with I/O devices using EtherCAT. The driver acts as a EtherCAT Master, and supports CoE (CAN over EtherCAT).
You can visit EtherCAT device protocol for a more concise overview of CoE Specification.