and interfaces of the physical layer with its two alternatives Ethernet and EBUS are explained afterwards. Finally, the details of the functional units of an ESC like FMM.

and patents DE10304637, PCT/EP2004/00934, EP04707214 (EP1590927), US10/544,425, CN200480003251, DE102004044764, DE102005.

Section III
  – EtherCAT IP Core Description: Installation, Configuration, Design flow, Interface specification Version 2.2.1 Date: 2008-09-01 LEGAL NOTICE LEGAL NOTICE Trademarks Beckhoff®, TwinCAT®, EtherCAT®, Safety over EtherCAT™.

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