# The EC-Master - Features

Feature ID:     Unique identification used in ETG.1500 EtherCAT MainDevice Classes

* <a id='f1'>**[1]**</a> : According to ETG.1500 MainDevice Classes not mandatory for Class A
* <a id='f2'>**[2]**</a> : According to ETG.1500 MainDevice Classes not mandatory for Class B

| Feature name                                      | Short description                                                                                                                                                      | EC-Master Class A   | EC-Master Class B   |   Feature ID |
|---------------------------------------------------|------------------------------------------------------------------------------------------------------------------------------------------------------------------------|---------------------|---------------------|--------------|
| **Basic Features**                                |                                                                                                                                                                        |                     |                     |              |
| Service Commands                                  | Support of all commands                                                                                                                                                | ✅                   | ✅                   |          101 |
| IRQ field in datagram                             | Use IRQ information from SubDevice in datagram header                                                                                                                  | ✅                   | ✅                   |          102 |
| SubDevices with Device Emulation                  | Support SubDevices with and without application controller                                                                                                             | ✅                   | ✅                   |          103 |
| EtherCAT® State Machine                           | Support of ESM special behavior                                                                                                                                        | ✅                   | ✅                   |          104 |
| Error Handling                                    | Checking of network or SubDevice errors, e.g. Working Counter                                                                                                          | ✅                   | ✅                   |          105 |
| VLAN                                              | Support VLAN Tagging                                                                                                                                                   | <sup>[1](#f1)</sup> | <sup>[2](#f2)</sup> |          106 |
| EtherCAT® Frame Types                             | Support EtherCAT® Frames                                                                                                                                               | ✅                   | ✅                   |          107 |
| UDP Frame Types                                   | Support UDP Frames                                                                                                                                                     | <sup>[1](#f1)</sup> | <sup>[2](#f2)</sup> |          108 |
| **Process Data Exchange**                         |                                                                                                                                                                        |                     |                     |              |
| Cyclic PDO                                        | Cyclic process data exchange                                                                                                                                           | ✅                   | ✅                   |          201 |
| Multiple Tasks                                    | Different cycle tasks Multiple update rates for PDO                                                                                                                    | ✅                   | ✅                   |          202 |
| Frame repetition                                  | Send cyclic frames multiple times to increase immunity                                                                                                                 | <sup>[1](#f1)</sup> | <sup>[2](#f2)</sup> |          203 |
| **Network Configuration**                         |                                                                                                                                                                        |                     |                     |              |
| Online scanning                                   | Network configuration functionality included in EtherCAT® MainDevice                                                                                                   | ✅                   | ✅                   |          301 |
| Reading ENI                                       | Network Configuration taken from ENI file                                                                                                                              | ✅                   | ✅                   |          301 |
| Compare Network configuration                     | Compare configured and existing network configuration during boot-up                                                                                                   | ✅                   | ✅                   |          302 |
| Explicit Device ID                                | Identification used for Hot Connect and prevention against cable swapping                                                                                              | ✅                   | ✅                   |          303 |
| Station Alias Addressing                          | Support configured station alias in SubDevice, i.e. enable 2nd Address and use it                                                                                      | ✅                   | ✅                   |          304 |
| Access to EEPROM                                  | Support routines to access EEPROM via ESC register                                                                                                                     | ✅                   | ✅                   |          305 |
| **Mailbox Support**                               |                                                                                                                                                                        |                     |                     |              |
| Support Mailbox                                   | Main functionality for mailbox transfer                                                                                                                                | ✅                   | ✅                   |          401 |
| Mailbox Resilient Layer                           | Support underlying resilient layer                                                                                                                                     | ✅                   | ✅                   |          402 |
| Multiple Mailbox channels                         |                                                                                                                                                                        | ✅                   | ✅                   |          403 |
| Mailbox polling                                   | Polling Mailbox state in SubDevices                                                                                                                                    | ✅                   | ✅                   |          404 |
| **CAN application layer over |ETHERCAT_R| (CoE)** |                                                                                                                                                                        |                     |                     |              |
| SDO Up/Download                                   | Normal and expedited transfer                                                                                                                                          | ✅                   | ✅                   |          501 |
| Segmented Transfer                                | Segmented transfer                                                                                                                                                     | ✅                   | ✅                   |          502 |
| Complete Access                                   | Transfer the entire object (with all subindices) at once                                                                                                               | ✅                   | ✅                   |          503 |
| SDO Info service                                  | Services to read object dictionary                                                                                                                                     | ✅                   | ✅                   |          504 |
| Emergency Message                                 | Receive Emergency messages                                                                                                                                             | ✅                   | ✅                   |          505 |
| PDO in CoE                                        | PDO services transmitted via CoE                                                                                                                                       | <sup>[1](#f1)</sup> | <sup>[2](#f2)</sup> |          506 |
| **EoE**                                           |                                                                                                                                                                        |                     |                     |              |
| EoE protocol                                      | Services for tunneling Ethernet frames. includes all specified EoE services                                                                                            | ✅                   | ✅                   |          601 |
| Virtual Switch                                    | Virtual Switch functionality                                                                                                                                           | ✅                   | ✅                   |          602 |
| EoE Endpoint to Operation Systems                 | Interface to the Operation System on top of the EoE layer                                                                                                              | FP                  | <sup>[2](#f2)</sup> |          603 |
| **FoE**                                           |                                                                                                                                                                        |                     |                     |              |
| FoE Protocol                                      | Support FoE Protocol                                                                                                                                                   | ✅                   | ✅                   |          701 |
| Firmware Up-/Download                             | Password, FileName should be given by the application                                                                                                                  | ✅                   | ✅                   |          702 |
| Boot State                                        | Support Boot-State for Firmware Up/Download                                                                                                                            | ✅                   | ✅                   |          703 |
| **SoE**                                           |                                                                                                                                                                        |                     |                     |              |
| SoE Protocol                                      | Support SoE Services                                                                                                                                                   | ✅                   | ✅                   |          801 |
| **AoE**                                           |                                                                                                                                                                        |                     |                     |              |
| AoE Protocol                                      | Support AoE Protocol                                                                                                                                                   | ✅                   | ✅                   |          901 |
| **VoE**                                           |                                                                                                                                                                        |                     |                     |              |
| VoE Protocol                                      | External Connectivity supported                                                                                                                                        | ✅                   | ✅                   |         1001 |
| **Synchronization with Distributed Clock (DC)**   |                                                                                                                                                                        |                     |                     |              |
| DC support                                        | Support of Distributed Clocks                                                                                                                                          | ✅                   | <sup>[2](#f2)</sup> |         1101 |
| Continuous Propagation Delay compensation         | Continuous Calculation of the propagation delay                                                                                                                        | ✅                   | <sup>[2](#f2)</sup> |         1102 |
| Sync window monitoring                            | Continuous monitoring of the Synchronization difference between SubDevices                                                                                             | ✅                   | <sup>[2](#f2)</sup> |         1103 |
| **SubDevice-to-SubDevice Communication**          |                                                                                                                                                                        |                     |                     |              |
| via MainDevice                                    | Information is given in ENI file or can be part of any other network configuration. Copying of the data can be handled by MainDevice stack or MainDevice’s application | ✅                   | ✅                   |         1201 |
| **MainDevice information**                        |                                                                                                                                                                        |                     |                     |              |
| MainDevice Object Dictionary                      |                                                                                                                                                                        | FP                  | <sup>[2](#f2)</sup> |         1301 |
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