The EtherCAT Option Module implements the CANopen drive profile (CiA402) in EtherCAT communication. This allows control of the Sigma-5 amplifier with an EtherCAT master in a variety of modes (cyclic synchronous position, cyclic synchronous velocity, cyclic synchronous torque, etc.) and system architectures (line, star, tree, or daisy chain). The Fully Closed Loop Option Module allows the user to close the position loop around a secondary feedback device placed near the load. This helps eliminate the effects of mechanical and thermal variances of mechanical components and allows more precise control and improved machine performance.
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