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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