Baumer BMxx, GBxxx-GXxxx - EtherCAT / PoE from version&nbsp,5.0 - Manual (Page 9)

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30.09.14
5.2 SDO (Service Data Objects)
SDOs access is in the TwinCAT System under tab CoE - Online (CANopen over EtherCAT).
Since there is a large variety of CANopen device and application profiles they may be applied in EtherCAT
slaves.
EtherCAT encoders provide partial implementation of the CANopen DS406 encoder device profile.
Please consider that every CoE access (mailbox communication) will shortly interrupt generation of encoder
input data for the time of mailbox communication. With short cycle times in Distributed Clocks Mode this may
imply that not in every Sync cycle a new position is detected.