DS402 profile is common for motion control both on ordinary CAN networks and 
CANopen over Ethercat. It would most certainly be of great use to have support 
for it and other communication profiles like encoder in Linuxcnc.

I am currently looking on implementation on Ethercat there SOEM/SOES as is used 
for CANopen over Ethercat. I also found CAN festival. Do anybody know about 
more freely available CANopen implementations?

Nicklas Karlsson

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