I have one applicaiton case, Weiss rotary + Rexroth driver/motor + External encoder, concept provided by Weiss. the question is that fieldbus interface is EhterCAT(COE) - Can over ethercat, I see our object configuration file xml(ESI) is EhtherCAT(SOE),.
1. I am not sure if the two protocal can be mixed used in one EtherCAT loop
2. if the external encoder usage as the position control, the 'Rotary table with driver' is working properly