COE has been supported by the CtrlX Motion App for some time now. Below is some info on using 3rd party COE drives with the CtrlX Motion App. https://developer.community.boschrexroth.com/t5/ctrlX-MOTION/Third-party-EtherCat-servo-drives-CiA402-profile-and-ctrlX/m-p/57261 Not to be confused with the CoDeSys Softmotion add on. For that, i believe it only supports SOE for now. Both ways use PLC open function blocks for motion so in someways they are very similar from the PLC programmers perspective.
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