在编程时添加EtherCAT主站，EtherCAT Master 和EtherCAT Master SoftMotion有什么区别。

  来自Codesys官方的回答如下：

The only difference is the FrameAtTaskStart Parameter which is set to true on the SoftMotion EthercatMaster.This is needed for the drives to have less Jitter in receiving the ethercatframes.(Otherwise if you do not set it, your iec Task time detemines the Point when the frames are send...depending on the load of your task.)

  建议当使用EtherCAT总线伺服时选用EtherCAT Master SoftMotion，EtherCAT Master SoftMotion下也可带支持EtherCAT的远程IO，如果只是用于远程IO模块可以选择EtherCAT Master。