Beckhoff EL7201-0010

Table of contents
6.3 Modes of operation ....................................................................................................................... 121
6.3.1 Overview ...........................................................................................................................121
6.3.2 CSV...................................................................................................................................121
6.3.3 CST...................................................................................................................................125
6.3.4 CSTCA..............................................................................................................................128
6.3.5 CSP...................................................................................................................................132
6.4 Profile MDP 742 or DS 402 .......................................................................................................... 137
6.5 MDP742 process data ................................................................................................................. 137
6.6 DS402 process data ..................................................................................................................... 141
7 EL72x1-0010-DS402 - Object description and parameterization.......................................................146
7.1 Configuration data ........................................................................................................................ 147
7.2 Configuration data (vendor-specific)............................................................................................. 150
7.3 Command object .......................................................................................................................... 150
7.4 Input/output data........................................................................................................................... 150
7.5 Information / diagnosis data ......................................................................................................... 155
7.6 Standard objects........................................................................................................................... 158
8 EL72x1-0010-MDP742 - Object description and parameterization....................................................165
8.1 Restore object............................................................................................................................... 165
8.2 Configuration data ........................................................................................................................ 165
8.3 Configuration data (vendor-specific)............................................................................................. 170
8.4 Command object........................................................................................................................... 170
8.5 Input data...................................................................................................................................... 170
8.6 Output data ................................................................................................................................... 172
8.7 Information / diagnosis data ......................................................................................................... 174
8.8 Standard objects........................................................................................................................... 177
9 Error correction .....................................................................................................................................186
9.1 Diagnose - Diag Messages........................................................................................................... 186
10 Appendix ................................................................................................................................................191
10.1 Firmware compatibility .................................................................................................................. 191
10.2 EtherCAT AL Status Codes .......................................................................................................... 192
10.3 Firmware Update EL/ES/EM/EPxxxx............................................................................................ 192
10.4 Restoring the delivery state .......................................................................................................... 202
10.5 Support and Service ..................................................................................................................... 203
EL72x1-0010 5Version: 2.0