Beckhoff EtherCAT EL600x Series - Page 4

Table of contents
EL600x, EL602x4 Version: 4.6
5.2.1 Installation of the TwinCAT real-time driver..................................................................... 80
5.2.2 Notes regarding ESI device description........................................................................... 86
5.2.3 TwinCAT ESI Updater ..................................................................................................... 90
5.2.4 Distinction between Online and Offline............................................................................ 90
5.2.5 OFFLINE configuration creation ...................................................................................... 91
5.2.6 ONLINE configuration creation ........................................................................................ 96
5.2.7 EtherCAT subscriber configuration................................................................................ 104
5.3 General Notes - EtherCAT Slave Application................................................................................114
5.4 Operating modes and process data ..............................................................................................122
5.5 Hints regarding TcVirtualComDriver..............................................................................................129
5.6 Communication features................................................................................................................131
5.7 LIN Master Feature EL6001 ..........................................................................................................132
5.8 Example programs ........................................................................................................................136
5.8.1 Sample program 1 ......................................................................................................... 136
5.8.2 Sample program 2 ......................................................................................................... 139
5.8.3 Sample program 3 (LIN) ................................................................................................ 141
6 Overview of CoE objects EL6001, EL6021 ..........................................................................................144
6.1 Object description and parameterization .......................................................................................144
6.1.1 Objects for commissioning............................................................................................. 144
6.1.2 Standard objects (0x1000-0x1FFF) ............................................................................... 146
6.1.3 Profile-specific objects (0x6000-0xFFFF) [from hardware version 03] .......................... 162
6.2 Control and status word.................................................................................................................165
7 Overview CoE objects EL6002, EL6022...............................................................................................168
7.1 Object description and parameterization .......................................................................................168
7.1.1 Objects for commissioning............................................................................................. 168
7.1.2 Standard objects (0x1000-0x1FFF) ............................................................................... 169
7.1.3 Profile-specific objects (0x6000-0xFFFF) [from hardware version 03] .......................... 181
7.2 Control and status data .................................................................................................................184
8 Appendix ................................................................................................................................................186
8.1 EtherCAT AL Status Codes...........................................................................................................186
8.2 Firmware compatibility...................................................................................................................186
8.3 Firmware Update EL/ES/EM/EPxxxx ............................................................................................187
8.3.1 Device description ESI file/XML..................................................................................... 188
8.3.2 Firmware explanation .................................................................................................... 191
8.3.3 Updating controller firmware *.efw................................................................................. 192
8.3.4 FPGA firmware *.rbf....................................................................................................... 193
8.3.5 Simultaneous updating of several EtherCAT devices.................................................... 197
8.4 Restoring the delivery state ...........................................................................................................198
8.5 Support and Service ......................................................................................................................199