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Product overview EtherCAT Bus Coupler

EK18xx

3

Version: 2.2

1

Product overview EtherCAT Bus Coupler

EtherCAT Bus Coupler with 4 digital inputs and 4 digital outputs

8 EtherCAT Bus Coupler with 8 digital inputs and 4 digital outputs

EtherCAT Bus Coupler with 4 digital inputs and 8 digital outputs

EtherCAT Bus Coupler with 8 digital outputs

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Summary of Contents for EK18 Series

Page 1: ...Documentation EK18xx EtherCAT Bus Coupler 2 2 03 04 2019 Version Date ...

Page 2: ......

Page 3: ...Coupler EK1814 20 EtherCAT Bus Coupler with 4 digital inputs and 4 digital outputs EK181 20 8 EtherCAT Bus Coupler with 8 digital inputs and 4 digital outputs EK1828 20 EtherCAT Bus Coupler with 4 digital inputs and 8 digital outputs EK1828 0010 20 EtherCAT Bus Coupler with 8 digital outputs ...

Page 4: ...cal data 21 4 2 3 Optional distributed clocks support 22 4 2 4 EtherCAT coupler port allocation 24 5 Mounting and wiring 27 5 1 Instructions for ESD protection 27 5 2 Installation on mounting rails 27 5 3 Connection system 30 5 4 Positioning of passive Terminals 34 5 5 Power supply potential groups 34 5 6 EK18xx connection 37 5 6 1 EK1814 connection 37 5 6 2 EK1818 connection 38 5 6 3 EK1828 conne...

Page 5: ...pdate EL ES EM ELM EPxxxx 58 8 3 1 Device description ESI file XML 59 8 3 2 Firmware explanation 62 8 3 3 Updating controller firmware efw 63 8 3 4 FPGA firmware rbf 64 8 3 5 Simultaneous updating of several EtherCAT devices 68 8 4 Support and Service 69 ...

Page 6: ...Table of contents EK18xx 6 Version 2 2 ...

Page 7: ...a diagrams and descriptions in this documentation Trademarks Beckhoff TwinCAT EtherCAT EtherCAT P Safety over EtherCAT TwinSAFE XFC and XTS are registered trademarks of and licensed by Beckhoff Automation GmbH Other designations used in this publication may be trademarks whose use by third parties for their own purposes could violate the rights of the owners Patent Pending The EtherCAT Technology ...

Page 8: ...ained specialists in control automation and drive engineering who are familiar with the applicable national standards Description of instructions In this documentation the following instructions are used These instructions must be read carefully and followed without fail DANGER Serious risk of injury Failure to follow this safety instruction directly endangers the life and health of persons WARNIN...

Page 9: ...rrections and addenda 0 1 Preliminary version 2 4 Version identification of EtherCAT devices Designation A Beckhoff EtherCAT device has a 14 digit designation made up of family key type version revision Example Family Type Version Revision EL3314 0000 0016 EL terminal 12 mm non pluggable connection level 3314 4 channel thermocouple terminal 0000 basic type 0016 ES3602 0010 0017 ES terminal 12 mm p...

Page 10: ...es is usually the 8 digit number printed on the device or on a sticker The serial number indicates the configuration in delivery state and therefore refers to a whole production batch without distinguishing the individual modules of a batch Structure of the serial number KK YY FF HH KK week of production CW calendar week YY year of production FF firmware version HH hardware version Example with Se...

Page 11: ... of markings Fig 1 EL5021 EL terminal standard IP20 IO device with serial batch number and revision ID since 2014 01 Fig 2 EK1100 EtherCAT coupler standard IP20 IO device with serial batch number Fig 3 CU2016 switch with serial batch number ...

Page 12: ...EP1258 00001 IP67 EtherCAT Box with batch number date code 22090101 and unique serial number 158102 Fig 6 EP1908 0002 IP67 EtherCAT Safety Box with batch number date code 071201FF and unique serial number 00346070 Fig 7 EL2904 IP20 safety terminal with batch number date code 50110302 and unique serial number 00331701 ...

Page 13: ...Foreword EK18xx 13 Version 2 2 Fig 8 ELM3604 0002 terminal with unique ID number QR code 100001051 and serial batch number 44160201 ...

Page 14: ... 3 Pin Color of conductor Signal Description 1 yellow TD Transmission Data 2 orange TD Transmission Data 3 white RD Receiver Data 6 blue RD Receiver Data Due to automatic cable detection auto crossing symmetric 1 1 or cross over cables can be used between EtherCAT devices from Beckhoff Recommended cables Suitable cables for the connection of EtherCAT devices can be found on the Beckhoff website E ...

Page 15: ...ed via the EtherCAT State Machine ESM Depending upon the state different functions are accessible or executable in the EtherCAT slave Specific commands must be sent by the EtherCAT master to the device in each state particularly during the bootup of the slave A distinction is made between the following states Init Pre Operational Safe Operational and Operational Boot The regular state of each Ethe...

Page 16: ... of the EtherCAT slave controller ECSC In Safe Op state mailbox and process data communication is possible although the slave keeps its outputs in a safe state while the input data are updated cyclically Outputs in SAFEOP state The default set watchdog monitoring sets the outputs of the module in a safe state depending on the settings in SAFEOP and OP e g in OFF state If this is prevented by deact...

Page 17: ... EtherCAT slaves only offer 32 bit support i e the variable overflows after approx 4 2 seconds The EtherCAT master automatically synchronizes the local clock with the master clock in the EtherCAT bus with a precision of 100 ns For detailed information please refer to the EtherCAT system description ...

Page 18: ...a is a local small controller needed is the coupler to be connected via copper cable or optical fiber cable is the coupler to be addressed via IP or is it located in the unswitched network is the coupler to be controlled via EAP EtherCAT Automation Protocol or EtherCAT Device Protocol required protection class IP20 or higher is the coupler to be plugged in at different places at the network using ...

Page 19: ...x to 100BASE TX EtherCAT P net works Characteristic EK1541 EK18xx EK9000 EKx000 EPxxxx CX8000 Protection class IP20 IP20 IP20 IP20 IP67 IP20 Higher level network technol ogy 100 MBit FastEth ernet 100BASE FX POF 100 MBit FastEth ernet 100BASE TX 100 MBit FastEth ernet 100BASE TX diverse see doc 100 MBit FastEth ernet 100BASE TX 100 MBit FastEth ernet 100BASE TX Higher level network max connection ...

Page 20: ...0BASE TX to E bus signal representation in passing with minimum latency The coupler is connected to the network via the upper Ethernet interface The lower RJ 45 socket may be used to connect further EtherCAT devices in the same strand The coupler supplies the connected terminals with the necessary E bus current for communication The coupler can supply a maximum of 5 V 1000 mA Power feed terminals ...

Page 21: ...4 VDC 15 20 Switching times TON 60 µs typ TOFF 300 µs typ Output current per channel max 0 5 A short circuit proof Short circuit current 2 A typ Breaking energy inductive max 150 mJ channel Distributed Clocks no HotConnect no Delay typical 1 µs Bus connection 2 x RJ45 Power supply 24 VDC 15 20 Current consumption from Up 40 mA load Current consumption from Us 100 mA total E bus current 4 E bus pow...

Page 22: ...capable device as reference clock This is shown and can be modified by the user under advanced properties of the EtherCAT master The standard setting should not be changed except in cases where external synchronization is recommended in the relevant documentation for example Fig 14 Advanced Distributed Clocks settings in the EtherCAT master Fig Advanced distributed clocks settings in the EtherCAT ...

Page 23: ...1 0010 0018 from firmware 03 xxxx03yy EK1814 from EK1814 0000 0016 from firmware 00 xxxx00yy Table 1 DC support from rev firmware version To ensure that TwinCAT uses such a component as DC reference clock a manual intervention during the configuration setup is required as shown here using the EK1100 as an example The checkboxes Cyclic Mode Enable and Use as potential Reference Clock must be set Fi...

Page 24: ...l can have 1 to 4 ports which it controls itself Via an open port it can handle outgoing and incoming Ethernet traffic The direction of data flow in a fully wired EK1100 is shown in Fig Internal and external port assignment for Bus Coupler EK1100 Fig 16 Example of an EK1100 EtherCAT coupler with 3 ports The port assignment in the case of the EK1101 EK1501 and EK1501 0010 EK1814 applies accordingly...

Page 25: ... Port 1 B and the data frame departs via Port 1 B to the following slave in the EtherCAT terminal network if a slave is connected there and reports Link After the arrival of the data frame at Port 1 B from the terminal network this is passed on to Port 2 C and leaves the coupler at the following EtherCAT output if a slave is connected there and reports Link The data frame arrives at Port 2 C This ...

Page 26: ... Processing of the data The data in the EtherCAT datagrams are processed only between Ports 0 A and 3 D in the EtherCAT processing unit The non implemented internal Port 3 D is considered to be closed and passes on the datagram to Port 1 B ...

Page 27: ... highly insulating materials synthetic fibers plastic film etc Surroundings working place packaging and personnel should by grounded probably when handling with the devices Each assembly must be terminated at the right hand end with an EL9011 or EL9012 bus end cap to en sure the protection class and ESD protection Fig 18 Spring contacts of the Beckhoff I O components 5 2 Installation on mounting r...

Page 28: ... lock clicks onto the mounting rail If the terminals are clipped onto the mounting rail first and then pushed together without tongue and groove the connection will not be operational When correctly assembled no significant gap should be visible between the housings Fixing of mounting rails The locking mechanism of the terminals and couplers extends to the profile of the mounting rail At the insta...

Page 29: ...nents The six spring contacts of the K Bus E Bus deal with the transfer of the data and the supply of the Bus Terminal electronics The power contacts deal with the supply for the field electronics and thus represent a supply rail within the bus terminal block The power contacts are supplied via terminals on the Bus Coupler up to 24 V or for higher voltages via power feed terminals Power Contacts D...

Page 30: ...least 10 mm from the group of terminals WARNING Risk of electric shock The PE power contact must not be used for other potentials 5 3 Connection system WARNING Risk of electric shock and damage of device Bring the bus terminal system into a safe powered down state before starting installation disassembly or wiring of the Bus Terminals Overview The Bus Terminal system offers different connection op...

Page 31: ... risk of wires being mixed up The familiar dimensions of the terminal only had to be changed slightly The new connector adds about 3 mm The maximum height of the terminal remains unchanged A tab for strain relief of the cable simplifies assembly in many applications and prevents tangling of individual connection wires when the connector is removed Conductor cross sections between 0 08 mm2 and 2 5 ...

Page 32: ...rminals are implemented in spring force technology Connect the cables as follows 1 Open a spring loaded terminal by slightly pushing with a screwdriver or a rod into the square opening above the terminal 2 The wire can now be inserted into the round terminal opening without any force 3 The terminal closes automatically when the pressure is released holding the wire securely and per manently Termin...

Page 33: ...eve 0 14 0 75 mm2 Wire size width single core wires 0 08 1 5 mm2 Wire size width fine wire conductors 0 25 1 5 mm2 Wire size width ultrasonically bonded conductors only 1 5 mm2 see notice 32 Wire stripping length 8 9 mm Shielding Shielding Analog sensors and actors should always be connected with shielded twisted paired wires ...

Page 34: ...ou must not directly string together more than 2 passive termi nals Examples for positioning of passive terminals highlighted Fig 26 Correct positioning Fig 27 Incorrect positioning 5 5 Power supply potential groups Bus Coupler power supply The Bus Couplers require a 24 VDC supply for their operation The connection is made by means of the upper spring loaded terminals labelled 24 V and 0 V The sup...

Page 35: ...ng contacts for the power contact connections The spring contacts are hidden in slots so that they can not be accidentally touched By attaching a Bus Terminal the blade contacts on the left hand side of the Bus Terminal are connected to the spring contacts The tongue and groove guides on the top and bottom of the Bus Coupler and of the Bus Terminals guarantees that the power contacts mate securely...

Page 36: ...red terminals typ max 500 mA Calculating the fuse protection For dimensioning the fuse protection for the system voltage note the calculation of current con sumption 21 in the technical data Power contacts fuse 2 permitted max 10 A slow blow Coupler electronics and power contacts can be supplied together from the same source the fusing must then be dimensioned accordingly to max 10 A ...

Page 37: ...ut channel 1 Input 3 3 Input channel 3 n c 4 not connected n c 5 not connected Up 24 V 6 Power supply for the power contacts Output 1 7 Output channel 1 Output 3 8 Output channel 3 Us 0 V 9 Power supply for Bus Coupler and E bus electronics Input 2 10 Input channel 2 Input 4 11 Input channel 4 n c 12 not connected n c 13 not connected Up 0 V 14 Power supply for the power contacts Output 2 15 Outpu...

Page 38: ...Input channel 3 Input 5 4 Input channel 5 Input 7 5 Input channel 7 Up 24 V 6 Power supply for the power contacts Output 1 7 Output channel 1 Output 3 8 Output channel 3 Us 0 V 9 Power supply for Bus Coupler and E bus electronics Input 2 10 Input channel 2 Input 4 11 Input channel 4 Input 6 12 Input channel 6 Input 8 13 Input channel 8 Up 0 V 14 Power supply for the power contacts Output 2 15 Outp...

Page 39: ...t channel 3 Output 1 4 Output channel 1 Output 3 5 Output channel 3 Up 24 V 6 Power supply for the power contacts Output 5 7 Output channel 5 Output 7 8 Output channel 7 Us 0 V 9 Power supply for Bus Coupler and E bus electronics Input 2 10 Input channel 2 Input 4 11 Input channel 4 Output 2 12 Output channel 2 Output 4 13 Output channel 4 Up 0 V 14 Power supply for the power contacts Output 6 15 ...

Page 40: ...not connected Output 1 4 Output channel 1 Output 3 5 Output channel 3 Up 24 V 6 Power supply for the power contacts Output 5 7 Output channel 5 Output 7 8 Output channel 7 Us 0 V 9 Power supply for Bus Coupler and E bus electronics n c 10 not connected n c 11 not connected Output 2 12 Output channel 2 Output 4 13 Output channel 4 Up 0 V 14 Power supply for the power contacts Output 6 15 Output cha...

Page 41: ...ation on the Beckhoff website 6 2 Overview of process data In the TwinCAT System Manager enter the EK18xx as an EtherCAT Direct mode device in Config mode under Devices If the Bus Coupler is already connected to the network it can be read This will cause all the Bus Couplers with Bus Terminals and their configurations to be loaded You can then adapt these to meet your requirements 6 2 1 EK1814 Fig...

Page 42: ...Parameterization and commissioning EK18xx 42 Version 2 2 Extent of process data EK1814 Fig 35 Extent of process data EK1814 TwinCAT ...

Page 43: ...Input 0x1A01 0 1 Channel 2 Index 0x6010 01 Input 0x1A02 0 1 Channel 3 Index 0x6020 01 Input 0x1A03 0 1 Channel 4 Index 0x6030 01 Input SM0 PDO Assignment 0x1C10 Index Size byte bit Name PDO content 0x1608 0 1 Channel 5 Index 0x7080 01 Output 0x1609 0 1 Channel 6 Index 0x7090 01 Output 0x160A 0 1 Channel 7 Index 0x70A0 01 Output 0x160B 0 1 Channel 8 Index 0x70B0 01 Output Table 1 2 PDO assignment o...

Page 44: ...Parameterization and commissioning EK18xx 44 Version 2 2 6 2 2 EK1818 Fig 37 TwinCAT tree EK1818 ...

Page 45: ...Parameterization and commissioning EK18xx 45 Version 2 2 Extent of process data EK1818 Fig 38 Extent of process data EK1818 TwinCAT ...

Page 46: ...nput 0x1A03 0 1 Channel 4 Index 0x6030 01 Input 0x1A04 0 1 Channel 5 Index 0x6040 01 Input 0x1A05 0 1 Channel 6 Index 0x6050 01 Input 0x1A06 0 1 Channel 7 Index 0x6060 01 Input 0x1A07 0 1 Channel 8 Index 0x6070 01 Input SM0 PDO Assignment 0x1C10 Index Size byte bit Name PDO content 0x1600 0 1 Channel 9 Index 0x7000 01 Output 0x1601 0 1 Channel 10 Index 0x7010 01 Output 0x1602 0 1 Channel 11 Index ...

Page 47: ...Parameterization and commissioning EK18xx 47 Version 2 2 6 2 3 EK1828 Fig 40 TwinCAT tree EK1828 ...

Page 48: ...Parameterization and commissioning EK18xx 48 Version 2 2 Extent of process data EK1828 Fig 41 Extent of process data EK1828 TwinCAT ...

Page 49: ...Parameterization and commissioning EK18xx 49 Version 2 2 Fig 42 Extent of process data EK1828 TwinCAT ...

Page 50: ...Channel 1 Index 0x6000 01 Input 0x1A01 0 1 Channel 2 Index 0x6010 01 Input 0x1A02 0 1 Channel 3 Index 0x6020 01 Input 0x1A03 0 1 Channel 4 Index 0x6030 01 Input SM0 PDO Assignment 0x1C10 Index Size byte bit Name PDO content 0x1600 0 1 Channel 5 Index 0x7000 01 Output 0x1601 0 1 Channel 6 Index 0x7010 01 Output 0x1602 0 1 Channel 7 Index 0x7020 01 Output 0x1603 0 1 Channel 8 Index 0x7030 01 Output ...

Page 51: ...e bit Name PDO content 0x1604 0 1 Channel 9 Index 0x7040 01 Output 0x1605 0 1 Channel 10 Index 0x7050 01 Output 0x1606 0 1 Channel 11 Index 0x7060 01 Output 0x1607 0 1 Channel 12 Index 0x7070 01 Output Table 5 6 7 Sync Manager PDO assignment EK1828 6 2 4 EK1828 0010 Fig 44 TwinCAT tree EK1828 0010 ...

Page 52: ...Parameterization and commissioning EK18xx 52 Version 2 2 Extent of process data EK1828 0010 Fig 45 Extent of process data EK1828 0010 TwinCAT ...

Page 53: ...utput 0x1601 0 1 Channel 2 Index 0x7010 01 Output 0x1602 0 1 Channel 3 Index 0x7020 01 Output 0x1603 0 1 Channel 4 Index 0x7030 01 Output SM1 PDO Assignment 0x1C11 Index Size byte bit Name PDO content 0x1604 0 1 Channel 5 Index 0x7040 01 Output 0x1605 0 1 Channel 6 Index 0x7050 01 Output 0x1606 0 1 Channel 7 Index 0x7060 01 Output 0x1607 0 1 Channel 8 Index 0x7070 01 Output Table 8 9 10 PDO assign...

Page 54: ...upler Up green off No power supply present at the power contacts on 24 VDC power supply present at the power contacts Diagnostic LEDs for the EtherCAT State Machine PLC LED Display State Description RUN gree n off Init The Bus Coupler is in initialization state flashing Pre Operational The Bus Coupler is in pre operational state single flash Safe Operational The Bus Coupler is in safe operational ...

Page 55: ...e incoming EtherCAT strand on linked Following EtherCAT device connected flashing active Communication with following EtherCAT device LINK ACT E bus gree n off no connection to internal E bus on linked Connection to internal E bus flashing active Connection communication internal E bus LEDs for diagnostics of the digital inputs and outputs LED Display Description INPUT green off Signal voltage 0 3...

Page 56: ...ification according to UL508 with limited power consumption The current consumed by the de vice is limited to a max possible current consumption of 4 A Devices with this kind of certification are marked by this sign Almost all current EtherCAT products as at 2010 05 are UL certified without restrictions Application If terminals certified with restrictions are used then the current consumption at 2...

Page 57: ...ossible Note the information regarding XML update on the separate page 58 Ensure that the XML device description is suitable for the hardware version of the device EK1814 Hardware HW Revision no 00 EK1814 0000 0016 01 EK1814 0000 0017 02 03 EK1814 0000 0018 04 05 06 EK1814 0000 0019 07 08 09 EK1818 Hardware HW Revision no 00 EK1818 0000 0016 01 02 03 EK1818 0000 0017 04 05 06 EK1818 0000 0018 07 0...

Page 58: ...ttps www beckhoff de All ESI files are accessible there as zip files Customers can access the data via the EtherCAT fieldbus and its communication mechanisms Acyclic mailbox communication or register access to the ESC is used for updating or reading of these data The TwinCAT System Manager offers mechanisms for programming all 3 parts with new data if the slave is set up for this purpose Generally...

Page 59: ...que identifier consisting of slave name 9 characters digits and a revision number 4 digits Each slave configured in the System Manager shows its identifier in the EtherCAT tab Fig 48 Device identifier consisting of name EL3204 0000 and revision 0016 The configured identifier must be compatible with the actual device description used as hardware i e the description which the slave has loaded on sta...

Page 60: ...uration is identical otherwise a change dialog appears for entering the actual data in the configuration Fig 51 Change dialog In this example in Fig Change dialog an EL3201 0000 0017 was found while an EL3201 0000 0016 was configured In this case the configuration can be adapted with the Copy Before button The Extended Information checkbox must be set in order to display the revision ...

Page 61: ...ed in the following dialog see Fig Selecting the new ESI The checkbox Show Hidden Devices also displays older normally hidden versions of a slave Fig 53 Selecting the new ESI A progress bar in the System Manager shows the progress Data are first written then verified The change only takes effect after a restart Most EtherCAT devices read a modified ESI description immediately or after startup from...

Page 62: ... terminal 2 EL3204 and select the tab CoE Online CAN over EtherCAT CoE Online and Offline CoE Two CoE directories are available online This is offered in the EtherCAT slave by the controller if the EtherCAT slave supports this This CoE directory can only be displayed if a slave is connected and operational offline The EtherCAT Slave Information ESI XML may contain the default content of the CoE Th...

Page 63: ...uring a firmware update Switch to the Online tab to update the controller firmware of a slave see Fig Firmware Update Fig 55 Firmware Update Proceed as follows unless instructed otherwise by Beckhoff support Valid for TwinCAT 2 and 3 as EtherCAT master Switch TwinCAT system to ConfigMode FreeRun with cycle time 1 ms default in ConfigMode is 4 ms A FW Update during real time operation is not recomm...

Page 64: ...pdate may be accomplished via an rbf file Controller firmware for processing I O signals FPGA firmware for EtherCAT communication only for terminals with FPGA The firmware version number included in the terminal serial number contains both firmware components If one of these firmware components is modified this version number is updated Determining the version via the System Manager The TwinCAT Sy...

Page 65: ... right click the table header and select Properties in the context menu Fig 57 Context menu Properties The Advanced Settings dialog appears where the columns to be displayed can be selected Under Diagnosis Online View select the 0002 ETxxxx Build check box in order to activate the FPGA firmware version display ...

Page 66: ...terminal must have FPGA firmware version 10 or higher Older firmware versions can only be updated by the manufacturer Updating an EtherCAT device The following sequence order have to be met if no other specifications are given e g by the Beckhoff support Switch TwinCAT system to ConfigMode FreeRun with cycle time 1 ms default in ConfigMode is 4 ms A FW Update during real time operation is not reco...

Page 67: ...anager select the terminal for which the FPGA firmware is to be updated in the example Terminal 5 EL5001 and click the Advanced Settings button in the EtherCAT tab The Advanced Settings dialog appears Under ESC Access E PROM FPGA click on Write FPGA button ...

Page 68: ...o the device A download of firmware to an EtherCAT device must not be interrupted in any case If you interrupt this process by switching off power supply or disconnecting the Ethernet link the EtherCAT device can only be recommissioned by the manufacturer 8 3 5 Simultaneous updating of several EtherCAT devices The firmware and ESI descriptions of several devices can be updated simultaneously provi...

Page 69: ...onents there Beckhoff Headquarters Beckhoff Automation GmbH Co KG Huelshorstweg 20 33415 Verl Germany Phone 49 0 5246 963 0 Fax 49 0 5246 963 198 e mail info beckhoff com Beckhoff Support Support offers you comprehensive technical assistance helping you not only with the application of individual Beckhoff products but also with other wide ranging services support design programming and commissioni...

Page 70: ...the Distributed Clocks function 22 Fig 14 Advanced Distributed Clocks settings in the EtherCAT master 22 Fig 15 TwinCAT setting for using this component as reference clock 23 Fig 16 Example of an EK1100 EtherCAT coupler with 3 ports 24 Fig 17 Internal and external port assignment EK1100 Bus Coupler 25 Fig 18 Spring contacts of the Beckhoff I O components 27 Fig 19 Attaching on mounting rail 28 Fig...

Page 71: ...54 Fig 48 Device identifier consisting of name EL3204 0000 and revision 0016 59 Fig 49 Scan the subordinate field by right clicking on the EtherCAT device 60 Fig 50 Configuration is identical 60 Fig 51 Change dialog 60 Fig 52 EEPROM Update 61 Fig 53 Selecting the new ESI 61 Fig 54 Display of EL3204 firmware version 62 Fig 55 Firmware Update 63 Fig 56 FPGA firmware version definition 65 Fig 57 Cont...

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