Table of contents
EL125x, EL2258
5
Version: 2.5
6.4.2
Compatibility mode in relation to EL1252/EL2252 ......................................................... 117
6.5
Commissioning inputs................................................................................................................. 119
6.5.1
Basic principles .............................................................................................................. 119
6.5.2
Commissioning of a MTI channel................................................................................... 122
6.5.3
Commissioning in compatibility mode ............................................................................ 124
6.6
Commissioning outputs .............................................................................................................. 125
6.6.1
Basic principles .............................................................................................................. 126
6.6.2
Commissioning an MTO channel ................................................................................... 130
6.6.3
Commissioning in compatibility mode EL2252 .............................................................. 132
6.7
Distributed Clocks settings ......................................................................................................... 133
6.8
CoE object description and parameterization ............................................................................. 136
6.8.1
EL1258........................................................................................................................... 136
6.8.2
EL1259........................................................................................................................... 173
6.8.3
EL2258........................................................................................................................... 246
6.9
Example programs...................................................................................................................... 286
6.9.1
Example program for EL2258: Multi-Timestamp ........................................................... 287
6.9.2
Example program for EL1258 (EL1259): MT Visualization (TC 3)................................. 290
7 Appendix ................................................................................................................................................ 293
7.1
EtherCAT AL Status Codes ........................................................................................................ 293
7.2
Firmware compatibility ................................................................................................................ 293
7.3
Firmware Update EL/ES/EM/EPxxxx.......................................................................................... 293
7.3.1
Device description ESI file/XML ..................................................................................... 294
7.3.2
Firmware explanation..................................................................................................... 297
7.3.3
Updating controller firmware *.efw ................................................................................. 298
7.3.4
FPGA firmware *.rbf ....................................................................................................... 300
7.3.5
Simultaneous updating of several EtherCAT devices .................................................... 304
7.4
Restoring the delivery state ........................................................................................................ 305
7.5
Support and Service ................................................................................................................... 306
