Table of contents
EL1502, EL1512
4
Version: 3.5
5.2.3
TwinCAT ESI Updater ..................................................................................................... 77
5.2.4
Distinction between Online and Offline............................................................................ 77
5.2.5
OFFLINE configuration creation ...................................................................................... 78
5.2.6
ONLINE configuration creation ........................................................................................ 83
5.2.7
EtherCAT subscriber configuration.................................................................................. 91
5.3
General Notes - EtherCAT Slave Application ................................................................................ 101
5.4
Basic function principles ................................................................................................................ 109
5.5
Operating modes ........................................................................................................................... 111
5.5.1
EL1502 Operating modes.............................................................................................. 111
5.5.2
EL1512 Operating Modes.............................................................................................. 121
5.5.3
Process data.................................................................................................................. 127
5.6
Object description and parameterization ....................................................................................... 129
5.6.1
EL1502 - Object description and parameterization........................................................ 129
5.6.2
EL1512 - Object description and parameterization........................................................ 140
6 Appendix ................................................................................................................................................ 150
6.1
EtherCAT AL Status Codes ........................................................................................................... 150
6.2
Firmware compatibility ................................................................................................................... 150
6.3
Firmware Update EL/ES/EM/EPxxxx ............................................................................................ 150
6.3.1
Device description ESI file/XML..................................................................................... 151
6.3.2
Firmware explanation .................................................................................................... 154
6.3.3
Updating controller firmware *.efw................................................................................. 155
6.3.4
FPGA firmware *.rbf....................................................................................................... 157
6.3.5
Simultaneous updating of several EtherCAT devices.................................................... 161
6.4
Restoring the delivery state ........................................................................................................... 162
6.5
Support and Service ...................................................................................................................... 163