Beckhoff EtherCAT EL6001, Документация

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Appendix
EL600x, EL602x 187 Version: 4.6
EL6021
Hardware (HW) Firmware (FW) Revision no. Release date
00 - 02 01 05/2005
02 12/2006
03 04/2008
03 - 12* 04 EL6021-0000-0016 11/2009
05 04/2010
EL6021-0000-0017 10/2012
06 EL6021-0000-0018 08/2013
07 EL6021-0000-0019 06/2014
08* EL6021-0000-0020 10/2014
EL6022
Hardware (HW) Firmware (FW) Revision no. Release date
00 - 14* 01 EL6022-0000-0016 01/2010
02 06/2010
03* 09/2011
EL6022-0000-0017 08/2012
EL6022-0000-0018 08/2013
EL6022-0000-0019 03/2015
*) This is the current compatible firmware/hardware version at the time of the preparing this documentation.
Check on the Beckhoff web page whether more up-to-date
documentation is available.
8.3 Firmware Update EL/ES/EM/EPxxxx
This section describes the device update for Beckhoff EtherCAT slaves from the EL/ES, EM, EK and EP
series. A firmware update should only be carried out after consultation with Beckhoff support.
Storage locations
An EtherCAT slave stores operating data in up to 3 locations:
• Depending on functionality and performance EtherCAT slaves have one or several local controllers for
processing I/O data. The corresponding program is the so-called firmware in *.efw format.
• In some EtherCAT slaves the EtherCAT communication may also be integrated in these controllers. In
this case the controller is usually a so-called FPGA chip with *.rbf firmware.
• In addition, each EtherCAT slave has a memory chip, a so-called ESI-EEPROM , for storing its own
device description (ESI: EtherCAT Slave Information). On power-up this description is loaded and the
EtherCAT communication is set up accordingly. The device description is available from the download
area of the Beckhoff website at (
http://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 the slave does not check whether the new data are suitable, i.e. it may no
longer be able to operate if the data are unsuitable.
Simplified update by bundle firmware
The update using so-called bundle firmware is more convenient: in this case the controller firmware and the
ESI description are combined in a *.efw file; during the update both the firmware and the ESI are changed in
the terminal. For this to happen it is necessary