Beckhoff EL72 1 Series Documentation page 5

6.3 Operating modes ........................................................................................................................ 113
6.3.1 Overview ........................................................................................................................ 113
6.3.2 CSV................................................................................................................................ 114
6.3.3 CST ................................................................................................................................ 118
6.3.4 CSTCA ........................................................................................................................... 121
6.3.5 CSP................................................................................................................................ 125
6.4 Profile MDP 742 or DS 402 ........................................................................................................ 129
6.5 MDP742 process data ............................................................................................................... 130
6.6 DS402 process data ................................................................................................................... 133
7 EL72x1-0000 (MDP742) - Object description and parameterization ................................................. 136
7.1 Restore object............................................................................................................................. 136
7.2 Configuration data ...................................................................................................................... 136
7.3 Configuration data (vendor-specific)........................................................................................... 141
7.4 Command object......................................................................................................................... 142
7.5 Input data.................................................................................................................................... 142
7.6 Output data ................................................................................................................................. 144
7.7 Information / diagnosis data ....................................................................................................... 145
7.8 Standard objects......................................................................................................................... 146
8 EL72x1-0001 (DS402) - Object description and parameterization .................................................... 153
8.1 Configuration data ...................................................................................................................... 154
8.2 Configuration data (vendor-specific)........................................................................................... 156
8.3 Command object......................................................................................................................... 157
8.4 Input/output data......................................................................................................................... 157
8.5 Information / diagnosis data ....................................................................................................... 161
8.6 Standard objects......................................................................................................................... 162
9 Error correction ..................................................................................................................................... 168
9.1 Diagnostics - basic principles of diag messages ....................................................................... 168
9.2 Notes on Diag Messages associated with Motor Terminals ....................................................... 177
10 Appendix ................................................................................................................................................ 178
10.1 UL notice..................................................................................................................................... 178
10.2 EtherCAT AL Status Codes ........................................................................................................ 179
10.3 Firmware compatibility ................................................................................................................ 179
10.4 Firmware Update EL/ES/EM/EPxxxx.......................................................................................... 179
10.4.1 Device description ESI file/XML ..................................................................................... 180
10.4.2 Firmware explanation..................................................................................................... 183
10.4.3 Updating controller firmware *.efw ................................................................................. 184
10.4.4 FPGA firmware *.rbf ....................................................................................................... 186
10.4.5 Simultaneous updating of several EtherCAT devices .................................................... 190
10.5 Restoring the delivery state ........................................................................................................ 191
10.6 Support and Service ................................................................................................................... 192
EL72x1 Version: 3.3
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