Beckhoff EL6731 Documentation page 4

Table of contents
6.2 PROFIBUS slave ........................................................................................................................... 160
6.2.1 State machine................................................................................................................ 160
6.2.2 Object description and parameterization ....................................................................... 164
7 Appendix ................................................................................................................................................ 172
7.1 EtherCAT AL Status Codes ........................................................................................................... 172
7.2 Firmware compatibility ................................................................................................................... 172
7.3 Firmware Update EL/ES/EM/ELM/EPxxxx .................................................................................... 173
7.3.1 Device description ESI file/XML..................................................................................... 174
7.3.2 Firmware explanation .................................................................................................... 177
7.3.3 Updating controller firmware *.efw................................................................................. 178
7.3.4 FPGA firmware *.rbf....................................................................................................... 179
7.3.5 Simultaneous updating of several EtherCAT devices.................................................... 183
7.4 Support and Service ...................................................................................................................... 184
4 Version: 2.8 EL6731