Beckhoff EL3632 Documentation page 4

Table of contents
5.2.4 Distinction between Online and Offline............................................................................ 78
5.2.5 OFFLINE configuration creation ...................................................................................... 79
5.2.6 ONLINE configuration creation ........................................................................................ 84
5.2.7 EtherCAT subscriber configuration.................................................................................. 92
5.3 General Notes - EtherCAT Slave Application ................................................................................ 101
5.4 Oversampling terminals/boxes and TwinCAT Scope .................................................................... 109
5.4.1 TwinCAT 3 procedure.................................................................................................... 110
5.4.2 TwinCAT 2 procedure.................................................................................................... 118
5.5 Basics and commissioning ............................................................................................................ 127
5.5.1 Commissioning .............................................................................................................. 127
5.5.2 Update of the terminal ................................................................................................... 151
5.6 CoE object description................................................................................................................... 152
5.6.1 Profile-specific and parameterization objects ................................................................ 152
5.6.2 Standard objects and PDO mapping ............................................................................. 155
5.7 Notices on analog specifications ................................................................................................... 172
5.7.1 Full scale value (FSV).................................................................................................... 172
5.7.2 Measuring error/ measurement deviation ...................................................................... 172
5.7.3 Temperature coefficient tK [ppm/K] ............................................................................... 173
5.7.4 Single-ended/differential typification .............................................................................. 174
5.7.5 Common-mode voltage and reference ground (based on differential inputs)................ 179
5.7.6 Dielectric strength .......................................................................................................... 179
5.7.7 Temporal aspects of analog/digital conversion.............................................................. 180
5.8 Application example ...................................................................................................................... 183
6 Error handling and diagnostics............................................................................................................ 186
6.1 Error descriptions and troubleshooting .......................................................................................... 186
7 Appendix ................................................................................................................................................ 187
7.1 EtherCAT AL Status Codes ........................................................................................................... 187
7.2 Diagnostics - basic principles of diag messages .......................................................................... 187
7.3 Firmware compatibility ................................................................................................................... 196
7.4 Firmware Update EL/ES/EM/ELM/EPxxxx .................................................................................... 197
7.4.1 Device description ESI file/XML..................................................................................... 198
7.4.2 Firmware explanation .................................................................................................... 201
7.4.3 Updating controller firmware *.efw................................................................................. 202
7.4.4 FPGA firmware *.rbf....................................................................................................... 203
7.4.5 Simultaneous updating of several EtherCAT devices.................................................... 207
7.5 Restoring the delivery state ........................................................................................................... 208
7.6 Support and Service ...................................................................................................................... 209
4 Version: 2.8 EL3632