7.1.6
Output data .................................................................................................................... 197
7.1.7
7.1.8
Standard objects............................................................................................................ 202
7.2
EL72x1-9014 (DS402) ................................................................................................................... 211
7.2.1
Configuration data ......................................................................................................... 212
7.2.2
7.2.3
Command object ........................................................................................................... 217
7.2.4
Input/output data............................................................................................................ 218
7.2.5
7.2.6
Standard objects............................................................................................................ 226
8 Error correction ..................................................................................................................................... 233
8.1
9 Appendix ................................................................................................................................................ 243
9.1
EtherCAT AL Status Codes ........................................................................................................... 243
9.2
Firmware compatibility ................................................................................................................... 243
9.3
9.3.1
9.3.2
Firmware explanation .................................................................................................... 248
9.3.3
9.3.4
FPGA firmware *.rbf....................................................................................................... 250
9.3.5
9.4
Restoring the delivery state ........................................................................................................... 255
9.5
Certificates..................................................................................................................................... 256
9.6
Support and Service ...................................................................................................................... 257
EL72x1-901x
Version: 1.9
Table of contents
5