Datalogic AMT58 Series Manual page 150

AMT58x-EC EtherCAT®
6.2 CANopen Over EtherCAT (CoE)
Datalogic encoders are Slave devices and support "CanOpen Over
EtherCAT" (COE) mode for data transfer. In particular, they support
the "Device profile for encoders", Class 2.
For any omitted specification on CANopen® protocoll, please refer to
"CiA Draft Standard 301" and "CiA Draft Standard 406" documents
available at the address www.can-cia.org.
For any omitted specification on EtherCAT® protocoll, please refer to
"ETG.1000 EtherCAT Specification" document available at the
address www.ethercat.org.
6.2.1 XML file
EtherCAT® encoders are supplied with their own XML file AMT58-
xxx-13x14-EC (see at www.datalogic.com). At the same address you
can also download the most recent files to update both the firmware
and the EEProm of the encoder. For older versions of the files please
contact Datalogic Automation s.r.l. After Sales Service Dept. For any
information on the firmware upgrade procedure refer to the section
"5.7 Firmware upgrade" on page 21. For any information on the
EEProm upgrade procedure refer to the section "5.6 EEProm
upgrade" on page 26). XML file has to be installed on EtherCAT®
Master device.
WARNING
Before installing the XML file please check that it is compatible with
the firmware version and the EEProm version of the device; the XML
file version, the firmware version and the EEProm version must
always comply. For example: if the firmware version is H1_S4
(Hardware version: 1; Software version: 4), it is mandatory that the
EEProm version is S4, therefore you must then install the XML file
version V4.
WARNING
It is mandatory that in an EtherCAT network all devices are provided
with the same version of the firmware, EEProm and XML file. So
when you need to replace an old encoder installed in your network,
then you must either upgrade all the encoders in the network to the
last version compatible with the new encoder; or you must
downgrade the new encoder to the older version compatible with the
encoders already installed in the network.
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