Profile MDP742 or DS402
The EL72x1-000x supports the MDP742 and DS402 drive profiles. The profiles define the presentation of parameters for the EtherCAT Terminal and the index, under which the respective parameters are arranged in the object directory.
Both profiles contain the same parameters. They only differ in terms of the specified designations and the parameter index. The CoE objects in the MDP742 profile (Modular Device Profile) are allocated in the way that is common for the Beckhoff EtherCAT Terminals.
The DS402 drive profile is specified in IEC61800-7-200 (CiA402). It uses a different object directory structure.
In both profiles, the drive state machine of the EL72x1-000x is based on the CiA402 State Machine, which means the functional behavior is identical.
The terminals delivered with the MDP742 profile ex factory.
Changing the profile
After a profile change an EEPROM update is required. The corresponding ESI description can then be loaded into the terminal.
Please note that the CoE object description and the process data are different for both profiles. The motor XML files that match the set profile must be used.
 | Terminal designation MDP742 and DS402 profile Take note that the profile change process described above lead to a change of the type designation of the Servo Motor Terminal in TwinCAT. |