The ESI data ingested by github.com/linuxcnc-ethercat/esi-data describes 1 revision(s) of this hardware. Here are the known revisions and their differences.
This also includes the send and receive PDOs defined for each revision, and a link to other known devices with identical PDOs.
| Revision | r0 |
|
| Name | 2CL3-EC507(COE) |
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| PID | 0x00002100 |
|
| Revision Code | 0x00000001 |
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| Equivalant Devices | 2CL3-EC503 r0 |
|
| TX PDOs | 0x1a00: Transmit PDO 1 |
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0x603f:00 Last Error Code UINT (16 bits) |
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0x6041:00 Status Word UINT (16 bits) |
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0x6061:00 Modes of Operation display SINT (8 bits) |
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0x6064:00 Position Actual Value DINT (32 bits) |
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0x60b9:00 Touch Probe Status UINT (16 bits) |
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0x60ba:00 Touch Probe 1 Positive Value DINT (32 bits) |
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0x60fd:00 Digital Inputs UDINT (32 bits) |
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0x1a01: Transmit PDO 2 |
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0x1a10: Transmit PDO 3 |
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0x683f:00 Last Error Code UINT (16 bits) |
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0x6841:00 Status Word UINT (16 bits) |
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0x6861:00 Modes of Operation display SINT (8 bits) |
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0x6864:00 Position Actual Value DINT (32 bits) |
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0x68b9:00 Touch Probe Status UINT (16 bits) |
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0x68ba:00 Touch Probe 1 Positive Value DINT (32 bits) |
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0x68fd:00 Digital Inputs UDINT (32 bits) |
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0x1a11: Transmit PDO 4 |
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| RX PDOs | 0x1600: Receive PDO 1 |
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0x6040:00 Control Word UINT (16 bits) |
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0x607a:00 Profile Target Position DINT (32 bits) |
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0x60b8:00 Touch Probe Function UINT (16 bits) |
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0x1601: Receive PDO 2 |
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0x6040:00 Control word UINT (16 bits) |
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0x607a:00 Profile Target Position DINT (32 bits) |
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0x6081:00 Profile Velocity UDINT (32 bits) |
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0x6083:00 Profile Target Acceleration UDINT (32 bits) |
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0x6084:00 Profile Target Deceleration UDINT (32 bits) |
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0x6060:00 Modes of Operation USINT (8 bits) |
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0x1602: Receive PDO 3 |
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0x6040:00 Control Word UINT (16 bits) |
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0x60ff:00 Target Velocity DINT (32 bits) |
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0x6083:00 Profile Acceleration UDINT (32 bits) |
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0x6084:00 Profile Deceleration UDINT (32 bits) |
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0x6060:00 Modes of Operation USINT (8 bits) |
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0x1603: Receive PDO 4 |
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0x6040:00 Control Word UINT (16 bits) |
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0x6098:00 Homing Method SINT (8 bits) |
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0x6099:01 Homing Velocity (fast) UDINT (32 bits) |
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0x6099:02 Homing Velocity (slow) UDINT (32 bits) |
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0x609a:00 Homing Acceleration UDINT (32 bits) |
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0x607c:00 Homing Offset DINT (32 bits) |
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0x6060:00 Modes of Operation USINT (8 bits) |
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0x1610: Receive PDO 5 |
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0x6840:00 Control Word UINT (16 bits) |
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0x687a:00 Profile Target Position DINT (32 bits) |
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0x68b8:00 Touch Probe Function UINT (16 bits) |
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0x1611: Receive PDO 6 |
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0x6840:00 Control word UINT (16 bits) |
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0x687a:00 Profile Target Position DINT (32 bits) |
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0x6881:00 Profile Velocity UDINT (32 bits) |
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0x6883:00 Profile Target Acceleration UDINT (32 bits) |
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0x6884:00 Profile Target Deceleration UDINT (32 bits) |
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0x6860:00 Modes of Operation USINT (8 bits) |
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0x1612: Receive PDO 7 |
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0x6840:00 Control Word UINT (16 bits) |
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0x68ff:00 Target Velocity DINT (32 bits) |
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0x6883:00 Profile Acceleration UDINT (32 bits) |
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0x6884:00 Profile Deceleration UDINT (32 bits) |
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0x6860:00 Modes of Operation USINT (8 bits) |
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0x1613: Receive PDO 8 |
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0x6840:00 Control Word UINT (16 bits) |
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0x6898:00 Homing Method SINT (8 bits) |
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0x6899:01 Homing Velocity (fast) UDINT (32 bits) |
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0x6899:02 Homing Velocity (slow) UDINT (32 bits) |
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0x689a:00 Homing Acceleration UDINT (32 bits) |
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0x687c:00 Homing Offset DINT (32 bits) |
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0x6860:00 Modes of Operation USINT (8 bits) |