The ESI data ingested by github.com/linuxcnc-ethercat/esi-data describes 2 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 | r17 |
r18 |
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| Name | APS4322-7000 Drive |
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| PID | 0x77c43c29 |
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| Revision Code | 0x00111b58 |
0x00121b58 |
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| Equivalant Devices | |||
| TX PDOs | 0x1a00: APS Inputs |
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0x6000:11 StatusWord UINT (16 bits) |
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0x6001:02 Current D 0X0 INT (16 bits) |
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0x6001:03 Current D 0X1 INT (16 bits) |
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0x6001:04 Current D 0X2 INT (16 bits) |
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0x6001:05 Current D 0Y0 INT (16 bits) |
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0x6001:06 Current D 0Y1 INT (16 bits) |
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0x6001:07 Current D 0Y2 INT (16 bits) |
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0x6001:08 Current D 1X0 INT (16 bits) |
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0x6001:09 Current D 1X1 INT (16 bits) |
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0x6001:0a Current D 1X2 INT (16 bits) |
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0x6001:0b Current D 1Y0 INT (16 bits) |
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0x6001:0c Current D 1Y1 INT (16 bits) |
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0x6001:0d Current D 1Y2 INT (16 bits) |
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0x6001:0e Current D 2X0 INT (16 bits) |
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0x6001:0f Current D 2X1 INT (16 bits) |
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0x6001:10 Current D 2X2 INT (16 bits) |
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0x6001:11 Current D 2Y0 INT (16 bits) |
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0x6001:12 Current D 2Y1 INT (16 bits) |
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0x6001:13 Current D 2Y2 INT (16 bits) |
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0x6001:14 Current D 3X0 INT (16 bits) |
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0x6001:15 Current D 3X1 INT (16 bits) |
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0x6001:16 Current D 3X2 INT (16 bits) |
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0x6001:17 Current D 3Y0 INT (16 bits) |
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0x6001:18 Current D 3Y1 INT (16 bits) |
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0x6001:19 Current D 3Y2 INT (16 bits) |
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0x6001:1a Current Q 0X0 INT (16 bits) |
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0x6001:1b Current Q 0X1 INT (16 bits) |
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0x6001:1c Current Q 0X2 INT (16 bits) |
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0x6001:1d Current Q 0Y0 INT (16 bits) |
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0x6001:1e Current Q 0Y1 INT (16 bits) |
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0x6001:1f Current Q 0Y2 INT (16 bits) |
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0x6001:20 Current Q 1X0 INT (16 bits) |
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0x6001:21 Current Q 1X1 INT (16 bits) |
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0x6001:22 Current Q 1X2 INT (16 bits) |
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0x6001:23 Current Q 1Y0 INT (16 bits) |
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0x6001:24 Current Q 1Y1 INT (16 bits) |
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0x6001:25 Current Q 1Y2 INT (16 bits) |
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0x6001:26 Current Q 2X0 INT (16 bits) |
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0x6001:27 Current Q 2X1 INT (16 bits) |
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0x6001:28 Current Q 2X2 INT (16 bits) |
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0x6001:29 Current Q 2Y0 INT (16 bits) |
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0x6001:2a Current Q 2Y1 INT (16 bits) |
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0x6001:2b Current Q 2Y2 INT (16 bits) |
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0x6001:2c Current Q 3X0 INT (16 bits) |
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0x6001:2d Current Q 3X1 INT (16 bits) |
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0x6001:2e Current Q 3X2 INT (16 bits) |
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0x6001:2f Current Q 3Y0 INT (16 bits) |
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0x6001:30 Current Q 3Y1 INT (16 bits) |
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0x6001:31 Current Q 3Y2 INT (16 bits) |
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0x1a01: APS Infodata |
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0x6002:10 FpgaInfoData1 INT (16 bits) |
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0x6002:11 FpgaInfoData2 INT (16 bits) |
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0x6002:12 FpgaInfoData3 INT (16 bits) |
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0x6002:13 FpgaInfoData4 INT (16 bits) |
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0x6002:14 FpgaInfoData5 INT (16 bits) |
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0x6002:15 FpgaInfoData6 INT (16 bits) |
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0x6002:16 McuInfoData1 DINT (32 bits) |
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0x6002:17 McuInfoData2 DINT (32 bits) |
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0x6002:18 McuInfoData3 DINT (32 bits) |
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0x1a02: APS Diagdata |
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0x6000:12 DC Link Voltage UINT (16 bits) |
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0x6000:13 Power supply current INT (16 bits) |
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0x1a03: APS Comm Inputs |
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0x6003:11 CommStatusWord UINT (16 bits) |
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0x6003:12 Data 1 UINT (16 bits) |
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0x6003:13 Data 2 UINT (16 bits) |
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0x6003:14 Data 3 UINT (16 bits) |
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0x6003:15 Data 4 UINT (16 bits) |
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| RX PDOs | 0x1600: APS Outputs |
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0x7000:11 ControlWord UINT (16 bits) |
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0x7001:02 Current D 0X0 INT (16 bits) |
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0x7001:03 Current D 0X1 INT (16 bits) |
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0x7001:04 Current D 0X2 INT (16 bits) |
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0x7001:05 Current D 0Y0 INT (16 bits) |
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0x7001:06 Current D 0Y1 INT (16 bits) |
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0x7001:07 Current D 0Y2 INT (16 bits) |
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0x7001:08 Current D 1X0 INT (16 bits) |
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0x7001:09 Current D 1X1 INT (16 bits) |
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0x7001:0a Current D 1X2 INT (16 bits) |
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0x7001:0b Current D 1Y0 INT (16 bits) |
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0x7001:0c Current D 1Y1 INT (16 bits) |
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0x7001:0d Current D 1Y2 INT (16 bits) |
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0x7001:0e Current D 2X0 INT (16 bits) |
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0x7001:0f Current D 2X1 INT (16 bits) |
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0x7001:10 Current D 2X2 INT (16 bits) |
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0x7001:11 Current D 2Y0 INT (16 bits) |
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0x7001:12 Current D 2Y1 INT (16 bits) |
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0x7001:13 Current D 2Y2 INT (16 bits) |
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0x7001:14 Current D 3X0 INT (16 bits) |
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0x7001:15 Current D 3X1 INT (16 bits) |
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0x7001:16 Current D 3X2 INT (16 bits) |
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0x7001:17 Current D 3Y0 INT (16 bits) |
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0x7001:18 Current D 3Y1 INT (16 bits) |
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0x7001:19 Current D 3Y2 INT (16 bits) |
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0x7001:1a Current Q 0X0 INT (16 bits) |
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0x7001:1b Current Q 0X1 INT (16 bits) |
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0x7001:1c Current Q 0X2 INT (16 bits) |
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0x7001:1d Current Q 0Y0 INT (16 bits) |
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0x7001:1e Current Q 0Y1 INT (16 bits) |
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0x7001:1f Current Q 0Y2 INT (16 bits) |
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0x7001:20 Current Q 1X0 INT (16 bits) |
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0x7001:21 Current Q 1X1 INT (16 bits) |
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0x7001:22 Current Q 1X2 INT (16 bits) |
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0x7001:23 Current Q 1Y0 INT (16 bits) |
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0x7001:24 Current Q 1Y1 INT (16 bits) |
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0x7001:25 Current Q 1Y2 INT (16 bits) |
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0x7001:26 Current Q 2X0 INT (16 bits) |
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0x7001:27 Current Q 2X1 INT (16 bits) |
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0x7001:28 Current Q 2X2 INT (16 bits) |
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0x7001:29 Current Q 2Y0 INT (16 bits) |
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0x7001:2a Current Q 2Y1 INT (16 bits) |
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0x7001:2b Current Q 2Y2 INT (16 bits) |
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0x7001:2c Current Q 3X0 INT (16 bits) |
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0x7001:2d Current Q 3X1 INT (16 bits) |
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0x7001:2e Current Q 3X2 INT (16 bits) |
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0x7001:2f Current Q 3Y0 INT (16 bits) |
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0x7001:30 Current Q 3Y1 INT (16 bits) |
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0x7001:31 Current Q 3Y2 INT (16 bits) |
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0x7001:32 PhiE 0X0 UINT (16 bits) |
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0x7001:33 PhiE 0X1 UINT (16 bits) |
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0x7001:34 PhiE 0X2 UINT (16 bits) |
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0x7001:35 PhiE 0Y0 UINT (16 bits) |
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0x7001:36 PhiE 0Y1 UINT (16 bits) |
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0x7001:37 PhiE 0Y2 UINT (16 bits) |
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0x7001:38 PhiE 1X0 UINT (16 bits) |
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0x7001:39 PhiE 1X1 UINT (16 bits) |
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0x7001:3a PhiE 1X2 UINT (16 bits) |
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0x7001:3b PhiE 1Y0 UINT (16 bits) |
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0x7001:3c PhiE 1Y1 UINT (16 bits) |
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0x7001:3d PhiE 1Y2 UINT (16 bits) |
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0x7001:3e PhiE 2X0 UINT (16 bits) |
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0x7001:3f PhiE 2X1 UINT (16 bits) |
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0x7001:40 PhiE 2X2 UINT (16 bits) |
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0x7001:41 PhiE 2Y0 UINT (16 bits) |
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0x7001:42 PhiE 2Y1 UINT (16 bits) |
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0x7001:43 PhiE 2Y2 UINT (16 bits) |
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0x7001:44 PhiE 3X0 UINT (16 bits) |
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0x7001:45 PhiE 3X1 UINT (16 bits) |
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0x7001:46 PhiE 3X2 UINT (16 bits) |
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0x7001:47 PhiE 3Y0 UINT (16 bits) |
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0x7001:48 PhiE 3Y1 UINT (16 bits) |
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0x7001:49 PhiE 3Y2 UINT (16 bits) |
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0x1601: APS Comm Outputs |
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0x7002:11 CommControlWord UINT (16 bits) |
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0x7002:12 Data 1 UINT (16 bits) |
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