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 | r3 |
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| Name | Delta ASDA-A3-E EtherCAT(CoE) Drive Rev0.04 |
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| PID | 0x00006010 |
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| Revision Code | 0x00030000 |
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| Equivalant Devices | ASDA-B3-E CoE Drive r3 |
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| TX PDOs | 0x1a00: 1st TxPDO Mapping |
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0x6041:00 Status Word UINT (16 bits) |
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0x6064:00 Actual Position DINT (32 bits) |
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0x606c:00 Velocity 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 Pos1 Pos Value DINT (32 bits) |
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0x60fd:00 Digital inputs UDINT (32 bits) |
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0x1a01: 2nd TxPDO Mapping |
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0x6041:00 Status Word UINT (16 bits) |
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0x6064:00 Actual Position DINT (32 bits) |
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0x606c:00 Velocity actual value DINT (32 bits) |
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0x6077:00 Actual Torque INT (16 bits) |
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0x60b9:00 Touch Probe Status UINT (16 bits) |
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0x60ba:00 Touch Probe Pos1 Pos Value DINT (32 bits) |
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0x60fd:00 Digital inputs UDINT (32 bits) |
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0x1a02: 3rd TxPDO Mapping |
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0x6041:00 Status Word UINT (16 bits) |
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0x6064:00 Actual Position DINT (32 bits) |
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0x606c:00 Velocity actual value DINT (32 bits) |
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0x6077:00 Actual Torque INT (16 bits) |
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0x6061:00 Mode Of Operation Display SINT (8 bits) |
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0x60b9:00 Touch Probe Status UINT (16 bits) |
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0x60ba:00 Touch Probe Pos1 Pos Value DINT (32 bits) |
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0x60fd:00 Digital inputs UDINT (32 bits) |
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0x1a03: 4th TxPDO Mapping |
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0x6041:00 Status Word UINT (16 bits) |
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0x6064:00 Actual Position DINT (32 bits) |
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0x6077:00 Actual Torque INT (16 bits) |
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0x6061:00 Mode Of Operation Display SINT (8 bits) |
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0x60b9:00 Touch Probe Status UINT (16 bits) |
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0x60ba:00 Touch Probe Pos1 Pos Value DINT (32 bits) |
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0x603f:00 Error code UINT (16 bits) |
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0x60fd:00 Digital inputs UDINT (32 bits) |
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| RX PDOs | 0x1600: 1st RxPDO Mapping |
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0x6040:00 Control Word UINT (16 bits) |
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0x607a:00 Target Position DINT (32 bits) |
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0x60ff:00 Target Velocity DINT (32 bits) |
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0x60b8:00 Touch Probe Function UINT (16 bits) |
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0x1601: 2nd RxPDO Mapping |
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0x6040:00 Control Word UINT (16 bits) |
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0x607a:00 Target Position DINT (32 bits) |
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0x60ff:00 Target Velocity DINT (32 bits) |
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0x6071:00 Target Torque INT (16 bits) |
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0x60b8:00 Touch Probe Function UINT (16 bits) |
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0x1602: 3rd RxPDO Mapping |
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0x6040:00 Control Word UINT (16 bits) |
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0x607a:00 Target Position DINT (32 bits) |
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0x60ff:00 Target Velocity DINT (32 bits) |
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0x6071:00 Target Torque INT (16 bits) |
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0x6060:00 Mode Of Operation SINT (8 bits) |
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0x60b8:00 Touch Probe Function UINT (16 bits) |
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0x1603: 4th RxPDO Mapping |
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0x6040:00 Control Word UINT (16 bits) |
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0x607a:00 Target Position DINT (32 bits) |
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0x60ff:00 Target Velocity DINT (32 bits) |
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0x6071:00 Target Torque INT (16 bits) |
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0x6060:00 Mode Of Operation SINT (8 bits) |
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0x60e0:00 Positive torque limit UINT (16 bits) |
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0x60e1:00 Negtive torque limit UINT (16 bits) |
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0x60b8:00 Touch Probe Function UINT (16 bits) |