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Beckhoff AT2021-0250

Type:

AT2021-0250

Description:

AT2021-0250 Motor module with feed , +22.5°, 250mm, 50V

Vendor

Beckhoff Automation GmbH & Co. KG

Documentation

http://www.beckhoff.com/AT2000

Revisions and PDOs

The ESI data ingested by github.com/linuxcnc-ethercat/esi-data describes 7 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	r18	r19	r20	r21	r22	r23	r24
Name	AT2021-0250 Motor module with feed , +22.5°, 250mm, 50V		AT2021-0250 Motor module with feed , +22.5°, 250mm, 48V
PID	0x07e55012
Revision Code	0x001200fa	0x001300fa	0x001400fa	0x001500fa	0x001600fa	0x001700fa	0x001800fa
Equivalant Devices	AT2000-0250 r16 AT2000-0250 r17 AT2000-0250 r18 AT2001-0250 r16 AT2001-0250 r17 AT2001-0250 r18 AT2020-0250 r18 AT2025-0250 r18 AT2026-0250 r18 AT2040-0250 r18 AT2041-0250 r18 AT2050-0500 r16 AT2050-0500 r17 AT2050-0500 r18 AT2050-0501 r16 AT2050-0501 r17 AT2050-0501 r18	AT2000-0250 r19 AT2000-0250 r20 AT2000-0250 r21 AT2000-0250 r22 AT2001-0250 r19 AT2001-0250 r20 AT2001-0250 r21 AT2001-0250 r22 AT2002-0249 r21 AT2002-0249 r22 AT2020-0250 r19 AT2020-0250 r20 AT2020-0250 r21 AT2020-0250 r22 AT2025-0250 r19 AT2025-0250 r20 AT2025-0250 r21 AT2025-0250 r22 AT2026-0250 r19 AT2026-0250 r20 AT2026-0250 r21 AT2026-0250 r22 AT2040-0250 r19 AT2040-0250 r20 AT2040-0250 r21 AT2040-0250 r22 AT2041-0250 r19 AT2041-0250 r20 AT2041-0250 r21 AT2041-0250 r22 AT2050-0500 r19 AT2050-0500 r20 AT2050-0500 r21 AT2050-0500 r22 AT2050-0501 r19 AT2050-0501 r20 AT2050-0501 r21 AT2050-0501 r22				AT2000-0233 r22 AT2000-0233 r23 AT2000-0233 r24 AT2000-0249 r24 AT2000-0250 r23 AT2000-0250 r24 AT2001-0250 r23 AT2001-0250 r24 AT2002-0249 r23 AT2002-0249 r24 AT2002-0250 r22 AT2002-0250 r23 AT2002-0250 r24 AT2020-0250 r23 AT2020-0250 r24 AT2025-0250 r23 AT2025-0250 r24 AT2026-0250 r23 AT2026-0250 r24 AT2040-0250 r23 AT2040-0250 r24 AT2041-0250 r23 AT2041-0250 r24 AT2042-0250 r24 AT2050-0500 r23 AT2050-0500 r24 AT2050-0501 r23 AT2050-0501 r24 ATH2000-0250 r22 ATH2000-0250 r23 ATH2000-0250 r24 ATH2040-0250 r22 ATH2040-0250 r23 ATH2040-0250 r24 ATH2050-0500 r22 ATH2050-0500 r23 ATH2050-0500 r24 ATH2050-0501 r22 ATH2050-0501 r23 ATH2050-0501 r24
TX PDOs	0x1a00: CC Inputs
	0x6000:01 Status UINT (16 bits)
	0x6000:11 Current actual value Ch.1 INT (16 bits)
	0x6000:12 Current actual value Ch.2 INT (16 bits)
	0x6000:13 Current actual value Ch.3 INT (16 bits)
	0x6000:14 Current actual value Ch.4 INT (16 bits)
	0x6000:15 Current actual value Ch.5 INT (16 bits)
	0x6000:16 Current actual value Ch.6 INT (16 bits)
	0x6000:17 Current actual value Ch.7 INT (16 bits)
	0x6000:18 Current actual value Ch.8 INT (16 bits)
	0x6000:19 Current actual value Ch.9 INT (16 bits)
	0x6000:1a Current actual value Ch.10 INT (16 bits)
	0x6000:1b Current actual value Ch.11 INT (16 bits)
	0x6000:1c Current actual value Ch.12 INT (16 bits)
	0x6000:1d Current actual value Ch.13 INT (16 bits)
	0x6000:1e Current actual value Ch.14 INT (16 bits)
	0x6000:1f Current actual value Ch.15 INT (16 bits)
						0x1a01: CC Inputs 14 Ch
						0x6000:01 Status UINT (16 bits)
						0x6000:11 Current actual value Ch.1 INT (16 bits)
						0x6000:12 Current actual value Ch.2 INT (16 bits)
						0x6000:13 Current actual value Ch.3 INT (16 bits)
						0x6000:14 Current actual value Ch.4 INT (16 bits)
						0x6000:15 Current actual value Ch.5 INT (16 bits)
						0x6000:16 Current actual value Ch.6 INT (16 bits)
						0x6000:17 Current actual value Ch.7 INT (16 bits)
						0x6000:18 Current actual value Ch.8 INT (16 bits)
						0x6000:19 Current actual value Ch.9 INT (16 bits)
						0x6000:1a Current actual value Ch.10 INT (16 bits)
						0x6000:1b Current actual value Ch.11 INT (16 bits)
						0x6000:1c Current actual value Ch.12 INT (16 bits)
						0x6000:1d Current actual value Ch.13 INT (16 bits)
						0x6000:1e Current actual value Ch.14 INT (16 bits)
RX PDOs	0x1600: CC Outputs
	0x7000:01 Control UINT (16 bits)
	0x7000:11 Current setpoint value Ch.1 INT (16 bits)
	0x7000:12 Current setpoint value Ch.2 INT (16 bits)
	0x7000:13 Current setpoint value Ch.3 INT (16 bits)
	0x7000:14 Current setpoint value Ch.4 INT (16 bits)
	0x7000:15 Current setpoint value Ch.5 INT (16 bits)
	0x7000:16 Current setpoint value Ch.6 INT (16 bits)
	0x7000:17 Current setpoint value Ch.7 INT (16 bits)
	0x7000:18 Current setpoint value Ch.8 INT (16 bits)
	0x7000:19 Current setpoint value Ch.9 INT (16 bits)
	0x7000:1a Current setpoint value Ch.10 INT (16 bits)
	0x7000:1b Current setpoint value Ch.11 INT (16 bits)
	0x7000:1c Current setpoint value Ch.12 INT (16 bits)
	0x7000:1d Current setpoint value Ch.13 INT (16 bits)
	0x7000:1e Current setpoint value Ch.14 INT (16 bits)
	0x7000:1f Current setpoint value Ch.15 INT (16 bits)
						0x1601: CC Outputs 14 Ch
						0x7000:01 Control UINT (16 bits)
						0x7000:11 Current setpoint value Ch.1 INT (16 bits)
						0x7000:12 Current setpoint value Ch.2 INT (16 bits)
						0x7000:13 Current setpoint value Ch.3 INT (16 bits)
						0x7000:14 Current setpoint value Ch.4 INT (16 bits)
						0x7000:15 Current setpoint value Ch.5 INT (16 bits)
						0x7000:16 Current setpoint value Ch.6 INT (16 bits)
						0x7000:17 Current setpoint value Ch.7 INT (16 bits)
						0x7000:18 Current setpoint value Ch.8 INT (16 bits)
						0x7000:19 Current setpoint value Ch.9 INT (16 bits)
						0x7000:1a Current setpoint value Ch.10 INT (16 bits)
						0x7000:1b Current setpoint value Ch.11 INT (16 bits)
						0x7000:1c Current setpoint value Ch.12 INT (16 bits)
						0x7000:1d Current setpoint value Ch.13 INT (16 bits)
						0x7000:1e Current setpoint value Ch.14 INT (16 bits)