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 | ECR60X2(COE) |
|
| PID | 0x0a880005 |
|
| Revision Code | 0x00000202 |
|
| Equivalant Devices | ECT60X2 r0 |
|
| TX PDOs | 0x1a00: CHN 1 Transmit PDO 1 |
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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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0x60fd:00 Digital Inputs UDINT (32 bits) |
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0x1a01: CHN 1 Transmit PDO 2 |
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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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0x606c:00 Velocity Actual Value DINT (32 bits) |
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0x60fd:00 Digital Inputs UDINT (32 bits) |
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0x1a10: CHN 2 Transmit PDO 1 |
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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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0x68fd:00 Digital Inputs UDINT (32 bits) |
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0x1a11: CHN 2 Transmit PDO 2 |
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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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0x686c:00 Velocity Actual Value DINT (32 bits) |
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0x68fd:00 Digital Inputs UDINT (32 bits) |
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| RX PDOs | 0x1600: CHN 1 Receive PDO 1 |
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0x6040:00 Control Word UINT (16 bits) |
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0x6060:00 ModeOfOperation SINT (8 bits) |
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0x607a:00 Profile Target Position DINT (32 bits) |
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0x1601: CHN 1 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 SINT (8 bits) |
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0x1602: CHN 1 Receive PDO 3 |
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0x6040:00 Control word UINT (16 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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0x60ff:00 Target Velocity DINT (32 bits) |
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0x6060:00 Modes of Operation SINT (8 bits) |
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0x1610: CHN 2 Receive PDO 1 |
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0x6840:00 Control Word UINT (16 bits) |
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0x6860:00 ModeOfOperation SINT (8 bits) |
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0x687a:00 Profile Target Position DINT (32 bits) |
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0x1611: CHN 2 Receive PDO 2 |
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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 SINT (8 bits) |
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0x1612: CHN 2 Receive PDO 3 |
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0x6840:00 Control word UINT (16 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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0x68ff:00 Target Velocity DINT (32 bits) |
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0x6860:00 Modes of Operation SINT (8 bits) |