EtherCAT ESI Data for LinuxCNC

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Shenzhen ECR86V202

Type:
ECR86V202
Description:
ECR86V202(COE)
Vendor
Shenzhen Ruitech Mechanical and Electrical Technology Co.,Ltd.
Documentation
http://www.szruitech.com/

Revisions and PDOs

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 
ECR86V202(COE)
PID 
0x0a880003
Revision Code 
0x00000202
Equivalant Devices 
ECR60V202 r0
ECT60V202 r0
ECT86V202 r0
TX PDOs 
0x1a00: Transmit PDO 1
 
  0x6041:00  Status Word                     UINT (16 bits)
 
  0x6061:00  Modes of Operation display      SINT (8 bits)
 
  0x6064:00  Position Actual Value           DINT (32 bits)
 
  0x60fd:00  Digital Inputs                  UDINT (32 bits)
 
0x1a01: Transmit PDO 2
 
  0x6041:00  Status Word                     UINT (16 bits)
 
  0x6061:00  Modes of Operation display      SINT (8 bits)
 
  0x606c:00  Velocity Actual Value           DINT (32 bits)
 
  0x60fd:00  Digital Inputs                  UDINT (32 bits)
 
0x1a02: Transmit PDO 3
RX PDOs 
0x1600: Receive PDO 1
 
  0x6040:00  Control Word                    UINT (16 bits)
 
  0x6060:00  ModeOfOperation                 SINT (8 bits)
 
  0x607a:00  Profile Target Position         DINT (32 bits)
 
0x1601: Receive PDO 2
 
  0x6040:00  Control word                    UINT (16 bits)
 
  0x607a:00  Profile Target Position         DINT (32 bits)
 
  0x6081:00  Profile Velocity                UDINT (32 bits)
 
  0x6083:00  Profile Target Acceleration     UDINT (32 bits)
 
  0x6084:00  Profile Target Deceleration     UDINT (32 bits)
 
  0x6060:00  Modes of Operation              SINT (8 bits)
 
0x1602: Receive PDO 3
 
  0x6040:00  Control word                    UINT (16 bits)
 
  0x6083:00  Profile Target Acceleration     UDINT (32 bits)
 
  0x6084:00  Profile Target Deceleration     UDINT (32 bits)
 
  0x60ff:00  Target Velocity                 DINT (32 bits)
 
  0x6060:00  Modes of Operation              SINT (8 bits)