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 | ECT86V202(COE) |
|
| PID | 0x0a880004 |
|
| Revision Code | 0x00000202 |
|
| Equivalant Devices | ECT60V202 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 USINT (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 USINT (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 USINT (8 bits) |