EtherCAT ESI Data for LinuxCNC

Beckhoff EJ7411

Type:
EJ7411
Description:
EJ7411 BLDC Terminal with incremental encoder/Hall, 50 V DC, 4.5 A
Vendor
Beckhoff Automation GmbH & Co. KG
Documentation
http://www.beckhoff.com/EJ7411

Revisions and PDOs

The ESI data ingested by github.com/linuxcnc-ethercat/esi-data describes 2 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
Name
EJ7411 BLDC Terminal with incremental encoder/Hall, 50 V DC, 4.5 A
PID
0x1cf32852
Revision Code
0x00120000
0x00130000
Equivalant Devices
TX PDOs
0x1a00: FB Position
  0x6000:11  Position                        UDINT (32 bits)
0x1a01: DRV Statusword
  0x6010:01  Statusword                      UINT (16 bits)
0x1a02: DRV Velocity actual value
  0x6010:07  Velocity actual value           DINT (32 bits)
0x1a03: DRV Torque actual value
  0x6010:08  Torque actual value             INT (16 bits)
0x1a04: DRV Info data 1
  0x6010:12  Info data 1                     INT (16 bits)
0x1a05: DRV Info data 2
  0x6010:13  Info data 2                     INT (16 bits)
0x1a06: DRV Following error actual value
  0x6010:06  Following error actual value    DINT (32 bits)
0x1a07: FB Touch probe status
  0x6001:01  Touch probe status__TP1 Enable  BOOL
  0x6001:02  Touch probe status__TP1 Pos value stored  BOOL
  0x6001:03  Touch probe status__TP1 Neg value stored  BOOL
  0x6001:08  Touch probe status__TP1 Input   BOOL
  0x6001:09  Touch probe status__TP2 Enable  BOOL
  0x6001:0a  Touch probe status__TP2 Pos value stored  BOOL
  0x6001:0b  Touch probe status__TP2 Neg value stored  BOOL
  0x6001:10  Touch probe status__TP2 Input   BOOL
0x1a08: FB Touch probe 1 pos position
  0x6001:11  TP1 Pos position                UDINT (32 bits)
0x1a09: FB Touch probe 1 neg position
  0x6001:12  TP1 Neg position                UDINT (32 bits)
0x1a0a: FB Touch probe 2 pos position
  0x6001:13  TP2 Pos position                UDINT (32 bits)
0x1a0b: FB Touch probe 2 neg position
  0x6001:14  TP2 Neg position                UDINT (32 bits)
0x1a0d: DRV Info data 3
  0x6010:14  Info data 3                     INT (16 bits)
0x1a0e: FB Enc Position
  0x6000:12  Enc Position                    UDINT (32 bits)
0x1a10: DI Inputs
  0x6020:01  Input 1                         BOOL
  0x6020:02  Input 2                         BOOL
  0x6020:05  Encoder A                       BOOL
  0x6020:06  Encoder B                       BOOL
  0x6020:07  Encoder C                       BOOL
  0x6020:09  Hall A                          BOOL
  0x6020:0a  Hall B                          BOOL
  0x6020:0b  Hall C                          BOOL
  0x6020:0d  Level of ENA input              BOOL
0x1a40: DMC Inputs
  0x6040:02  DMC__FeedbackStatus__Latch extern valid  BOOL
  0x6040:03  DMC__FeedbackStatus__Set counter done  BOOL
  0x6040:0d  DMC__FeedbackStatus__Status of extern latch  BOOL
  0x6040:11  DMC__DriveStatus__Ready to enable  BOOL
  0x6040:12  DMC__DriveStatus__Ready         BOOL
  0x6040:13  DMC__DriveStatus__Warning       BOOL
  0x6040:14  DMC__DriveStatus__Error         BOOL
  0x6040:15  DMC__DriveStatus__Moving positive  BOOL
  0x6040:16  DMC__DriveStatus__Moving negative  BOOL
  0x6040:1c  DMC__DriveStatus__Digital input 1  BOOL
  0x6040:1d  DMC__DriveStatus__Digital input 2  BOOL
  0x6040:21  DMC__PositioningStatus__Busy    BOOL
  0x6040:22  DMC__PositioningStatus__In-Target  BOOL
  0x6040:23  DMC__PositioningStatus__Warning  BOOL
  0x6040:24  DMC__PositioningStatus__Error   BOOL
  0x6040:25  DMC__PositioningStatus__Calibrated  BOOL
  0x6040:26  DMC__PositioningStatus__Accelerate  BOOL
  0x6040:27  DMC__PositioningStatus__Decelerate  BOOL
  0x6040:28  DMC__PositioningStatus__Ready to execute  BOOL
  0x6040:31  DMC__Set position               LINT (64 bits)
  0x6040:32  DMC__Set velocity               INT (16 bits)
  0x6040:33  DMC__Actual drive time          UDINT (32 bits)
  0x6040:34  DMC__Actual position lag        LINT (64 bits)
  0x6040:35  DMC__Actual velocity            INT (16 bits)
  0x6040:36  DMC__Actual position            LINT (64 bits)
  0x6040:37  DMC__Error id                   UDINT (32 bits)
  0x6040:38  DMC__Input cycle counter        USINT (8 bits)
  0x6040:39  DMC__Channel id                 USINT (8 bits)
  0x6040:3a  DMC__Latch value                LINT (64 bits)
  0x6040:3b  DMC__Cyclic info data 1         INT (16 bits)
  0x6040:3c  DMC__Cyclic info data 2         INT (16 bits)
0x1a41: DMC Inputs 32 Bit
  0x6040:02  DMC__FeedbackStatus__Latch extern valid  BOOL
  0x6040:03  DMC__FeedbackStatus__Set counter done  BOOL
  0x6040:0d  DMC__FeedbackStatus__Status of extern latch  BOOL
  0x6040:11  DMC__DriveStatus__Ready to enable  BOOL
  0x6040:12  DMC__DriveStatus__Ready         BOOL
  0x6040:13  DMC__DriveStatus__Warning       BOOL
  0x6040:14  DMC__DriveStatus__Error         BOOL
  0x6040:15  DMC__DriveStatus__Moving positive  BOOL
  0x6040:16  DMC__DriveStatus__Moving negative  BOOL
  0x6040:1c  DMC__DriveStatus__Digital input 1  BOOL
  0x6040:1d  DMC__DriveStatus__Digital input 2  BOOL
  0x6040:21  DMC__PositioningStatus__Busy    BOOL
  0x6040:22  DMC__PositioningStatus__In-Target  BOOL
  0x6040:23  DMC__PositioningStatus__Warning  BOOL
  0x6040:24  DMC__PositioningStatus__Error   BOOL
  0x6040:25  DMC__PositioningStatus__Calibrated  BOOL
  0x6040:26  DMC__PositioningStatus__Accelerate  BOOL
  0x6040:27  DMC__PositioningStatus__Decelerate  BOOL
  0x6040:28  DMC__PositioningStatus__Ready to execute  BOOL
  0x6040:31  DMC__Set position               DINT (32 bits)
  0x6040:32  DMC__Set velocity               INT (16 bits)
  0x6040:33  DMC__Actual drive time          UDINT (32 bits)
  0x6040:34  DMC__Actual position lag        DINT (32 bits)
  0x6040:35  DMC__Actual velocity            INT (16 bits)
  0x6040:36  DMC__Actual position            DINT (32 bits)
  0x6040:37  DMC__Error id                   UDINT (32 bits)
  0x6040:38  DMC__Input cycle counter        USINT (8 bits)
  0x6040:39  DMC__Channel id                 USINT (8 bits)
  0x6040:3a  DMC__Latch value                DINT (32 bits)
  0x6040:3b  DMC__Cyclic info data 1         INT (16 bits)
  0x6040:3c  DMC__Cyclic info data 2         INT (16 bits)
RX PDOs
0x1600: DRV Controlword
  0x7010:01  Controlword                     UINT (16 bits)
0x1601: DRV Target velocity
  0x7010:06  Target velocity                 DINT (32 bits)
0x1602: DRV Target torque
  0x7010:09  Target torque                   INT (16 bits)
0x1603: DRV Commutation angle
  0x7010:0e  Commutation angle               UINT (16 bits)
0x1604: DRV Torque limitation
  0x7010:0b  Torque limitation               UINT (16 bits)
0x1606: DRV Target position
  0x7010:05  Target position                 UDINT (32 bits)
0x1607: FB Touch probe control
  0x7001:01  Touch probe function__TP1 Enable  BOOL
  0x7001:02  Touch probe function__TP1 Continous  BOOL
  0x7001:03  Touch probe function__TP1 Trigger mode  BIT2 (2 bits)
  0x7001:05  Touch probe function__TP1 Enable pos edge  BOOL
  0x7001:06  Touch probe function__TP1 Enable neg edge  BOOL
  0x7001:09  Touch probe function__TP2 Enable  BOOL
  0x7001:0a  Touch probe function__TP2 Continous  BOOL
  0x7001:0b  Touch probe function__TP2 Trigger mode  BIT2 (2 bits)
  0x7001:0d  Touch probe function__TP2 Enable pos edge  BOOL
  0x7001:0e  Touch probe function__TP2 Enable neg edge  BOOL
0x1640: DMC Outputs
  0x7040:02  DMC__FeedbackControl__Enable latch extern on positive edge  BOOL
  0x7040:03  DMC__FeedbackControl__Set counter  BOOL
  0x7040:04  DMC__FeedbackControl__Enable latch extern on negative edge  BOOL
  0x7040:11  DMC__DriveControl__Enable       BOOL
  0x7040:12  DMC__DriveControl__Reset        BOOL
  0x7040:21  DMC__PositioningControl__Execute  BOOL
  0x7040:22  DMC__PositioningControl__Emergency stop  BOOL
  0x7040:31  DMC__Set counter value          LINT (64 bits)
  0x7040:32  DMC__Target position            LINT (64 bits)
  0x7040:33  DMC__Target velocity            INT (16 bits)
  0x7040:34  DMC__Start type                 UINT (16 bits)
  0x7040:35  DMC__Target acceleration        UINT (16 bits)
  0x7040:36  DMC__Target deceleration        UINT (16 bits)
0x1641: DMC Outputs 32 Bit
  0x7040:02  DMC__FeedbackControl__Enable latch extern on positive edge  BOOL
  0x7040:03  DMC__FeedbackControl__Set counter  BOOL
  0x7040:04  DMC__FeedbackControl__Enable latch extern on negative edge  BOOL
  0x7040:11  DMC__DriveControl__Enable       BOOL
  0x7040:12  DMC__DriveControl__Reset        BOOL
  0x7040:21  DMC__PositioningControl__Execute  BOOL
  0x7040:22  DMC__PositioningControl__Emergency stop  BOOL
  0x7040:31  DMC__Set counter value          DINT (32 bits)
  0x7040:32  DMC__Target position            DINT (32 bits)
  0x7040:33  DMC__Target velocity            INT (16 bits)
  0x7040:34  DMC__Start type                 UINT (16 bits)
  0x7040:35  DMC__Target acceleration        UINT (16 bits)
  0x7040:36  DMC__Target deceleration        UINT (16 bits)