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Beckhoff EL2904

Type:

EL2904

Description:

EL2904, 4 Ch. Safety Output 24V, 0.5A, TwinSAFE

Vendor

Beckhoff Automation GmbH & Co. KG

Documentation

http://www.beckhoff.com/EL2904

Revisions and PDOs

The ESI data ingested by github.com/linuxcnc-ethercat/esi-data describes 4 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	r16	r17	r18	r19
Name	EL2904, 4 Ch. Safety Output 24V, 0.5A, TwinSAFE
PID	0x0b583052
Revision Code	0x00100000	0x00110000	0x00120000	0x00130000
Equivalant Devices
TX PDOs	0x1a00: FSOE Inputs		0x1a00: Inputs
	0x6000:01 Command USINT (8 bits)
	0x6000:03 CRC0 UINT (16 bits)
	0x6000:04 Connection ID UINT (16 bits)
RX PDOs	0x1600: FSOE Outputs		0x1600: Outputs
	0x7000:01 Command USINT (8 bits)
	0x7001:01 SubIndex 001 BOOL
	0x7001:02 SubIndex 002 BOOL
	0x7001:03 SubIndex 003 BOOL
	0x7001:04 SubIndex 004 BOOL
	0x7000:02 CRC 0 UINT (16 bits)
	0x7000:03 Connection ID UINT (16 bits)
	0x1601: DO Outputs
	0x7010:01 Output 0 BOOL
	0x7010:02 Output 1 BOOL
	0x7010:03 Output 2 BOOL
	0x7010:04 Output 3 BOOL