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 |
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| Name | EL6002 Interface 2Ch. (RS232) |
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| PID | 0x17723052 |
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| Revision Code | 0x00100000 |
0x00110000 |
0x00120000 |
0x00130000 |
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| Equivalant Devices | EL6022 r16 |
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| TX PDOs | 0x1a00: COM Inputs Channel 1 |
0x1a00: COM TxPDO-Map Inputs Channel 1 |
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0x6000:01 Status__Transmit accepted BOOL |
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0x6000:02 Status__Receive request BOOL |
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0x6000:03 Status__Init accepted BOOL |
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0x6000:04 Status__Buffer full BOOL |
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0x6000:05 Status__Parity error BOOL |
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0x6000:06 Status__Framing error BOOL |
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0x6000:07 Status__Overrun error BOOL |
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0x6000:09 Status__Input length USINT (8 bits) |
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0x6000:11 Data In 0 USINT (8 bits) |
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0x6000:12 Data In 1 USINT (8 bits) |
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0x6000:13 Data In 2 USINT (8 bits) |
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0x6000:14 Data In 3 USINT (8 bits) |
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0x6000:15 Data In 4 USINT (8 bits) |
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0x6000:16 Data In 5 USINT (8 bits) |
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0x6000:17 Data In 6 USINT (8 bits) |
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0x6000:18 Data In 7 USINT (8 bits) |
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0x6000:19 Data In 8 USINT (8 bits) |
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0x6000:1a Data In 9 USINT (8 bits) |
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0x6000:1b Data In 10 USINT (8 bits) |
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0x6000:1c Data In 11 USINT (8 bits) |
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0x6000:1d Data In 12 USINT (8 bits) |
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0x6000:1e Data In 13 USINT (8 bits) |
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0x6000:1f Data In 14 USINT (8 bits) |
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0x6000:20 Data In 15 USINT (8 bits) |
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0x6000:21 Data In 16 USINT (8 bits) |
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0x6000:22 Data In 17 USINT (8 bits) |
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0x6000:23 Data In 18 USINT (8 bits) |
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0x6000:24 Data In 19 USINT (8 bits) |
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0x6000:25 Data In 20 USINT (8 bits) |
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0x6000:26 Data In 21 USINT (8 bits) |
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0x1a01: COM Inputs Channel 2 |
0x1a01: COM TxPDO-Map Inputs Channel 2 |
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0x6010:01 Status__Transmit accepted BOOL |
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0x6010:02 Status__Receive request BOOL |
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0x6010:03 Status__Init accepted BOOL |
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0x6010:04 Status__Buffer full BOOL |
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0x6010:05 Status__Parity error BOOL |
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0x6010:06 Status__Framing error BOOL |
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0x6010:07 Status__Overrun error BOOL |
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0x6010:09 Status__Input length USINT (8 bits) |
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0x6010:11 Data In 0 USINT (8 bits) |
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0x6010:12 Data In 1 USINT (8 bits) |
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0x6010:13 Data In 2 USINT (8 bits) |
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0x6010:14 Data In 3 USINT (8 bits) |
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0x6010:15 Data In 4 USINT (8 bits) |
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0x6010:16 Data In 5 USINT (8 bits) |
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0x6010:17 Data In 6 USINT (8 bits) |
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0x6010:18 Data In 7 USINT (8 bits) |
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0x6010:19 Data In 8 USINT (8 bits) |
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0x6010:1a Data In 9 USINT (8 bits) |
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0x6010:1b Data In 10 USINT (8 bits) |
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0x6010:1c Data In 11 USINT (8 bits) |
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0x6010:1d Data In 12 USINT (8 bits) |
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0x6010:1e Data In 13 USINT (8 bits) |
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0x6010:1f Data In 14 USINT (8 bits) |
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0x6010:20 Data In 15 USINT (8 bits) |
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0x6010:21 Data In 16 USINT (8 bits) |
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0x6010:22 Data In 17 USINT (8 bits) |
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0x6010:23 Data In 18 USINT (8 bits) |
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0x6010:24 Data In 19 USINT (8 bits) |
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0x6010:25 Data In 20 USINT (8 bits) |
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0x6010:26 Data In 21 USINT (8 bits) |
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0x1a04: COM Inputs Channel 1 |
0x1a04: COM TxPDO-Map Inputs Channel 1 |
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0x6001:01 Status WORD (16 bits) |
0x6001:01 Status UINT (16 bits) |
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0x6000:11 Data In 0 USINT (8 bits) |
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0x6000:12 Data In 1 USINT (8 bits) |
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0x6000:13 Data In 2 USINT (8 bits) |
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0x6000:14 Data In 3 USINT (8 bits) |
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0x6000:15 Data In 4 USINT (8 bits) |
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0x6000:16 Data In 5 USINT (8 bits) |
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0x6000:17 Data In 6 USINT (8 bits) |
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0x6000:18 Data In 7 USINT (8 bits) |
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0x6000:19 Data In 8 USINT (8 bits) |
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0x6000:1a Data In 9 USINT (8 bits) |
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0x6000:1b Data In 10 USINT (8 bits) |
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0x6000:1c Data In 11 USINT (8 bits) |
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0x6000:1d Data In 12 USINT (8 bits) |
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0x6000:1e Data In 13 USINT (8 bits) |
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0x6000:1f Data In 14 USINT (8 bits) |
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0x6000:20 Data In 15 USINT (8 bits) |
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0x6000:21 Data In 16 USINT (8 bits) |
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0x6000:22 Data In 17 USINT (8 bits) |
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0x6000:23 Data In 18 USINT (8 bits) |
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0x6000:24 Data In 19 USINT (8 bits) |
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0x6000:25 Data In 20 USINT (8 bits) |
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0x6000:26 Data In 21 USINT (8 bits) |
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0x1a05: COM Inputs Channel 2 |
0x1a05: COM TxPDO-Map Inputs Channel 2 |
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0x6011:01 Status WORD (16 bits) |
0x6011:01 Status UINT (16 bits) |
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0x6010:11 Data In 0 USINT (8 bits) |
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0x6010:12 Data In 1 USINT (8 bits) |
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0x6010:13 Data In 2 USINT (8 bits) |
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0x6010:14 Data In 3 USINT (8 bits) |
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0x6010:15 Data In 4 USINT (8 bits) |
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0x6010:16 Data In 5 USINT (8 bits) |
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0x6010:17 Data In 6 USINT (8 bits) |
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0x6010:18 Data In 7 USINT (8 bits) |
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0x6010:19 Data In 8 USINT (8 bits) |
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0x6010:1a Data In 9 USINT (8 bits) |
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0x6010:1b Data In 10 USINT (8 bits) |
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0x6010:1c Data In 11 USINT (8 bits) |
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0x6010:1d Data In 12 USINT (8 bits) |
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0x6010:1e Data In 13 USINT (8 bits) |
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0x6010:1f Data In 14 USINT (8 bits) |
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0x6010:20 Data In 15 USINT (8 bits) |
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0x6010:21 Data In 16 USINT (8 bits) |
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0x6010:22 Data In 17 USINT (8 bits) |
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0x6010:23 Data In 18 USINT (8 bits) |
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0x6010:24 Data In 19 USINT (8 bits) |
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0x6010:25 Data In 20 USINT (8 bits) |
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0x6010:26 Data In 21 USINT (8 bits) |
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| RX PDOs | 0x1600: COM Outputs Channel 1 |
0x1600: COM RxPDO-Map Outputs Channel 1 |
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0x7000:01 Ctrl__Transmit request BOOL |
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0x7000:02 Ctrl__Receive accepted BOOL |
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0x7000:03 Ctrl__Init request BOOL |
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0x7000:04 Ctrl__Send continuous BOOL |
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0x7000:09 Ctrl__Output length USINT (8 bits) |
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0x7000:11 Data Out 0 USINT (8 bits) |
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0x7000:12 Data Out 1 USINT (8 bits) |
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0x7000:13 Data Out 2 USINT (8 bits) |
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0x7000:14 Data Out 3 USINT (8 bits) |
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0x7000:15 Data Out 4 USINT (8 bits) |
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0x7000:16 Data Out 5 USINT (8 bits) |
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0x7000:17 Data Out 6 USINT (8 bits) |
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0x7000:18 Data Out 7 USINT (8 bits) |
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0x7000:19 Data Out 8 USINT (8 bits) |
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0x7000:1a Data Out 9 USINT (8 bits) |
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0x7000:1b Data Out 10 USINT (8 bits) |
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0x7000:1c Data Out 11 USINT (8 bits) |
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0x7000:1d Data Out 12 USINT (8 bits) |
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0x7000:1e Data Out 13 USINT (8 bits) |
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0x7000:1f Data Out 14 USINT (8 bits) |
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0x7000:20 Data Out 15 USINT (8 bits) |
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0x7000:21 Data Out 16 USINT (8 bits) |
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0x7000:22 Data Out 17 USINT (8 bits) |
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0x7000:23 Data Out 18 USINT (8 bits) |
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0x7000:24 Data Out 19 USINT (8 bits) |
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0x7000:25 Data Out 20 USINT (8 bits) |
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0x7000:26 Data Out 21 USINT (8 bits) |
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0x1601: COM Outputs Channel 2 |
0x1601: COM RxPDO-Map Outputs Channel 2 |
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0x7010:01 Ctrl__Transmit request BOOL |
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0x7010:02 Ctrl__Receive accepted BOOL |
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0x7010:03 Ctrl__Init request BOOL |
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0x7010:04 Ctrl__Send continuous BOOL |
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0x7010:09 Ctrl__Output length USINT (8 bits) |
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0x7010:11 Data Out 0 USINT (8 bits) |
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0x7010:12 Data Out 1 USINT (8 bits) |
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0x7010:13 Data Out 2 USINT (8 bits) |
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0x7010:14 Data Out 3 USINT (8 bits) |
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0x7010:15 Data Out 4 USINT (8 bits) |
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0x7010:16 Data Out 5 USINT (8 bits) |
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0x7010:17 Data Out 6 USINT (8 bits) |
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0x7010:18 Data Out 7 USINT (8 bits) |
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0x7010:19 Data Out 8 USINT (8 bits) |
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0x7010:1a Data Out 9 USINT (8 bits) |
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0x7010:1b Data Out 10 USINT (8 bits) |
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0x7010:1c Data Out 11 USINT (8 bits) |
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0x7010:1d Data Out 12 USINT (8 bits) |
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0x7010:1e Data Out 13 USINT (8 bits) |
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0x7010:1f Data Out 14 USINT (8 bits) |
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0x7010:20 Data Out 15 USINT (8 bits) |
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0x7010:21 Data Out 16 USINT (8 bits) |
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0x7010:22 Data Out 17 USINT (8 bits) |
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0x7010:23 Data Out 18 USINT (8 bits) |
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0x7010:24 Data Out 19 USINT (8 bits) |
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0x7010:25 Data Out 20 USINT (8 bits) |
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0x7010:26 Data Out 21 USINT (8 bits) |
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0x1604: COM Outputs Channel 1 |
0x1604: COM RxPDO-Map Outputs Channel 1 |
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0x7001:01 Ctrl WORD (16 bits) |
0x7001:01 Ctrl UINT (16 bits) |
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0x7000:11 Data Out 0 USINT (8 bits) |
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0x7000:12 Data Out 1 USINT (8 bits) |
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0x7000:13 Data Out 2 USINT (8 bits) |
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0x7000:14 Data Out 3 USINT (8 bits) |
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0x7000:15 Data Out 4 USINT (8 bits) |
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0x7000:16 Data Out 5 USINT (8 bits) |
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0x7000:17 Data Out 6 USINT (8 bits) |
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0x7000:18 Data Out 7 USINT (8 bits) |
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0x7000:19 Data Out 8 USINT (8 bits) |
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0x7000:1a Data Out 9 USINT (8 bits) |
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0x7000:1b Data Out 10 USINT (8 bits) |
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0x7000:1c Data Out 11 USINT (8 bits) |
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0x7000:1d Data Out 12 USINT (8 bits) |
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0x7000:1e Data Out 13 USINT (8 bits) |
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0x7000:1f Data Out 14 USINT (8 bits) |
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0x7000:20 Data Out 15 USINT (8 bits) |
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0x7000:21 Data Out 16 USINT (8 bits) |
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0x7000:22 Data Out 17 USINT (8 bits) |
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0x7000:23 Data Out 18 USINT (8 bits) |
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0x7000:24 Data Out 19 USINT (8 bits) |
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0x7000:25 Data Out 20 USINT (8 bits) |
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0x7000:26 Data Out 21 USINT (8 bits) |
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0x1605: COM Outputs Channel 2 |
0x1605: COM RxPDO-Map Outputs Channel 2 |
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0x7011:01 Ctrl WORD (16 bits) |
0x7011:01 Ctrl UINT (16 bits) |
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0x7010:11 Data Out 0 USINT (8 bits) |
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0x7010:12 Data Out 1 USINT (8 bits) |
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0x7010:13 Data Out 2 USINT (8 bits) |
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0x7010:14 Data Out 3 USINT (8 bits) |
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0x7010:15 Data Out 4 USINT (8 bits) |
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0x7010:16 Data Out 5 USINT (8 bits) |
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0x7010:17 Data Out 6 USINT (8 bits) |
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0x7010:18 Data Out 7 USINT (8 bits) |
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0x7010:19 Data Out 8 USINT (8 bits) |
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0x7010:1a Data Out 9 USINT (8 bits) |
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0x7010:1b Data Out 10 USINT (8 bits) |
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0x7010:1c Data Out 11 USINT (8 bits) |
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0x7010:1d Data Out 12 USINT (8 bits) |
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0x7010:1e Data Out 13 USINT (8 bits) |
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0x7010:1f Data Out 14 USINT (8 bits) |
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0x7010:20 Data Out 15 USINT (8 bits) |
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0x7010:21 Data Out 16 USINT (8 bits) |
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0x7010:22 Data Out 17 USINT (8 bits) |
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0x7010:23 Data Out 18 USINT (8 bits) |
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0x7010:24 Data Out 19 USINT (8 bits) |
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0x7010:25 Data Out 20 USINT (8 bits) |
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0x7010:26 Data Out 21 USINT (8 bits) |
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