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 | EL7-2000FT(COE) |
|
| PID | 0x00001196 |
|
| Revision Code | 0x00000001 |
|
| Equivalant Devices | EL7-1000FT r0 |
|
| TX PDOs | 0x1a00: Transmit PDO 1 |
|
0x603f:00 Last error code UINT (16 bits) |
||
0x6041:00 Status word UINT (16 bits) |
||
0x6061:00 Modes of operation display SINT (8 bits) |
||
0x6064:00 Actual motor position DINT (32 bits) |
||
0x60b9:00 Touch Probe Status UINT (16 bits) |
||
0x60ba:00 Touch probe pos1 pos value DINT (32 bits) |
||
0x60fd:00 Digital inputs UDINT (32 bits) |
||
0x1a01: Transmit PDO 2 |
||
| RX PDOs | 0x1600: Receive PDO 1 |
|
0x6040:00 Control word UINT (16 bits) |
||
0x607a:00 Profile target position DINT (32 bits) |
||
0x60b8:00 Touch Probe Function UINT (16 bits) |
||
0x1601: Receive PDO 2 |
||
0x6040:00 Control word UINT (16 bits) |
||
0x60ff:00 Target velocity DINT (32 bits) |
||
0x60b2:00 Torque offset INT (16 bits) |
||
0x6060:00 Modes of operation USINT (8 bits) |
||
0x1602: Receive PDO 3 |
||
0x6040:00 Control word UINT (16 bits) |
||
0x6071:00 Target Torque INT (16 bits) |
||
0x6087:00 Torque slope UDINT (32 bits) |
||
0x6060:00 Modes of operation USINT (8 bits) |
||
0x1603: Receive PDO 4 |
||
0x6040:00 Control word UINT (16 bits) |
||
0x6098:00 Homing method SINT (8 bits) |
||
0x6099:01 Homing velocity (fast) UDINT (32 bits) |
||
0x6099:02 Homing velocity (slow) UDINT (32 bits) |
||
0x609a:00 Homing acceleration UDINT (32 bits) |
||
0x607c:00 Homing offset DINT (32 bits) |
||
0x6060:00 Modes of operation USINT (8 bits) |