Beckhoff EL7031

Type:: EL7031
Description:: EL7031 1Ch. Stepper motor output stage (24V, 1.5A)
Vendor: Beckhoff Automation GmbH & Co. KG
Documentation: http://www.beckhoff.com/EL7031

Revisions and PDOs

The ESI data ingested by github.com/linuxcnc-ethercat/esi-data describes 11 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

r20

r21

r22

r23

r24

r25

r26

Name

EL7031 1Ch. Stepper motor output stage (24V, 1.5A)

PID

0x1b773052

Revision Code

0x00100000

0x00110000

0x00120000

0x00130000

0x00140000

0x00150000

0x00160000

0x00170000

0x00180000

0x00190000

0x001a0000

Equivalant Devices

EJ7031 r26
EJ7041-0052 r16
EL7041-0052 r16

TX PDOs

0x1a00: ENC Status compact

  0x6000:02  Status__Latch extern valid      BOOL

  0x6000:03  Status__Set counter done        BOOL

  0x6000:04  Status__Counter underflow       BOOL

  0x6000:05  Status__Counter overflow        BOOL

  0x6000:0d  Status__Status of extern latch  BOOL

  0x6000:0e  Status__Sync error              BOOL

  0x6000:10  Status__TxPDO Toggle            BOOL

  0x6000:11  Counter value                   UINT (16 bits)

  0x6000:12  Latch value                     UINT (16 bits)

0x1a01: ENC Status

  0x6000:02  Status__Latch extern valid      BOOL

  0x6000:03  Status__Set counter done        BOOL

  0x6000:04  Status__Counter underflow       BOOL

  0x6000:05  Status__Counter overflow        BOOL

  0x6000:0d  Status__Status of extern latch  BOOL

  0x6000:0e  Status__Sync error              BOOL

  0x6000:10  Status__TxPDO Toggle            BOOL

  0x6000:11  Counter value                   UDINT (32 bits)

  0x6000:12  Latch value                     UDINT (32 bits)

0x1a02: ENC Timest. compact

  0x6000:16  Timestamp                       UDINT (32 bits)

0x1a03: STM Status

  0x6010:01  Status__Ready to enable         BOOL

  0x6010:02  Status__Ready                   BOOL

  0x6010:03  Status__Warning                 BOOL

  0x6010:04  Status__Error                   BOOL

  0x6010:05  Status__Moving positive         BOOL

  0x6010:06  Status__Moving negative         BOOL

  0x6010:07  Status__Torque reduced          BOOL

  0x6010:0c  Status__Digital input 1         BOOL

  0x6010:0d  Status__Digital input 2         BOOL

  0x6010:0e  Status__Sync error              BOOL

  0x6010:10  Status__TxPDO Toggle            BOOL

0x1a04: STM Synchron info data

  0x6010:11  Info data 1                     UINT (16 bits)

  0x6010:12  Info data 2                     UINT (16 bits)

0x1a05: POS Status compact

  0x6020:01  Status__Busy                    BOOL

  0x6020:02  Status__In-Target               BOOL

  0x6020:03  Status__Warning                 BOOL

  0x6020:04  Status__Error                   BOOL

  0x6020:05  Status__Calibrated              BOOL

  0x6020:06  Status__Accelerate              BOOL

  0x6020:07  Status__Decelerate              BOOL

  0x6020:08  Status__Ready to execute        BOOL

0x1a06: POS Status

  0x6020:01  Status__Busy                    BOOL

  0x6020:02  Status__In-Target               BOOL

  0x6020:03  Status__Warning                 BOOL

  0x6020:04  Status__Error                   BOOL

  0x6020:05  Status__Calibrated              BOOL

  0x6020:06  Status__Accelerate              BOOL

  0x6020:07  Status__Decelerate              BOOL

  0x6020:08  Status__Ready to execute        BOOL

  0x6020:11  Actual position                 UDINT (32 bits)

  0x6020:21  Actual velocity                 INT (16 bits)

  0x6020:22  Actual drive time               UDINT (32 bits)

0x1a07: STM Internal position

  0x6010:14  Internal position               UDINT (32 bits)

0x1a08: STM External position

  0x6010:15  External position               UDINT (32 bits)

0x1a09: POS Actual position lag

  0x6020:23  Actual position lag             DINT (32 bits)

RX PDOs

0x1600: ENC Control compact

  0x7000:02  Control__Enable latch extern on positive edge  BOOL

  0x7000:03  Control__Set counter            BOOL

  0x7000:04  Control__Enable latch extern on negative edge  BOOL

  0x7000:11  Set counter value               UINT (16 bits)

0x1601: ENC Control

  0x7000:02  Control__Enable latch extern on positive edge  BOOL

  0x7000:03  Control__Set counter            BOOL

  0x7000:04  Control__Enable latch extern on negative edge  BOOL

  0x7000:11  Set counter value               UDINT (32 bits)

0x1602: STM Control

  0x7010:01  Control__Enable                 BOOL

  0x7010:02  Control__Reset                  BOOL

  0x7010:03  Control__Reduce torque          BOOL

0x1603: STM Position

  0x7010:11  Position                        UDINT (32 bits)

0x1604: STM Velocity

  0x7010:21  Velocity                        INT (16 bits)

0x1605: POS Control compact

  0x7020:01  Control__Execute                BOOL

  0x7020:02  Control__Emergency stop         BOOL

  0x7020:11  Target position                 UDINT (32 bits)

0x1606: POS Control

  0x7020:01  Control__Execute                BOOL

  0x7020:02  Control__Emergency stop         BOOL

  0x7020:11  Target position                 UDINT (32 bits)

  0x7020:21  Velocity                        INT (16 bits)

  0x7020:22  Start type                      UINT (16 bits)

  0x7020:23  Acceleration                    UINT (16 bits)

  0x7020:24  Deceleration                    UINT (16 bits)

0x1607: POS Control 2

  0x7021:03  Control__Enable auto start      BOOL

  0x7021:11  Target position                 UDINT (32 bits)

  0x7021:21  Velocity                        INT (16 bits)

  0x7021:22  Start type                      UINT (16 bits)

  0x7021:23  Acceleration                    UINT (16 bits)

  0x7021:24  Deceleration                    UINT (16 bits)