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Beckhoff EL7037

Type:

EL7037

Description:

EL7037 1Ch. Stepper motor output stage (24V, 1.5A)

Vendor

Beckhoff Automation GmbH & Co. KG

Documentation

http://www.beckhoff.com/EL7037

Revisions and PDOs

The ESI data ingested by github.com/linuxcnc-ethercat/esi-data describes 6 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
Name	EL7037 1Ch. Stepper motor output stage (24V, 1.5A)
PID	0x1b7d3052
Revision Code	0x00100000	0x00110000	0x00120000	0x00130000	0x00140000	0x00150000
Equivalant Devices	EL7047 r17	EJ7047 r18 EL7047 r18	EJ7037 r20 EJ7047 r19 EJ7047 r20 EJ7047 r21 EJ7047 r22 EL7047 r19 EL7047 r20 EL7047 r21 EL7047-9014 r21 EP7047-1032 r21
TX PDOs	0x1a00: ENC Status compact
	0x6000:01 Status__Latch C valid BOOL
	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
	0x6000:08 Status__Extrapolation stall BOOL
	0x6000:09 Status__Status of input A BOOL
	0x6000:0a Status__Status of input B BOOL
	0x6000:0b Status__Status of input C 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
	0x6000:01 Status__Latch C valid BOOL
	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
	0x6000:08 Status__Extrapolation stall BOOL
	0x6000:09 Status__Status of input A BOOL
	0x6000:0a Status__Status of input B BOOL
	0x6000:0b Status__Status of input C 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
	0x6010:08 Status__Motor stall 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: STM Motor load
	0x6010:13 Motor load INT (16 bits)
	0x1a06: 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
	0x1a07: 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)
0x1a08: STM Internal position
0x6010:14 Internal position UDINT (32 bits)
0x1a09: STM External position
0x6010:15 External position UDINT (32 bits)
		0x1a0a: POS Actual position lag
		0x6020:23 Actual position lag DINT (32 bits)
RX PDOs	0x1600: ENC Control compact
	0x7000:01 Control__Enable latch C BOOL
	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
	0x7000:01 Control__Enable latch C BOOL
	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
	0x7010:0c Control__Digital output 1 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)