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Beckhoff EL7041-0001

Type:

EL7041-0001

Description:

EL7041-0001 1Ch. Stepper motor output stage (50V, 5A)

Vendor

Beckhoff Automation GmbH & Co. KG

Documentation

http://www.beckhoff.com/EL7041

Revisions and PDOs

The ESI data ingested by github.com/linuxcnc-ethercat/esi-data describes 9 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
Name	EL7041-0001 1Ch. Stepper motor output stage (50V, 5A)
PID	0x1b813052
Revision Code	0x00100001	0x00110001	0x00120001	0x00130001	0x00140001	0x00150001	0x00160001	0x00170001	0x00180001
Equivalant Devices
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
	0x6010:0c Status__Digital input 1 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
			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
			0x6020:11 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)
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)