Home | Device List | EL7041-1000

Beckhoff EL7041-1000

Type:

EL7041-1000

Description:

EL7041-1000 1Ch. Stepper motor output stage (50V, 5A, standard)

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 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	EL7041-1000 1Ch. Stepper motor output stage (50V, 5A, standard)
PID	0x1b813052
Revision Code	0x001003e8	0x001103e8	0x001203e8	0x001303e8	0x001403e8	0x001503e8
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
	0x6010:0d Status__Digital input 2 BOOL
					0x6010:0e Status__Sync error BOOL
					0x6010:10 Status__TxPDO Toggle BOOL
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
	0x1603: STM Position
	0x7010:11 Position UDINT (32 bits)
	0x1604: STM Velocity
	0x7010:21 Velocity INT (16 bits)