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Beckhoff EL7201-0010

Type:

EL7201-0010

Description:

EL7201-0010 1Ch. MDP742 Servo motor output stage with OCT (50V, 4A)

Vendor

Beckhoff Automation GmbH & Co. KG

Documentation

http://www.beckhoff.com/EL7201

Revisions and PDOs

The ESI data ingested by github.com/linuxcnc-ethercat/esi-data describes 14 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

r19

r20

r21

r22

r23

r24

r25

r26

r27

r28

r29

r30

r31

r32

Name

EL7201-0010 1Ch. MDP742 Servo motor output stage with OCT (50V, 4A)

EL7201-0010 1Ch. MDP742 Servo motor output stage with OCT (50V, 2.8A RMS)

PID

0x1c213052

Revision Code

0x0013000a

0x0014000a

0x0015000a

0x0016000a

0x0017000a

0x0018000a

0x0019000a

0x001a000a

0x001b000a

0x001c000a

0x001d000a

0x001e000a

0x001f000a

0x0020000a

Equivalant Devices

EL7211-0010 r23

EJ7211-0010 r26 EJ7211-0010 r27 EJ7211-0010 r28 EJ7211-0010 r29 EL7201-9014 r26 EL7201-9014 r27 EL7201-9014 r28 EL7201-9014 r29 EL7211-0010 r24 EL7211-0010 r25 EL7211-0010 r26 EL7211-0010 r27 EL7211-0010 r28 EL7211-0010 r29 EL7211-9014 r26 EL7211-9014 r27 EL7211-9014 r28 EL7211-9014 r29 EL7221-9014 r28 EL7221-9014 r29 EP7211-0034 r29

EJ7211-0010 r30 EJ7211-0010 r31 EL7201-9014 r30 EL7201-9014 r31 EL7211-0010 r30 EL7211-0010 r31 EL7211-9014 r30 EL7211-9014 r31 EL7221-9014 r30 EL7221-9014 r31 EP7211-0034 r30 EP7211-0034 r31

EJ7211-0010 r32 EL7201-9014 r32 EL7211-0010 r32 EL7211-9014 r32 EL7221-9014 r32 EP7211-0034 r32

TX PDOs

0x1a00: FB Position

0x6000:11 Position UDINT (32 bits)

0x1a01: DRV Statusword

0x6010:01 Statusword UINT (16 bits)

0x1a02: DRV Velocity actual value

0x6010:07 Velocity actual value DINT (32 bits)

0x1a03: DRV Torque actual value

0x6010:08 Torque actual value INT (16 bits)

0x1a04: DRV Info data 1

0x6010:12 Info data 1 UINT (16 bits)

0x1a05: DRV Info data 2

0x6010:13 Info data 2 UINT (16 bits)

0x1a06: DRV Following error actual value

0x6010:06 Following error actual value DINT (32 bits)

0x1a07: FB Touch probe status

0x6001:01 Touch probe status__TP1 Enable BOOL

0x6001:02 Touch probe status__TP1 Pos value stored BOOL

0x6001:03 Touch probe status__TP1 Neg value stored BOOL

0x6001:08 Touch probe status__TP1 Input BOOL

0x6001:09 Touch probe status__TP2 Enable BOOL

0x6001:0a Touch probe status__TP2 Pos value stored BOOL

0x6001:0b Touch probe status__TP2 Neg value stored BOOL

0x6001:10 Touch probe status__TP2 Input BOOL

0x1a08: FB Touch probe 1 pos position

0x6001:11 TP1 Pos position UDINT (32 bits)

0x1a09: FB Touch probe 1 neg position

0x6001:12 TP1 Neg position UDINT (32 bits)

0x1a0a: FB Touch probe 2 pos position

0x6001:13 TP2 Pos position UDINT (32 bits)

0x1a0b: FB Touch probe 2 neg position

0x6001:14 TP2 Neg position UDINT (32 bits)

0x1a0c: FB Status

0x6000:0e Status__TxPDO State BOOL

0x6000:0f Status__Input Cycle Counter BIT2 (2 bits)

0x1a0e: DRV Modes of operation display

0x6010:03 Modes of operation display USINT (8 bits)

0x1a30: DMC Inputs

0x6030:02 DMC__FeedbackStatus__Latch extern valid BOOL

0x6030:03 DMC__FeedbackStatus__Set counter done BOOL

0x6030:0d DMC__FeedbackStatus__Status of extern latch BOOL

0x6030:11 DMC__DriveStatus__Ready to enable BOOL

0x6030:12 DMC__DriveStatus__Ready BOOL

0x6030:13 DMC__DriveStatus__Warning BOOL

0x6030:14 DMC__DriveStatus__Error BOOL

0x6030:15 DMC__DriveStatus__Moving positive BOOL

0x6030:16 DMC__DriveStatus__Moving negative BOOL

0x6030:1c DMC__DriveStatus__Digital input 1 BOOL

0x6030:1d DMC__DriveStatus__Digital input 2 BOOL

0x6030:21 DMC__PositioningStatus__Busy BOOL

0x6030:22 DMC__PositioningStatus__In-Target BOOL

0x6030:23 DMC__PositioningStatus__Warning BOOL

0x6030:24 DMC__PositioningStatus__Error BOOL

0x6030:25 DMC__PositioningStatus__Calibrated BOOL

0x6030:26 DMC__PositioningStatus__Accelerate BOOL

0x6030:27 DMC__PositioningStatus__Decelerate BOOL

0x6030:28 DMC__PositioningStatus__Ready to execute BOOL

0x6030:31 DMC__Set position LINT (64 bits)

0x6030:32 DMC__Set velocity INT (16 bits)

0x6030:33 DMC__Actual drive time UDINT (32 bits)

0x6030:34 DMC__Actual position lag LINT (64 bits)

0x6030:35 DMC__Actual velocity INT (16 bits)

0x6030:36 DMC__Actual position LINT (64 bits)

0x6030:37 DMC__Error id UDINT (32 bits)

0x6030:38 DMC__Input cycle counter USINT (8 bits)

0x6030:3a DMC__Latch value LINT (64 bits)

0x6030:3b DMC__Cyclic info data 1 INT (16 bits)

0x6030:3c DMC__Cyclic info data 2 INT (16 bits)

0x1a31: DMC Inputs 32 Bit

0x6030:02 DMC__FeedbackStatus__Latch extern valid BOOL

0x6030:03 DMC__FeedbackStatus__Set counter done BOOL

0x6030:0d DMC__FeedbackStatus__Status of extern latch BOOL

0x6030:11 DMC__DriveStatus__Ready to enable BOOL

0x6030:12 DMC__DriveStatus__Ready BOOL

0x6030:13 DMC__DriveStatus__Warning BOOL

0x6030:14 DMC__DriveStatus__Error BOOL

0x6030:15 DMC__DriveStatus__Moving positive BOOL

0x6030:16 DMC__DriveStatus__Moving negative BOOL

0x6030:1c DMC__DriveStatus__Digital input 1 BOOL

0x6030:1d DMC__DriveStatus__Digital input 2 BOOL

0x6030:21 DMC__PositioningStatus__Busy BOOL

0x6030:22 DMC__PositioningStatus__In-Target BOOL

0x6030:23 DMC__PositioningStatus__Warning BOOL

0x6030:24 DMC__PositioningStatus__Error BOOL

0x6030:25 DMC__PositioningStatus__Calibrated BOOL

0x6030:26 DMC__PositioningStatus__Accelerate BOOL

0x6030:27 DMC__PositioningStatus__Decelerate BOOL

0x6030:28 DMC__PositioningStatus__Ready to execute BOOL

0x6030:31 DMC__Set position DINT (32 bits)

0x6030:32 DMC__Set velocity INT (16 bits)

0x6030:33 DMC__Actual drive time UDINT (32 bits)

0x6030:34 DMC__Actual position lag DINT (32 bits)

0x6030:35 DMC__Actual velocity INT (16 bits)

0x6030:36 DMC__Actual position DINT (32 bits)

0x6030:37 DMC__Error id UDINT (32 bits)

0x6030:38 DMC__Input cycle counter USINT (8 bits)

0x6030:3a DMC__Latch value DINT (32 bits)

0x6030:3b DMC__Cyclic info data 1 INT (16 bits)

0x6030:3c DMC__Cyclic info data 2 INT (16 bits)

RX PDOs

0x1600: DRV Controlword

0x7010:01 Controlword UINT (16 bits)

0x1601: DRV Target velocity

0x7010:06 Target velocity DINT (32 bits)

0x1602: DRV Target torque

0x7010:09 Target torque INT (16 bits)

0x1603: DRV Commutation angle

0x7010:0e Commutation angle UINT (16 bits)

0x1604: DRV Torque limitation

0x7010:0b Torque limitation UINT (16 bits)

0x1605: DRV Torque offset

0x7010:0a Torque offset INT (16 bits)

0x1606: DRV Target position

0x7010:05 Target position UDINT (32 bits)

0x1607: FB Touch probe control

0x7001:01 Touch probe function__TP1 Enable BOOL

0x7001:02 Touch probe function__TP1 Continous BOOL

0x7001:03 Touch probe function__TP1 Trigger mode BIT2 (2 bits)

0x7001:05 Touch probe function__TP1 Enable pos edge BOOL

0x7001:06 Touch probe function__TP1 Enable neg edge BOOL

0x7001:09 Touch probe function__TP2 Enable BOOL

0x7001:0a Touch probe function__TP2 Continous BOOL

0x7001:0b Touch probe function__TP2 Trigger mode BIT2 (2 bits)

0x7001:0d Touch probe function__TP2 Enable pos edge BOOL

0x7001:0e Touch probe function__TP2 Enable neg edge BOOL

0x1608: DRV Modes of operation

0x7010:03 Modes of operation USINT (8 bits)

0x1630: DMC Outputs

0x7030:02 DMC__FeedbackControl__Enable latch extern on positive edge BOOL

0x7030:03 DMC__FeedbackControl__Set counter BOOL

0x7030:04 DMC__FeedbackControl__Enable latch extern on negative edge BOOL

0x7030:11 DMC__DriveControl__Enable BOOL

0x7030:12 DMC__DriveControl__Reset BOOL

0x7030:21 DMC__PositioningControl__Execute BOOL

0x7030:22 DMC__PositioningControl__Emergency stop BOOL

0x7030:31 DMC__Set counter value LINT (64 bits)

0x7030:32 DMC__Target position LINT (64 bits)

0x7030:33 DMC__Target velocity INT (16 bits)

0x7030:34 DMC__Start type UINT (16 bits)

0x7030:35 DMC__Target acceleration UINT (16 bits)

0x7030:36 DMC__Target deceleration UINT (16 bits)

0x1631: DMC Outputs 32 Bit

0x7030:02 DMC__FeedbackControl__Enable latch extern on positive edge BOOL

0x7030:03 DMC__FeedbackControl__Set counter BOOL

0x7030:04 DMC__FeedbackControl__Enable latch extern on negative edge BOOL

0x7030:11 DMC__DriveControl__Enable BOOL

0x7030:12 DMC__DriveControl__Reset BOOL

0x7030:21 DMC__PositioningControl__Execute BOOL

0x7030:22 DMC__PositioningControl__Emergency stop BOOL

0x7030:31 DMC__Set counter value DINT (32 bits)

0x7030:32 DMC__Target position DINT (32 bits)

0x7030:33 DMC__Target velocity INT (16 bits)

0x7030:34 DMC__Start type UINT (16 bits)

0x7030:35 DMC__Target acceleration UINT (16 bits)

0x7030:36 DMC__Target deceleration UINT (16 bits)