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Beckhoff EL7201-0011

Type:

EL7201-0011

Description:

EL7201-0011 1Ch. DS402 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

EL7201-0011 1Ch. DS402 Servo motor output stage with OCT (50V, 4A)

EL7201-0011 1Ch. DS402 Servo motor output stage with OCT (50V, 2.8A RMS)

EL7201-0011 1Ch. DS402 Servo motor output stage with OCT (50V, 4A)

EL7201-0011 1Ch. DS402 Servo motor output stage with OCT (50V, 2.8A RMS)

PID

0x1c213052

Revision Code

0x0013000b

0x0014000b

0x0015000b

0x0016000b

0x0017000b

0x0018000b

0x0019000b

0x001a000b

0x001b000b

0x001c000b

0x001d000b

0x001e000b

0x001f000b

0x0020000b

Equivalant Devices

EL7211-0011 r23

EL7211-0011 r24

EJ7211-0011 r26 EL7201-9015 r26 EL7211-0011 r25 EL7211-0011 r26 EL7211-9015 r26

EJ7211-0011 r27 EJ7211-0011 r28 EJ7211-0011 r29 EJ7211-9415 r29 EL7201-9015 r27 EL7201-9015 r28 EL7201-9015 r29 EL7211-0011 r27 EL7211-0011 r28 EL7211-0011 r29 EL7211-9015 r27 EL7211-9015 r28 EL7211-9015 r29 EL7221-9015 r28 EL7221-9015 r29 EP7211-0035 r29

EJ7211-0011 r30 EJ7211-0011 r31 EJ7211-9415 r30 EJ7211-9415 r31 EL7201-9015 r30 EL7201-9015 r31 EL7211-0011 r30 EL7211-0011 r31 EL7211-9015 r30 EL7211-9015 r31 EL7221-9015 r30 EL7221-9015 r31 EP7211-0035 r30 EP7211-0035 r31

EJ7211-0011 r32 EJ7211-9415 r32 EL7201-9015 r32 EL7211-0011 r32 EL7211-9015 r32 EL7221-9015 r32 EP7211-0035 r32

TX PDOs

0x1a00: DS402 Statusword

0x6041:00 Statusword UINT (16 bits)

0x1a01: DS402 Position actual value

0x6064:00 Position actual value UDINT (32 bits)

0x1a02: DS402 Velocity actual value

0x606c:00 Velocity actual value DINT (32 bits)

0x1a03: DS402 Torque actual value

0x6077:00 Torque actual value INT (16 bits)

0x1a04: DS402 Following error actual value

0x60f4:00 Following error actual value DINT (32 bits)

0x1a05: DS402 Touch probe status

0x60b9:00 Touch probe status UINT (16 bits)

0x1a06: DS402 Touch probe 1 positive edge

0x60ba:00 Touch probe 1 positive edge DINT (32 bits)

0x1a07: DS402 Touch probe 1 negative edge

0x60bb:00 Touch probe 1 negative edge DINT (32 bits)

0x1a08: DS402 Touch probe 2 positive edge

0x60bc:00 Touch probe 2 positive edge DINT (32 bits)

0x1a09: DS402 Touch probe 2 negative edge

0x60bd:00 Touch probe 2 negative edge DINT (32 bits)

0x1a0a: DS402 TxPDO Data Invalid

0x603e:02 TxPDO Data invalid__Position actual value BOOL

0x1a0b: DS402 Info data 1

0x1a0c: DS402 Info data 2

0x1a0e: DS402 Modes of operation display

0x6061:00 Modes of operation display USINT (8 bits)

RX PDOs

0x1600: DS402 Controlword

0x6040:00 Controlword UINT (16 bits)

0x1601: DS402 Target velocity

0x60ff:00 Target velocity DINT (32 bits)

0x1602: DS402 Target torque

0x6071:00 Target torque INT (16 bits)

0x1603: DS402 Commutation angle

0x60ea:00 Commutation angle UINT (16 bits)

0x1604: DS402 Torque limitation

0x6072:00 Max torque UINT (16 bits)

0x1605: DS402 Torque offset

0x1606: DS402 Target position

0x607a:00 Target position DINT (32 bits)

0x1607: DS402 Touch probe function

0x60b8:00 Touch probe function UINT (16 bits)

0x1608: DS402 Modes of operation

0x6060:00 Modes of operation USINT (8 bits)