The ESI data ingested by github.com/linuxcnc-ethercat/esi-data describes 2 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 | r20 |
r21 |
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| Name | EL7211 1Ch. MDP742 Servo motor output stage (50V, 4.5A RMS) |
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| PID | 0x1c2b3052 |
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| Revision Code | 0x00140000 |
0x00150000 |
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| Equivalant Devices | EL7201 r20 |
EL7201 r21 |
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| TX PDOs | 0x1a00: FB Position |
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0x6000:11 Position UDINT (32 bits) |
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0x1a01: DRV Statusword |
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0x6010:01 Statusword UINT (16 bits) |
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0x1a02: DRV Velocity actual value |
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0x6010:07 Velocity actual value DINT (32 bits) |
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0x1a03: DRV Torque actual value |
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0x6010:08 Torque actual value INT (16 bits) |
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0x1a04: DRV Info data 1 |
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0x6010:12 Info data 1 UINT (16 bits) |
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0x1a05: DRV Info data 2 |
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0x6010:13 Info data 2 UINT (16 bits) |
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0x1a06: DRV Following error actual value |
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0x6010:06 Following error actual value DINT (32 bits) |
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0x1a0c: FB Status |
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0x6000:0e FB Status__TxPDO State BOOL |
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0x6000:0f FB Status__Input Cycle Counter BIT2 (2 bits) |
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| RX PDOs | 0x1600: DRV Controlword |
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0x7010:01 Controlword UINT (16 bits) |
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0x1601: DRV Target velocity |
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0x7010:06 Target velocity DINT (32 bits) |
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0x1602: DRV Target torque |
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0x7010:09 Target torque INT (16 bits) |
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0x1603: DRV Commutation angle |
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0x7010:0e Commutation angle UINT (16 bits) |
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0x1604: DRV Torque limitation |
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0x7010:0b Torque limitation UINT (16 bits) |
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0x1605: DRV Torque offset |
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0x7010:0a Torque offset INT (16 bits) |
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0x1606: DRV Target position |
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0x7010:05 Target position DINT (32 bits) |
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