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 | EL7211-0001 1Ch. DS402 Servo motor output stage (50V, 4.5A RMS) |
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| PID | 0x1c2b3052 |
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| Revision Code | 0x00140001 |
0x00150001 |
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| Equivalant Devices | EL7201-0001 r20 |
EL7201-0001 r21 |
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| TX PDOs | 0x1a00: DS402 Statusword |
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0x6041:00 Statusword UINT (16 bits) |
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0x1a01: DS402 Position actual value |
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0x6064:00 Position actual value UDINT (32 bits) |
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0x1a02: DS402 Veloacity actual value |
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0x606c:00 Velocity actual value DINT (32 bits) |
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0x1a03: DS402 Torque actual value |
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0x6077:00 Torque actual value INT (16 bits) |
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0x1a04: DS402 Following error actual value |
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0x60f4:00 Following error actual value DINT (32 bits) |
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0x1a0a: DS402 TxPDO Data Invalid |
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0x603e:02 TxPDO Data invalid__Position actual value BOOL |
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| RX PDOs | 0x1600: DS402 Controlword |
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0x6040:00 Controlword UINT (16 bits) |
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0x1601: DS402 Target velocity |
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0x60ff:00 Target velocity DINT (32 bits) |
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0x1602: DS402 Target torque |
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0x6071:00 Target torque INT (16 bits) |
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0x1603: DS402 Commutation angle |
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0x60ea:00 Commutation angle UINT (16 bits) |
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0x1604: DS402 Torque limitation |
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0x6072:00 Max torque UINT (16 bits) |
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0x1605: DS402 Torque offset |
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0x1606: DS402 Target position |
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0x607a:00 Target position DINT (32 bits) |
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