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Beckhoff EL7221-9014

Type:

EL7221-9014

Description:

EL7221-9014 1Ch. MDP742 Servo motor output stage with OCT (50V, 8A RMS) and STO input

Vendor

Beckhoff Automation GmbH & Co. KG

Documentation

http://www.beckhoff.com/EL7201-0010

Revisions and PDOs

The ESI data ingested by github.com/linuxcnc-ethercat/esi-data describes 5 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	r28	r29	r30	r31	r32
Name	EL7221-9014 1Ch. MDP742 Servo motor output stage with OCT (50V, 8A RMS) and STO input
PID	0x1c353052
Revision Code	0x001c2336	0x001d2336	0x001e2336	0x001f2336	0x00202336
Equivalant Devices	EJ7211-0010 r26 EJ7211-0010 r27 EJ7211-0010 r28 EJ7211-0010 r29 EL7201-0010 r24 EL7201-0010 r25 EL7201-0010 r26 EL7201-0010 r27 EL7201-0010 r28 EL7201-0010 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 EP7211-0034 r29		EJ7211-0010 r30 EJ7211-0010 r31 EL7201-0010 r30 EL7201-0010 r31 EL7201-9014 r30 EL7201-9014 r31 EL7211-0010 r30 EL7211-0010 r31 EL7211-9014 r30 EL7211-9014 r31 EP7211-0034 r30 EP7211-0034 r31		EJ7211-0010 r32 EL7201-0010 r32 EL7201-9014 r32 EL7211-0010 r32 EL7211-9014 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)