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Beckhoff EL7332

Type:

EL7332

Description:

EL7332 2Ch. DC motor output stage (24V, 1.5A)

Vendor

Beckhoff Automation GmbH & Co. KG

Documentation

http://www.beckhoff.com/EL7332

Revisions and PDOs

The ESI data ingested by github.com/linuxcnc-ethercat/esi-data describes 9 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	r16	r17	r18	r19	r20	r21	r22	r23	r24
Name	EL7332 2Ch. DC motor output stage (24V, 1.5A)
PID	0x1ca43052
Revision Code	0x00100000	0x00110000	0x00120000	0x00130000	0x00140000	0x00150000	0x00160000	0x00170000	0x00180000
Equivalant Devices
TX PDOs	0x1a00: DCM Status Channel 1				0x1a00: CNT Status compact Channel 1
	0x6000:01 Status__Ready to enable BOOL
	0x6000:02 Status__Ready BOOL
	0x6000:03 Status__Warning BOOL				0x6000:03 Status__Set counter done BOOL
	0x6000:04 Status__Error BOOL				0x6000:04 Status__Counter inhibited BOOL
	0x6000:05 Status__Moving positive BOOL
	0x6000:06 Status__Moving negative BOOL				0x6000:06 Status__Status of input clock BOOL
	0x6000:07 Status__Torque reduced BOOL
	0x6000:0c Status__Digital input 1 BOOL
	0x6000:0d Status__Digital input 2 BOOL
					0x6000:0e Status__Sync error BOOL
					0x6000:10 Status__TxPDO Toggle BOOL
					0x6000:11 Counter value UINT (16 bits)
	0x1a01: DCM Synchron info data Channel 1				0x1a01: CNT Status Channel 1
					0x6000:03 Status__Set counter done BOOL
					0x6000:04 Status__Counter inhibited BOOL
					0x6000:06 Status__Status of input clock BOOL
					0x6000:0e Status__Sync error BOOL
					0x6000:10 Status__TxPDO Toggle BOOL
	0x6000:11 Info Data 1 UINT (16 bits)				0x6000:11 Counter value UDINT (32 bits)
	0x6000:12 Info Data 2 UINT (16 bits)
	0x1a02: DCM Status Channel 2				0x1a02: CNT Status compact Channel 2
	0x6010:01 Status__Ready to enable BOOL
	0x6010:02 Status__Ready BOOL
	0x6010:03 Status__Warning BOOL				0x6010:03 Status__Set counter done BOOL
	0x6010:04 Status__Error BOOL				0x6010:04 Status__Counter inhibited BOOL
	0x6010:05 Status__Moving positive BOOL
	0x6010:06 Status__Moving negative BOOL				0x6010:06 Status__Status of input clock BOOL
	0x6010:07 Status__Torque reduced BOOL
	0x6010:0c Status__Digital input 1 BOOL
	0x6010:0d Status__Digital input 2 BOOL
					0x6010:0e Status__Sync error BOOL
					0x6010:10 Status__TxPDO Toggle BOOL
					0x6010:11 Counter value UINT (16 bits)
	0x1a03: DCM Synchron info data Channel 2				0x1a03: CNT Status Channel 2
					0x6010:03 Status__Set counter done BOOL
					0x6010:04 Status__Counter inhibited BOOL
					0x6010:06 Status__Status of input clock BOOL
					0x6010:0e Status__Sync error BOOL
					0x6010:10 Status__TxPDO Toggle BOOL
	0x6010:11 Info Data 1 UINT (16 bits)				0x6010:11 Counter value UDINT (32 bits)
	0x6010:12 Info Data 2 UINT (16 bits)
					0x1a04: DCM Status Channel 1
					0x6020:01 Status__Ready to enable BOOL
					0x6020:02 Status__Ready BOOL
					0x6020:03 Status__Warning BOOL
					0x6020:04 Status__Error BOOL
					0x6020:05 Status__Moving positive BOOL
					0x6020:06 Status__Moving negative BOOL
					0x6020:07 Status__Torque reduced BOOL
					0x6020:0c Status__Digital input 1 BOOL
					0x6020:0d Status__Digital input 2 BOOL
								0x6020:0e Status__Sync error BOOL
								0x6020:10 Status__TxPDO Toggle BOOL
					0x1a05: DCM Synchron info data Channel 1
					0x6020:11 Info Data 1 UINT (16 bits)
					0x6020:12 Info Data 2 UINT (16 bits)
					0x1a06: DCM Status Channel 2
					0x6030:01 Status__Ready to enable BOOL
					0x6030:02 Status__Ready BOOL
					0x6030:03 Status__Warning BOOL
					0x6030:04 Status__Error BOOL
					0x6030:05 Status__Moving positive BOOL
					0x6030:06 Status__Moving negative BOOL
				0x6030:07 Status__Torque reduced BOOL
				0x6030:0c Status__Digital input 1 BOOL
				0x6030:0d Status__Digital input 2 BOOL
							0x6030:0e Status__Sync error BOOL
							0x6030:10 Status__TxPDO Toggle BOOL
				0x1a07: DCM Synchron info data Channel 2
				0x6030:11 Info Data 1 UINT (16 bits)
				0x6030:12 Info Data 2 UINT (16 bits)
RX PDOs	0x1600: DCM Control Channel 1				0x1600: CNT Control compact Channel 1
	0x7000:01 Control__Enable BOOL
	0x7000:02 Control__Reset BOOL
	0x7000:03 Control__Reduce torque BOOL				0x7000:03 Control__Set counter BOOL
					0x7000:04 Control__Inhibit counter BOOL
					0x7000:11 Set counter value UINT (16 bits)
	0x1601: DCM Velocity Channel 1				0x1601: CNT Control Channel 1
					0x7000:03 Control__Set counter BOOL
					0x7000:04 Control__Inhibit counter BOOL
					0x7000:11 Set counter value UDINT (32 bits)
	0x7000:21 Velocity INT (16 bits)
	0x1602: DCM Control Channel 2				0x1602: CNT Control compact Channel 2
	0x7010:01 Control__Enable BOOL
	0x7010:02 Control__Reset BOOL
	0x7010:03 Control__Reduce torque BOOL				0x7010:03 Control__Set counter BOOL
					0x7010:04 Control__Inhibit counter BOOL
					0x7010:11 Set counter value UINT (16 bits)
	0x1603: DCM Velocity Channel 2				0x1603: CNT Control Channel 2
					0x7010:03 Control__Set counter BOOL
					0x7010:04 Control__Inhibit counter BOOL
					0x7010:11 Set counter value UDINT (32 bits)
	0x7010:21 Velocity INT (16 bits)
					0x1604: DCM Control Channel 1
					0x7020:01 Control__Enable BOOL
					0x7020:02 Control__Reset BOOL
					0x7020:03 Control__Reduce torque BOOL
					0x1605: DCM Velocity Channel 1
					0x7020:21 Velocity INT (16 bits)
					0x1606: DCM Control Channel 2
					0x7030:01 Control__Enable BOOL
					0x7030:02 Control__Reset BOOL
					0x7030:03 Control__Reduce torque BOOL
					0x1607: DCM Velocity Channel 2
					0x7030:21 Velocity INT (16 bits)