Beckhoff EL7342

Type:: EL7342
Description:: EL7342 2Ch. DC motor output stage (50V, 3.5A)
Vendor: Beckhoff Automation GmbH & Co. KG
Documentation: http://www.beckhoff.com/EL7342

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	EL7342 2Ch. DC motor output stage (50V, 3.5A)
PID	0x1cae3052
Revision Code	0x00100000	0x00110000	0x00120000	0x00130000	0x00140000	0x00150000	0x00160000	0x00170000	0x00180000
Equivalant Devices		EJ7342 r19 EL7342-0035 r19 EL7342-0035 r20 ER7342-0002 r20			EJ7342 r20 EP7342-0002 r21 EPP7342-0002 r16 EPP7342-0002 r17 ER7342-0002 r21			EPP7342-0002 r24
TX PDOs	0x1a00: ENC Status compact Channel 1
	0x6000:02 Status__Latch extern valid BOOL
	0x6000:03 Status__Set counter done BOOL
	0x6000:04 Status__Counter underflow BOOL
	0x6000:05 Status__Counter overflow BOOL
	0x6000:08 Status__Extrapolation stall BOOL
	0x6000:09 Status__Status of input A BOOL
	0x6000:0a Status__Status of input B BOOL
	0x6000:0d Status__Status of extern latch BOOL
					0x6000:0e Status__Sync error BOOL
					0x6000:10 Status__TxPDO Toggle BOOL
	0x6000:11 Counter value UINT (16 bits)
	0x6000:12 Latch value UINT (16 bits)
	0x1a01: ENC Status Channel 1
	0x6000:02 Status__Latch extern valid BOOL
	0x6000:03 Status__Set counter done BOOL
	0x6000:04 Status__Counter underflow BOOL
	0x6000:05 Status__Counter overflow BOOL
	0x6000:08 Status__Extrapolation stall BOOL
	0x6000:09 Status__Status of input A BOOL
	0x6000:0a Status__Status of input B BOOL
	0x6000:0d Status__Status of extern latch BOOL
					0x6000:0e Status__Sync error BOOL
					0x6000:10 Status__TxPDO Toggle BOOL
	0x6000:11 Counter value UDINT (32 bits)
	0x6000:12 Latch value UDINT (32 bits)
	0x1a02: ENC Timest. compact Channel 1
	0x6000:16 Timestamp UDINT (32 bits)
	0x1a03: ENC Status compact Channel 2
	0x6010:02 Status__Latch extern valid BOOL
	0x6010:03 Status__Set counter done BOOL
	0x6010:04 Status__Counter underflow BOOL
	0x6010:05 Status__Counter overflow BOOL
	0x6010:08 Status__Extrapolation stall BOOL
	0x6010:09 Status__Status of input A BOOL
	0x6010:0a Status__Status of input B BOOL
	0x6010:0d Status__Status of extern latch BOOL
					0x6010:0e Status__Sync error BOOL
					0x6010:10 Status__TxPDO Toggle BOOL
	0x6010:11 Counter value UINT (16 bits)
	0x6010:12 Latch value UINT (16 bits)
	0x1a04: ENC Status Channel 2
	0x6010:02 Status__Latch extern valid BOOL
	0x6010:03 Status__Set counter done BOOL
	0x6010:04 Status__Counter underflow BOOL
	0x6010:05 Status__Counter overflow BOOL
	0x6010:08 Status__Extrapolation stall BOOL
	0x6010:09 Status__Status of input A BOOL
	0x6010:0a Status__Status of input B BOOL
	0x6010:0d Status__Status of extern latch BOOL
					0x6010:0e Status__Sync error BOOL
					0x6010:10 Status__TxPDO Toggle BOOL
	0x6010:11 Counter value UDINT (32 bits)
	0x6010:12 Latch value UDINT (32 bits)
	0x1a05: ENC Timest. compact Channel 2
	0x6010:16 Timestamp UDINT (32 bits)
	0x1a06: 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
0x1a07: DCM Synchron info data Channel 1
0x6020:11 Info Data 1 UINT (16 bits)				0x6020:11 Info data 1 UINT (16 bits)
0x6020:12 Info Data 2 UINT (16 bits)				0x6020:12 Info data 2 UINT (16 bits)
0x1a08: 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
0x1a09: DCM Synchron info data Channel 2
0x6030:11 Info Data 1 UINT (16 bits)				0x6030:11 Info data 1 UINT (16 bits)
0x6030:12 Info Data 2 UINT (16 bits)				0x6030:12 Info data 2 UINT (16 bits)
0x1a0a: POS Status compact Channel 1
0x6040:01 Status__Busy BOOL
0x6040:02 Status__In-Target BOOL
0x6040:03 Status__Warning BOOL
0x6040:04 Status__Error BOOL
0x6040:05 Status__Calibrated BOOL
0x6040:06 Status__Accelerate BOOL
0x6040:07 Status__Decelerate BOOL
							0x6040:08 Status__Ready to execute BOOL
0x1a0b: POS Status Channel 1
0x6040:01 Status__Busy BOOL
0x6040:02 Status__In-Target BOOL
0x6040:03 Status__Warning BOOL
0x6040:04 Status__Error BOOL
0x6040:05 Status__Calibrated BOOL
0x6040:06 Status__Accelerate BOOL
0x6040:07 Status__Decelerate BOOL
							0x6040:08 Status__Ready to execute BOOL
0x6040:11 Actual position UDINT (32 bits)
0x6040:21 Actual velocity INT (16 bits)
0x6040:22 Actual drive time UDINT (32 bits)
0x1a0c: POS Status compact Channel 2
0x6050:01 Status__Busy BOOL
0x6050:02 Status__In-Target BOOL
0x6050:03 Status__Warning BOOL
0x6050:04 Status__Error BOOL
0x6050:05 Status__Calibrated BOOL
0x6050:06 Status__Accelerate BOOL
0x6050:07 Status__Decelerate BOOL
							0x6050:08 Status__Ready to execute BOOL
0x1a0d: POS Status Channel 2
0x6050:01 Status__Busy BOOL
0x6050:02 Status__In-Target BOOL
0x6050:03 Status__Warning BOOL
0x6050:04 Status__Error BOOL
0x6050:05 Status__Calibrated BOOL
0x6050:06 Status__Accelerate BOOL
0x6050:07 Status__Decelerate BOOL
							0x6050:08 Status__Ready to execute BOOL
0x6050:11 Actual position UDINT (32 bits)
0x6050:21 Actual velocity INT (16 bits)
0x6050:22 Actual drive time UDINT (32 bits)
RX PDOs	0x1600: ENC Control compact Channel 1
	0x7000:02 Control__Enable latch extern on positive edge BOOL
	0x7000:03 Control__Set counter BOOL
	0x7000:04 Control__Enable latch extern on negative edge BOOL
	0x7000:11 Set counter value UINT (16 bits)
	0x1601: ENC Control Channel 1
	0x7000:02 Control__Enable latch extern on positive edge BOOL
	0x7000:03 Control__Set counter BOOL
	0x7000:04 Control__Enable latch extern on negative edge BOOL
	0x7000:11 Set counter value UDINT (32 bits)
	0x1602: ENC Control compact Channel 2
	0x7010:02 Control__Enable latch extern on positive edge BOOL
	0x7010:03 Control__Set counter BOOL
	0x7010:04 Control__Enable latch extern on negative edge BOOL
	0x7010:11 Set counter value UINT (16 bits)
	0x1603: ENC Control Channel 2
	0x7010:02 Control__Enable latch extern on positive edge BOOL
	0x7010:03 Control__Set counter BOOL
	0x7010:04 Control__Enable latch extern on negative edge BOOL
	0x7010:11 Set counter value UDINT (32 bits)
	0x1604: DCM Control Channel 1
	0x7020:01 Control__Enable BOOL
	0x7020:02 Control__Reset BOOL
	0x7020:03 Control__Reduce torque BOOL
								0x7020:04 Control__Threshold active BOOL
	0x1605: DCM Position Channel 1
	0x7020:11 Position UDINT (32 bits)
	0x1606: DCM Velocity Channel 1
	0x7020:21 Velocity INT (16 bits)
	0x1607: DCM Control Channel 2
	0x7030:01 Control__Enable BOOL
	0x7030:02 Control__Reset BOOL
	0x7030:03 Control__Reduce torque BOOL
								0x7030:04 Control__Threshold active BOOL
	0x1608: DCM Position Channel 2
	0x7030:11 Position UDINT (32 bits)
	0x1609: DCM Velocity Channel 2
	0x7030:21 Velocity INT (16 bits)
	0x160a: POS Control compact Channel 1
	0x7040:01 Control__Execute BOOL
	0x7040:02 Control__Emergency stop BOOL
	0x7040:11 Target position UDINT (32 bits)
	0x160b: POS Control Channel 1
	0x7040:01 Control__Execute BOOL
	0x7040:02 Control__Emergency stop BOOL
	0x7040:11 Target position UDINT (32 bits)
	0x7040:21 Velocity INT (16 bits)
	0x7040:22 Start type UINT (16 bits)
	0x7040:23 Acceleration UINT (16 bits)
	0x7040:24 Deceleration UINT (16 bits)
	0x160c: POS Control compact Channel 2
	0x7050:01 Control__Execute BOOL
	0x7050:02 Control__Emergency stop BOOL
	0x7050:11 Target position UDINT (32 bits)
	0x160d: POS Control Channel 2
	0x7050:01 Control__Execute BOOL
	0x7050:02 Control__Emergency stop BOOL
	0x7050:11 Target position UDINT (32 bits)
	0x7050:21 Velocity INT (16 bits)
	0x7050:22 Start type UINT (16 bits)
	0x7050:23 Acceleration UINT (16 bits)
	0x7050:24 Deceleration UINT (16 bits)