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Beckhoff EL7411

Type:

EL7411

Description:

EL7411 BLDC Terminal with incremental encoder/Hall, 50 V DC, 4.5 A

Vendor

Beckhoff Automation GmbH & Co. KG

Documentation

http://www.beckhoff.com/EL7411

Revisions and PDOs

The ESI data ingested by github.com/linuxcnc-ethercat/esi-data describes 4 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
Name	EL7411 BLDC Terminal with incremental encoder/Hall, 50 V DC, 4.5 A
PID	0x1cf33052
Revision Code	0x00100000	0x00110000	0x00120000	0x00130000
Equivalant Devices
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 INT (16 bits)
	0x1a05: DRV Info data 2
	0x6010:13 Info data 2 INT (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)
	0x1a0d: DRV Info data 3
	0x6010:14 Info data 3 INT (16 bits)
	0x1a0e: FB Enc Position
	0x6000:12 Enc Position UDINT (32 bits)
	0x1a0f: FAN Inputs Device
	0x1a10: DI Inputs
	0x6020:01 Input 1 BOOL
	0x6020:02 Input 2 BOOL
	0x6020:03 Fan Diag BOOL
	0x6020:05 Encoder A BOOL
	0x6020:06 Encoder B BOOL
	0x6020:07 Encoder C BOOL
	0x6020:09 Hall A BOOL
	0x6020:0a Hall B BOOL
	0x6020:0b Hall C BOOL
	0x6020:0d Level of ENA input BOOL
				0x1a40: DMC Inputs
				0x6040:02 DMC__FeedbackStatus__Latch extern valid BOOL
				0x6040:03 DMC__FeedbackStatus__Set counter done BOOL
				0x6040:0d DMC__FeedbackStatus__Status of extern latch BOOL
				0x6040:11 DMC__DriveStatus__Ready to enable BOOL
				0x6040:12 DMC__DriveStatus__Ready BOOL
				0x6040:13 DMC__DriveStatus__Warning BOOL
				0x6040:14 DMC__DriveStatus__Error BOOL
				0x6040:15 DMC__DriveStatus__Moving positive BOOL
				0x6040:16 DMC__DriveStatus__Moving negative BOOL
				0x6040:1c DMC__DriveStatus__Digital input 1 BOOL
				0x6040:1d DMC__DriveStatus__Digital input 2 BOOL
				0x6040:21 DMC__PositioningStatus__Busy BOOL
				0x6040:22 DMC__PositioningStatus__In-Target BOOL
				0x6040:23 DMC__PositioningStatus__Warning BOOL
				0x6040:24 DMC__PositioningStatus__Error BOOL
				0x6040:25 DMC__PositioningStatus__Calibrated BOOL
			0x6040:26 DMC__PositioningStatus__Accelerate BOOL
			0x6040:27 DMC__PositioningStatus__Decelerate BOOL
			0x6040:28 DMC__PositioningStatus__Ready to execute BOOL
			0x6040:31 DMC__Set position LINT (64 bits)
			0x6040:32 DMC__Set velocity INT (16 bits)
			0x6040:33 DMC__Actual drive time UDINT (32 bits)
			0x6040:34 DMC__Actual position lag LINT (64 bits)
			0x6040:35 DMC__Actual velocity INT (16 bits)
			0x6040:36 DMC__Actual position LINT (64 bits)
			0x6040:37 DMC__Error id UDINT (32 bits)
			0x6040:38 DMC__Input cycle counter USINT (8 bits)
			0x6040:39 DMC__Channel id USINT (8 bits)
			0x6040:3a DMC__Latch value LINT (64 bits)
			0x6040:3b DMC__Cyclic info data 1 INT (16 bits)
			0x6040:3c DMC__Cyclic info data 2 INT (16 bits)
			0x1a41: DMC Inputs 32 Bit
			0x6040:02 DMC__FeedbackStatus__Latch extern valid BOOL
			0x6040:03 DMC__FeedbackStatus__Set counter done BOOL
			0x6040:0d DMC__FeedbackStatus__Status of extern latch BOOL
			0x6040:11 DMC__DriveStatus__Ready to enable BOOL
			0x6040:12 DMC__DriveStatus__Ready BOOL
			0x6040:13 DMC__DriveStatus__Warning BOOL
			0x6040:14 DMC__DriveStatus__Error BOOL
			0x6040:15 DMC__DriveStatus__Moving positive BOOL
			0x6040:16 DMC__DriveStatus__Moving negative BOOL
			0x6040:1c DMC__DriveStatus__Digital input 1 BOOL
			0x6040:1d DMC__DriveStatus__Digital input 2 BOOL
			0x6040:21 DMC__PositioningStatus__Busy BOOL
			0x6040:22 DMC__PositioningStatus__In-Target BOOL
			0x6040:23 DMC__PositioningStatus__Warning BOOL
			0x6040:24 DMC__PositioningStatus__Error BOOL
			0x6040:25 DMC__PositioningStatus__Calibrated BOOL
			0x6040:26 DMC__PositioningStatus__Accelerate BOOL
			0x6040:27 DMC__PositioningStatus__Decelerate BOOL
			0x6040:28 DMC__PositioningStatus__Ready to execute BOOL
			0x6040:31 DMC__Set position DINT (32 bits)
			0x6040:32 DMC__Set velocity INT (16 bits)
			0x6040:33 DMC__Actual drive time UDINT (32 bits)
			0x6040:34 DMC__Actual position lag DINT (32 bits)
			0x6040:35 DMC__Actual velocity INT (16 bits)
			0x6040:36 DMC__Actual position DINT (32 bits)
			0x6040:37 DMC__Error id UDINT (32 bits)
			0x6040:38 DMC__Input cycle counter USINT (8 bits)
			0x6040:39 DMC__Channel id USINT (8 bits)
			0x6040:3a DMC__Latch value DINT (32 bits)
			0x6040:3b DMC__Cyclic info data 1 INT (16 bits)
			0x6040:3c 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)
	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: FAN Outputs Device
				0x1640: DMC Outputs
				0x7040:02 DMC__FeedbackControl__Enable latch extern on positive edge BOOL
				0x7040:03 DMC__FeedbackControl__Set counter BOOL
				0x7040:04 DMC__FeedbackControl__Enable latch extern on negative edge BOOL
				0x7040:11 DMC__DriveControl__Enable BOOL
				0x7040:12 DMC__DriveControl__Reset BOOL
				0x7040:21 DMC__PositioningControl__Execute BOOL
				0x7040:22 DMC__PositioningControl__Emergency stop BOOL
				0x7040:31 DMC__Set counter value LINT (64 bits)
				0x7040:32 DMC__Target position LINT (64 bits)
				0x7040:33 DMC__Target velocity INT (16 bits)
				0x7040:34 DMC__Start type UINT (16 bits)
				0x7040:35 DMC__Target acceleration UINT (16 bits)
				0x7040:36 DMC__Target deceleration UINT (16 bits)
				0x1641: DMC Outputs 32 Bit
				0x7040:02 DMC__FeedbackControl__Enable latch extern on positive edge BOOL
				0x7040:03 DMC__FeedbackControl__Set counter BOOL
				0x7040:04 DMC__FeedbackControl__Enable latch extern on negative edge BOOL
				0x7040:11 DMC__DriveControl__Enable BOOL
				0x7040:12 DMC__DriveControl__Reset BOOL
				0x7040:21 DMC__PositioningControl__Execute BOOL
				0x7040:22 DMC__PositioningControl__Emergency stop BOOL
				0x7040:31 DMC__Set counter value DINT (32 bits)
				0x7040:32 DMC__Target position DINT (32 bits)
				0x7040:33 DMC__Target velocity INT (16 bits)
				0x7040:34 DMC__Start type UINT (16 bits)
				0x7040:35 DMC__Target acceleration UINT (16 bits)
				0x7040:36 DMC__Target deceleration UINT (16 bits)