EtherCAT ESI Data for LinuxCNC

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Beckhoff ELM3142-0000

Type:
ELM3142-0000
Description:
ELM3142-0000 2Ch. Ana. Input +/-10V, +/-20mA, 24 bit, high precision
Vendor
Beckhoff Automation GmbH & Co. KG
Documentation
http://www.beckhoff.com/ELM3142

Revisions and PDOs

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 
r16
 
r17
Name 
ELM3142-0000 2Ch. Ana. Input +/-10V, +/-20mA, 24 bit, high precision
PID 
0x50217669
Revision Code 
0x00100000
 
0x00110000
Equivalant Devices
TX PDOs 
0x1a00: PAI Status Channel 1
 
  0x6000:01  Status__No of Samples           USINT (8 bits)
 
  0x6000:09  Status__Error                   BOOL
 
  0x6000:0a  Status__Underrange              BOOL
 
  0x6000:0b  Status__Overrange               BOOL
 
  0x6000:0d  Status__Diag                    BOOL
 
  0x6000:0e  Status__TxPDO State             BOOL
 
  0x6000:0f  Status__Input cycle counter     BIT2 (2 bits)
 
0x1a01: PAI Samples 1 Channel 1
 
  0x6001:01  Samples__ARRAY [0]              DINT (32 bits)
 
0x1a02: PAI Samples 2 Channel 1
 
  0x6001:01  Samples__ARRAY [0]              DINT (32 bits)
 
  0x6001:02  Samples__ARRAY [1]              DINT (32 bits)
 
0x1a03: PAI Samples 4 Channel 1
 
  0x6001:01  Samples__ARRAY [0]              DINT (32 bits)
 
  0x6001:02  Samples__ARRAY [1]              DINT (32 bits)
 
  0x6001:03  Samples__ARRAY [2]              DINT (32 bits)
 
  0x6001:04  Samples__ARRAY [3]              DINT (32 bits)
 
0x1a04: PAI Samples 5 Channel 1
 
  0x6001:01  Samples__ARRAY [0]              DINT (32 bits)
 
  0x6001:02  Samples__ARRAY [1]              DINT (32 bits)
 
  0x6001:03  Samples__ARRAY [2]              DINT (32 bits)
 
  0x6001:04  Samples__ARRAY [3]              DINT (32 bits)
 
  0x6001:05  Samples__ARRAY [4]              DINT (32 bits)
 
0x1a05: PAI Samples 8 Channel 1
 
  0x6001:01  Samples__ARRAY [0]              DINT (32 bits)
 
  0x6001:02  Samples__ARRAY [1]              DINT (32 bits)
 
  0x6001:03  Samples__ARRAY [2]              DINT (32 bits)
 
  0x6001:04  Samples__ARRAY [3]              DINT (32 bits)
 
  0x6001:05  Samples__ARRAY [4]              DINT (32 bits)
 
  0x6001:06  Samples__ARRAY [5]              DINT (32 bits)
 
  0x6001:07  Samples__ARRAY [6]              DINT (32 bits)
 
  0x6001:08  Samples__ARRAY [7]              DINT (32 bits)
 
0x1a06: PAI Samples 10 Channel 1
 
  0x6001:01  Samples__ARRAY [0]              DINT (32 bits)
 
  0x6001:02  Samples__ARRAY [1]              DINT (32 bits)
 
  0x6001:03  Samples__ARRAY [2]              DINT (32 bits)
 
  0x6001:04  Samples__ARRAY [3]              DINT (32 bits)
 
  0x6001:05  Samples__ARRAY [4]              DINT (32 bits)
 
  0x6001:06  Samples__ARRAY [5]              DINT (32 bits)
 
  0x6001:07  Samples__ARRAY [6]              DINT (32 bits)
 
  0x6001:08  Samples__ARRAY [7]              DINT (32 bits)
 
  0x6001:09  Samples__ARRAY [8]              DINT (32 bits)
 
  0x6001:0a  Samples__ARRAY [9]              DINT (32 bits)
 
0x1a07: PAI Samples 16 Channel 1
 
  0x6001:01  Samples__ARRAY [0]              DINT (32 bits)
 
  0x6001:02  Samples__ARRAY [1]              DINT (32 bits)
 
  0x6001:03  Samples__ARRAY [2]              DINT (32 bits)
 
  0x6001:04  Samples__ARRAY [3]              DINT (32 bits)
 
  0x6001:05  Samples__ARRAY [4]              DINT (32 bits)
 
  0x6001:06  Samples__ARRAY [5]              DINT (32 bits)
 
  0x6001:07  Samples__ARRAY [6]              DINT (32 bits)
 
  0x6001:08  Samples__ARRAY [7]              DINT (32 bits)
 
  0x6001:09  Samples__ARRAY [8]              DINT (32 bits)
 
  0x6001:0a  Samples__ARRAY [9]              DINT (32 bits)
 
  0x6001:0b  Samples__ARRAY [10]             DINT (32 bits)
 
  0x6001:0c  Samples__ARRAY [11]             DINT (32 bits)
 
  0x6001:0d  Samples__ARRAY [12]             DINT (32 bits)
 
  0x6001:0e  Samples__ARRAY [13]             DINT (32 bits)
 
  0x6001:0f  Samples__ARRAY [14]             DINT (32 bits)
 
  0x6001:10  Samples__ARRAY [15]             DINT (32 bits)
 
0x1a08: PAI Samples 20 Channel 1
 
  0x6001:01  Samples__ARRAY [0]              DINT (32 bits)
 
  0x6001:02  Samples__ARRAY [1]              DINT (32 bits)
 
  0x6001:03  Samples__ARRAY [2]              DINT (32 bits)
 
  0x6001:04  Samples__ARRAY [3]              DINT (32 bits)
 
  0x6001:05  Samples__ARRAY [4]              DINT (32 bits)
 
  0x6001:06  Samples__ARRAY [5]              DINT (32 bits)
 
  0x6001:07  Samples__ARRAY [6]              DINT (32 bits)
 
  0x6001:08  Samples__ARRAY [7]              DINT (32 bits)
 
  0x6001:09  Samples__ARRAY [8]              DINT (32 bits)
 
  0x6001:0a  Samples__ARRAY [9]              DINT (32 bits)
 
  0x6001:0b  Samples__ARRAY [10]             DINT (32 bits)
 
  0x6001:0c  Samples__ARRAY [11]             DINT (32 bits)
 
  0x6001:0d  Samples__ARRAY [12]             DINT (32 bits)
 
  0x6001:0e  Samples__ARRAY [13]             DINT (32 bits)
 
  0x6001:0f  Samples__ARRAY [14]             DINT (32 bits)
 
  0x6001:10  Samples__ARRAY [15]             DINT (32 bits)
 
  0x6001:11  Samples__ARRAY [16]             DINT (32 bits)
 
  0x6001:12  Samples__ARRAY [17]             DINT (32 bits)
 
  0x6001:13  Samples__ARRAY [18]             DINT (32 bits)
 
  0x6001:14  Samples__ARRAY [19]             DINT (32 bits)
 
0x1a09: PAI Timestamp Channel 1
 
  0x6005:01  StartTimeNextLatch__Low         UDINT (32 bits)
 
  0x6005:02  StartTimeNextLatch__Hi          UDINT (32 bits)
 
0x1a0a: PAI Synchronous Oversampling Channel 1
 
  0x6006:01  SM-Synchron__Internal Buffer    UINT (16 bits)
 
0x1a0b: PAI Status Channel 2
 
  0x6010:01  Status__No of Samples           USINT (8 bits)
 
  0x6010:09  Status__Error                   BOOL
 
  0x6010:0a  Status__Underrange              BOOL
 
  0x6010:0b  Status__Overrange               BOOL
 
  0x6010:0d  Status__Diag                    BOOL
 
  0x6010:0e  Status__TxPDO State             BOOL
 
  0x6010:0f  Status__Input cycle counter     BIT2 (2 bits)
 
0x1a0c: PAI Samples 1 Channel 2
 
  0x6011:01  Samples__ARRAY [0]              DINT (32 bits)
 
0x1a0d: PAI Samples 2 Channel 2
 
  0x6011:01  Samples__ARRAY [0]              DINT (32 bits)
 
  0x6011:02  Samples__ARRAY [1]              DINT (32 bits)
 
0x1a0e: PAI Samples 4 Channel 2
 
  0x6011:01  Samples__ARRAY [0]              DINT (32 bits)
 
  0x6011:02  Samples__ARRAY [1]              DINT (32 bits)
 
  0x6011:03  Samples__ARRAY [2]              DINT (32 bits)
 
  0x6011:04  Samples__ARRAY [3]              DINT (32 bits)
 
0x1a0f: PAI Samples 5 Channel 2
 
  0x6011:01  Samples__ARRAY [0]              DINT (32 bits)
 
  0x6011:02  Samples__ARRAY [1]              DINT (32 bits)
 
  0x6011:03  Samples__ARRAY [2]              DINT (32 bits)
 
  0x6011:04  Samples__ARRAY [3]              DINT (32 bits)
 
  0x6011:05  Samples__ARRAY [4]              DINT (32 bits)
 
0x1a10: PAI Samples 8 Channel 2
 
  0x6011:01  Samples__ARRAY [0]              DINT (32 bits)
 
  0x6011:02  Samples__ARRAY [1]              DINT (32 bits)
 
  0x6011:03  Samples__ARRAY [2]              DINT (32 bits)
 
  0x6011:04  Samples__ARRAY [3]              DINT (32 bits)
 
  0x6011:05  Samples__ARRAY [4]              DINT (32 bits)
 
  0x6011:06  Samples__ARRAY [5]              DINT (32 bits)
 
  0x6011:07  Samples__ARRAY [6]              DINT (32 bits)
 
  0x6011:08  Samples__ARRAY [7]              DINT (32 bits)
 
0x1a11: PAI Samples 10 Channel 2
 
  0x6011:01  Samples__ARRAY [0]              DINT (32 bits)
 
  0x6011:02  Samples__ARRAY [1]              DINT (32 bits)
 
  0x6011:03  Samples__ARRAY [2]              DINT (32 bits)
 
  0x6011:04  Samples__ARRAY [3]              DINT (32 bits)
 
  0x6011:05  Samples__ARRAY [4]              DINT (32 bits)
 
  0x6011:06  Samples__ARRAY [5]              DINT (32 bits)
 
  0x6011:07  Samples__ARRAY [6]              DINT (32 bits)
 
  0x6011:08  Samples__ARRAY [7]              DINT (32 bits)
 
  0x6011:09  Samples__ARRAY [8]              DINT (32 bits)
 
  0x6011:0a  Samples__ARRAY [9]              DINT (32 bits)
 
0x1a12: PAI Samples 16 Channel 2
 
  0x6011:01  Samples__ARRAY [0]              DINT (32 bits)
 
  0x6011:02  Samples__ARRAY [1]              DINT (32 bits)
 
  0x6011:03  Samples__ARRAY [2]              DINT (32 bits)
 
  0x6011:04  Samples__ARRAY [3]              DINT (32 bits)
 
  0x6011:05  Samples__ARRAY [4]              DINT (32 bits)
 
  0x6011:06  Samples__ARRAY [5]              DINT (32 bits)
 
  0x6011:07  Samples__ARRAY [6]              DINT (32 bits)
 
  0x6011:08  Samples__ARRAY [7]              DINT (32 bits)
 
  0x6011:09  Samples__ARRAY [8]              DINT (32 bits)
 
  0x6011:0a  Samples__ARRAY [9]              DINT (32 bits)
 
  0x6011:0b  Samples__ARRAY [10]             DINT (32 bits)
 
  0x6011:0c  Samples__ARRAY [11]             DINT (32 bits)
 
  0x6011:0d  Samples__ARRAY [12]             DINT (32 bits)
 
  0x6011:0e  Samples__ARRAY [13]             DINT (32 bits)
 
  0x6011:0f  Samples__ARRAY [14]             DINT (32 bits)
 
  0x6011:10  Samples__ARRAY [15]             DINT (32 bits)
 
0x1a13: PAI Samples 20 Channel 2
 
  0x6011:01  Samples__ARRAY [0]              DINT (32 bits)
 
  0x6011:02  Samples__ARRAY [1]              DINT (32 bits)
 
  0x6011:03  Samples__ARRAY [2]              DINT (32 bits)
 
  0x6011:04  Samples__ARRAY [3]              DINT (32 bits)
 
  0x6011:05  Samples__ARRAY [4]              DINT (32 bits)
 
  0x6011:06  Samples__ARRAY [5]              DINT (32 bits)
 
  0x6011:07  Samples__ARRAY [6]              DINT (32 bits)
 
  0x6011:08  Samples__ARRAY [7]              DINT (32 bits)
 
  0x6011:09  Samples__ARRAY [8]              DINT (32 bits)
 
  0x6011:0a  Samples__ARRAY [9]              DINT (32 bits)
 
  0x6011:0b  Samples__ARRAY [10]             DINT (32 bits)
 
  0x6011:0c  Samples__ARRAY [11]             DINT (32 bits)
 
  0x6011:0d  Samples__ARRAY [12]             DINT (32 bits)
 
  0x6011:0e  Samples__ARRAY [13]             DINT (32 bits)
 
  0x6011:0f  Samples__ARRAY [14]             DINT (32 bits)
 
  0x6011:10  Samples__ARRAY [15]             DINT (32 bits)
 
  0x6011:11  Samples__ARRAY [16]             DINT (32 bits)
 
  0x6011:12  Samples__ARRAY [17]             DINT (32 bits)
 
  0x6011:13  Samples__ARRAY [18]             DINT (32 bits)
 
  0x6011:14  Samples__ARRAY [19]             DINT (32 bits)
 
0x1a14: PAI Timestamp Channel 2
 
  0x6015:01  StartTimeNextLatch__Low         UDINT (32 bits)
 
  0x6015:02  StartTimeNextLatch__Hi          UDINT (32 bits)
 
0x1a15: PAI Synchronous Oversampling Channel 2
 
  0x6016:01  SM-Synchron__Internal Buffer    UINT (16 bits)
RX PDOs 
0x1600: PAI Control Channel 1
 
  0x7000:01  Control__Integrator Reset       BOOL
 
  0x7000:02  Control__Peak Hold Reset        BOOL
 
0x1601: PAI Control Channel 2
 
  0x7010:01  Control__Integrator Reset       BOOL
 
  0x7010:02  Control__Peak Hold Reset        BOOL