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Beckhoff ELM7212-9016

Type:

ELM7212-9016

Description:

ELM7212-9016 2Ch. Servo Terminal (48 V, 4,5 A RMS, OCT, STO, TwinSAFE Logic)

Vendor

Beckhoff Automation GmbH & Co. KG

Documentation

https://www.beckhoff.com/ELM7212-9016

Revisions and PDOs

The ESI data ingested by github.com/linuxcnc-ethercat/esi-data describes 1 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	r17
Name	ELM7212-9016 2Ch. Servo Terminal (48 V, 4,5 A RMS, OCT, STO, TwinSAFE Logic)
PID	0x502274c9
Revision Code	0x00112338
Equivalant Devices	ELM7212-0010 r16 ELM7212-0010 r17 ELM7212-9018 r17 ELM7222-0010 r16 ELM7222-0010 r17 ELM7222-9016 r17 ELM7222-9018 r17
TX PDOs	0x1a00: FB Position Channel 1
	0x6000:11 Position UDINT (32 bits)
	0x1a02: FB Status Channel 1
	0x6000:0e Status__TxPDO State BOOL
	0x6000:0f Status__Input cycle counter BIT2 (2 bits)
	0x1a03: FB Touch probe status Channel 1
	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
	0x1a04: FB Touch probe 1 pos position Channel 1
	0x6001:11 TP1 Pos position UDINT (32 bits)
	0x1a05: FB Touch probe 1 neg position Channel 1
	0x6001:12 TP1 Neg position UDINT (32 bits)
	0x1a06: FB Touch probe 2 pos position Channel 1
	0x6001:13 TP2 Pos position UDINT (32 bits)
	0x1a07: FB Touch probe 2 neg position Channel 1
	0x6001:14 TP2 Neg position UDINT (32 bits)
	0x1a08: FB Touch probe 1 pos timestamp Channel 1
	0x6001:15 TP1 Pos timestamp UDINT (32 bits)
	0x1a09: FB Touch probe 1 neg timestamp Channel 1
	0x6001:16 TP1 Neg timestamp UDINT (32 bits)
	0x1a0a: FB Touch probe 2 pos timestamp Channel 1
	0x6001:17 TP2 Pos timestamp UDINT (32 bits)
	0x1a0b: FB Touch probe 2 neg timestamp Channel 1
	0x6001:18 TP2 Neg timestamp UDINT (32 bits)
	0x1a10: DRV Statusword Channel 1
	0x6010:01 Statusword UINT (16 bits)
	0x1a11: DRV Following error actual value Channel 1
	0x6010:06 Following error actual value DINT (32 bits)
	0x1a12: DRV Velocity actual value Channel 1
	0x6010:07 Velocity actual value DINT (32 bits)
	0x1a13: DRV Torque actual value Channel 1
	0x6010:08 Torque actual value INT (16 bits)
	0x1a14: DRV Info data 1 Channel 1
	0x6010:12 Info data 1 INT (16 bits)
	0x1a15: DRV Info data 2 Channel 1
	0x6010:13 Info data 2 INT (16 bits)
	0x1a16: DRV Info data 3 Channel 1
	0x6010:14 Info data 3 INT (16 bits)
	0x1a17: DRV Modes of operation display Channel 1
	0x6010:03 Modes of operation display USINT (8 bits)
	0x1a18: DRV Torque limitation status Channel 1
	0x6010:15 Torque limitation status USINT (8 bits)
	0x1a20: DMC Inputs Channel 1
	0x6020:02 DMC__FeedbackStatus__Latch extern valid BOOL
	0x6020:03 DMC__FeedbackStatus__Set counter done BOOL
	0x6020:0d DMC__FeedbackStatus__Status of extern latch BOOL
	0x6020:11 DMC__DriveStatus__Ready to enable BOOL
	0x6020:12 DMC__DriveStatus__Ready BOOL
	0x6020:13 DMC__DriveStatus__Warning BOOL
	0x6020:14 DMC__DriveStatus__Error BOOL
	0x6020:15 DMC__DriveStatus__Moving positive BOOL
	0x6020:16 DMC__DriveStatus__Moving negative BOOL
	0x6020:1c DMC__DriveStatus__Digital input 1 BOOL
	0x6020:1d DMC__DriveStatus__Digital input 2 BOOL
	0x6020:21 DMC__PositioningStatus__Busy BOOL
	0x6020:22 DMC__PositioningStatus__In-Target BOOL
	0x6020:23 DMC__PositioningStatus__Warning BOOL
	0x6020:24 DMC__PositioningStatus__Error BOOL
0x6020:25 DMC__PositioningStatus__Calibrated BOOL
0x6020:26 DMC__PositioningStatus__Accelerate BOOL
0x6020:27 DMC__PositioningStatus__Decelerate BOOL
0x6020:28 DMC__PositioningStatus__Ready to execute BOOL
0x6020:31 DMC__Set position LINT (64 bits)
0x6020:32 DMC__Set velocity INT (16 bits)
0x6020:33 DMC__Actual drive time UDINT (32 bits)
0x6020:34 DMC__Actual position lag LINT (64 bits)
0x6020:35 DMC__Actual velocity INT (16 bits)
0x6020:36 DMC__Actual position LINT (64 bits)
0x6020:37 DMC__Error id UDINT (32 bits)
0x6020:38 DMC__Input cycle counter USINT (8 bits)
0x6020:39 DMC__Channel id USINT (8 bits)
0x6020:3a DMC__Latch value LINT (64 bits)
0x6020:3b DMC__Cyclic info data 1 INT (16 bits)
0x6020:3c DMC__Cyclic info data 2 INT (16 bits)
0x1a21: DMC Inputs 32 Bit Channel 1
0x6020:02 DMC__FeedbackStatus__Latch extern valid BOOL
0x6020:03 DMC__FeedbackStatus__Set counter done BOOL
0x6020:0d DMC__FeedbackStatus__Status of extern latch BOOL
0x6020:11 DMC__DriveStatus__Ready to enable BOOL
0x6020:12 DMC__DriveStatus__Ready BOOL
0x6020:13 DMC__DriveStatus__Warning BOOL
0x6020:14 DMC__DriveStatus__Error BOOL
0x6020:15 DMC__DriveStatus__Moving positive BOOL
0x6020:16 DMC__DriveStatus__Moving negative BOOL
0x6020:1c DMC__DriveStatus__Digital input 1 BOOL
0x6020:1d DMC__DriveStatus__Digital input 2 BOOL
0x6020:21 DMC__PositioningStatus__Busy BOOL
0x6020:22 DMC__PositioningStatus__In-Target BOOL
0x6020:23 DMC__PositioningStatus__Warning BOOL
0x6020:24 DMC__PositioningStatus__Error BOOL
0x6020:25 DMC__PositioningStatus__Calibrated BOOL
0x6020:26 DMC__PositioningStatus__Accelerate BOOL
0x6020:27 DMC__PositioningStatus__Decelerate BOOL
0x6020:28 DMC__PositioningStatus__Ready to execute BOOL
0x6020:31 DMC__Set position DINT (32 bits)
0x6020:32 DMC__Set velocity INT (16 bits)
0x6020:33 DMC__Actual drive time UDINT (32 bits)
0x6020:34 DMC__Actual position lag DINT (32 bits)
0x6020:35 DMC__Actual velocity INT (16 bits)
0x6020:36 DMC__Actual position DINT (32 bits)
0x6020:37 DMC__Error id UDINT (32 bits)
0x6020:38 DMC__Input cycle counter USINT (8 bits)
0x6020:3a DMC__Latch value DINT (32 bits)
0x6020:3b DMC__Cyclic info data 1 INT (16 bits)
0x6020:3c DMC__Cyclic info data 2 INT (16 bits)
0x1a40: FB Position Channel 2
0x6100:11 Position UDINT (32 bits)
0x1a42: FB Status Channel 2
0x6100:0e Status__TxPDO State BOOL
0x6100:0f Status__Input cycle counter BIT2 (2 bits)
0x1a43: FB Touch probe status Channel 2
0x6101:01 Touch probe status__TP1 Enable BOOL
0x6101:02 Touch probe status__TP1 Pos value stored BOOL
0x6101:03 Touch probe status__TP1 Neg value stored BOOL
0x6101:08 Touch probe status__TP1 Input BOOL
0x6101:09 Touch probe status__TP2 Enable BOOL
0x6101:0a Touch probe status__TP2 Pos value stored BOOL
0x6101:0b Touch probe status__TP2 Neg value stored BOOL
0x6101:10 Touch probe status__TP2 Input BOOL
0x1a44: FB Touch probe 1 pos position Channel 2
0x6101:11 TP1 Pos position UDINT (32 bits)
0x1a45: FB Touch probe 1 neg position Channel 2
0x6101:12 TP1 Neg position UDINT (32 bits)
0x1a46: FB Touch probe 2 pos position Channel 2
0x6101:13 TP2 Pos position UDINT (32 bits)
0x1a47: FB Touch probe 2 neg position Channel 2
0x6101:14 TP2 Neg position UDINT (32 bits)
0x1a48: FB Touch probe 1 pos timestamp Channel 2
0x6101:15 TP1 Pos timestamp UDINT (32 bits)
0x1a49: FB Touch probe 1 neg timestamp Channel 2
0x6101:16 TP1 Neg timestamp UDINT (32 bits)
0x1a4a: FB Touch probe 2 pos timestamp Channel 2
0x6101:17 TP2 Pos timestamp UDINT (32 bits)
0x1a4b: FB Touch probe 2 neg timestamp Channel 2
0x6101:18 TP2 Neg timestamp UDINT (32 bits)
0x1a50: DRV Statusword Channel 2
0x6110:01 Statusword UINT (16 bits)
0x1a51: DRV Following error actual value Channel 2
0x6110:06 Following error actual value DINT (32 bits)
0x1a52: DRV Velocity actual value Channel 2
0x6110:07 Velocity actual value DINT (32 bits)
0x1a53: DRV Torque actual value Channel 2
0x6110:08 Torque actual value INT (16 bits)
0x1a54: DRV Info data 1 Channel 2
0x6110:12 Info data 1 INT (16 bits)
0x1a55: DRV Info data 2 Channel 2
0x6110:13 Info data 2 INT (16 bits)
0x1a56: DRV Info data 3 Channel 2
0x6110:14 Info data 3 INT (16 bits)
0x1a57: DRV Modes of operation display Channel 2
0x6110:03 Modes of operation display USINT (8 bits)
0x1a58: DRV Torque limitation status Channel 2
0x6110:15 Torque limitation status USINT (8 bits)
0x1a60: DMC Inputs Channel 2
0x6120:02 DMC__FeedbackStatus__Latch extern valid BOOL
0x6120:03 DMC__FeedbackStatus__Set counter done BOOL
0x6120:0d DMC__FeedbackStatus__Status of extern latch BOOL
0x6120:11 DMC__DriveStatus__Ready to enable BOOL
0x6120:12 DMC__DriveStatus__Ready BOOL
0x6120:13 DMC__DriveStatus__Warning BOOL
0x6120:14 DMC__DriveStatus__Error BOOL
0x6120:15 DMC__DriveStatus__Moving positive BOOL
0x6120:16 DMC__DriveStatus__Moving negative BOOL
0x6120:1c DMC__DriveStatus__Digital input 1 BOOL
0x6120:1d DMC__DriveStatus__Digital input 2 BOOL
0x6120:21 DMC__PositioningStatus__Busy BOOL
0x6120:22 DMC__PositioningStatus__In-Target BOOL
0x6120:23 DMC__PositioningStatus__Warning BOOL
0x6120:24 DMC__PositioningStatus__Error BOOL
0x6120:25 DMC__PositioningStatus__Calibrated BOOL
0x6120:26 DMC__PositioningStatus__Accelerate BOOL
0x6120:27 DMC__PositioningStatus__Decelerate BOOL
0x6120:28 DMC__PositioningStatus__Ready to execute BOOL
0x6120:31 DMC__Set position LINT (64 bits)
0x6120:32 DMC__Set velocity INT (16 bits)
0x6120:33 DMC__Actual drive time UDINT (32 bits)
0x6120:34 DMC__Actual position lag LINT (64 bits)
0x6120:35 DMC__Actual velocity INT (16 bits)
0x6120:36 DMC__Actual position LINT (64 bits)
0x6120:37 DMC__Error id UDINT (32 bits)
0x6120:38 DMC__Input cycle counter USINT (8 bits)
0x6120:39 DMC__Channel id USINT (8 bits)
0x6120:3a DMC__Latch value LINT (64 bits)
0x6120:3b DMC__Cyclic info data 1 INT (16 bits)
0x6120:3c DMC__Cyclic info data 2 INT (16 bits)
0x1a61: DMC Inputs 32 Bit Channel 2
0x6120:02 DMC__FeedbackStatus__Latch extern valid BOOL
0x6120:03 DMC__FeedbackStatus__Set counter done BOOL
0x6120:0d DMC__FeedbackStatus__Status of extern latch BOOL
0x6120:11 DMC__DriveStatus__Ready to enable BOOL
0x6120:12 DMC__DriveStatus__Ready BOOL
0x6120:13 DMC__DriveStatus__Warning BOOL
0x6120:14 DMC__DriveStatus__Error BOOL
0x6120:15 DMC__DriveStatus__Moving positive BOOL
0x6120:16 DMC__DriveStatus__Moving negative BOOL
0x6120:1c DMC__DriveStatus__Digital input 1 BOOL
0x6120:1d DMC__DriveStatus__Digital input 2 BOOL
0x6120:21 DMC__PositioningStatus__Busy BOOL
0x6120:22 DMC__PositioningStatus__In-Target BOOL
0x6120:23 DMC__PositioningStatus__Warning BOOL
0x6120:24 DMC__PositioningStatus__Error BOOL
0x6120:25 DMC__PositioningStatus__Calibrated BOOL
0x6120:26 DMC__PositioningStatus__Accelerate BOOL
0x6120:27 DMC__PositioningStatus__Decelerate BOOL
0x6120:28 DMC__PositioningStatus__Ready to execute BOOL
0x6120:31 DMC__Set position DINT (32 bits)
0x6120:32 DMC__Set velocity INT (16 bits)
0x6120:33 DMC__Actual drive time UDINT (32 bits)
0x6120:34 DMC__Actual position lag DINT (32 bits)
0x6120:35 DMC__Actual velocity INT (16 bits)
0x6120:36 DMC__Actual position DINT (32 bits)
0x6120:37 DMC__Error id UDINT (32 bits)
0x6120:38 DMC__Input cycle counter USINT (8 bits)
0x6120:3a DMC__Latch value DINT (32 bits)
0x6120:3b DMC__Cyclic info data 1 INT (16 bits)
0x6120:3c DMC__Cyclic info data 2 INT (16 bits)
0x1a80: DRV Brake Chopper Inputs
RX PDOs	0x1600: FB Touch probe control Channel 1
	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
	0x1610: DRV Controlword Channel 1
	0x7010:01 Controlword UINT (16 bits)
	0x1611: DRV Target position Channel 1
	0x7010:05 Target position UDINT (32 bits)
	0x1612: DRV Target velocity Channel 1
	0x7010:06 Target velocity DINT (32 bits)
	0x1613: DRV Target torque Channel 1
	0x7010:09 Target torque INT (16 bits)
	0x1614: DRV Commutation angle Channel 1
	0x7010:0e Commutation angle UINT (16 bits)
	0x1615: DRV Velocity offset Channel 1
	0x7010:0f Velocity offset DINT (32 bits)
	0x1616: DRV Torque offset Channel 1
	0x7010:0a Torque offset INT (16 bits)
	0x1617: DRV Torque limitation Channel 1
	0x7010:0b Torque limitation UINT (16 bits)
	0x1618: DRV Positive torque limit value Channel 1
	0x7010:10 Positive torque limit value UINT (16 bits)
	0x1619: DRV Negative torque limit value Channel 1
	0x7010:11 Negative torque limit value UINT (16 bits)
	0x161a: DRV Modes of operation Channel 1
	0x7010:03 Modes of operation USINT (8 bits)
	0x161b: DRV Low velocity limit value Channel 1
	0x7010:12 Low velocity limit value DINT (32 bits)
	0x161c: DRV High velocity limit value Channel 1
	0x7010:13 High velocity limit value DINT (32 bits)
	0x1620: DMC Outputs Channel 1
	0x7020:02 DMC__FeedbackControl__Enable latch extern on positive edge BOOL
	0x7020:03 DMC__FeedbackControl__Set counter BOOL
	0x7020:04 DMC__FeedbackControl__Enable latch extern on negative edge BOOL
	0x7020:11 DMC__DriveControl__Enable BOOL
	0x7020:12 DMC__DriveControl__Reset BOOL
	0x7020:21 DMC__PositioningControl__Execute BOOL
	0x7020:22 DMC__PositioningControl__Emergency stop BOOL
	0x7020:31 DMC__Set counter value LINT (64 bits)
	0x7020:32 DMC__Target position LINT (64 bits)
	0x7020:33 DMC__Target velocity INT (16 bits)
	0x7020:34 DMC__Start type UINT (16 bits)
	0x7020:35 DMC__Target acceleration UINT (16 bits)
	0x7020:36 DMC__Target deceleration UINT (16 bits)
	0x1621: DMC Outputs 32 Bit Channel 1
	0x7020:02 DMC__FeedbackControl__Enable latch extern on positive edge BOOL
	0x7020:03 DMC__FeedbackControl__Set counter BOOL
	0x7020:04 DMC__FeedbackControl__Enable latch extern on negative edge BOOL
	0x7020:11 DMC__DriveControl__Enable BOOL
	0x7020:12 DMC__DriveControl__Reset BOOL
	0x7020:21 DMC__PositioningControl__Execute BOOL
	0x7020:22 DMC__PositioningControl__Emergency stop BOOL
	0x7020:31 DMC__Set counter value DINT (32 bits)
	0x7020:32 DMC__Target position DINT (32 bits)
	0x7020:33 DMC__Target velocity INT (16 bits)
	0x7020:34 DMC__Start type UINT (16 bits)
	0x7020:35 DMC__Target acceleration UINT (16 bits)
0x7020:36 DMC__Target deceleration UINT (16 bits)
0x1640: FB Touch probe control Channel 2
0x7101:01 Touch probe function__TP1 Enable BOOL
0x7101:02 Touch probe function__TP1 Continous BOOL
0x7101:03 Touch probe function__TP1 Trigger mode BIT2 (2 bits)
0x7101:05 Touch probe function__TP1 Enable pos edge BOOL
0x7101:06 Touch probe function__TP1 Enable neg edge BOOL
0x7101:09 Touch probe function__TP2 Enable BOOL
0x7101:0a Touch probe function__TP2 Continous BOOL
0x7101:0b Touch probe function__TP2 Trigger mode BIT2 (2 bits)
0x7101:0d Touch probe function__TP2 Enable pos edge BOOL
0x7101:0e Touch probe function__TP2 Enable neg edge BOOL
0x1650: DRV Controlword Channel 2
0x7110:01 Controlword UINT (16 bits)
0x1651: DRV Target position Channel 2
0x7110:05 Target position UDINT (32 bits)
0x1652: DRV Target velocity Channel 2
0x7110:06 Target velocity DINT (32 bits)
0x1653: DRV Target torque Channel 2
0x7110:09 Target torque INT (16 bits)
0x1654: DRV Commutation angle Channel 2
0x7110:0e Commutation angle UINT (16 bits)
0x1655: DRV Velocity offset Channel 2
0x7110:0f Velocity offset DINT (32 bits)
0x1656: DRV Torque offset Channel 2
0x7110:0a Torque offset INT (16 bits)
0x1657: DRV Torque limitation Channel 2
0x7110:0b Torque limitation UINT (16 bits)
0x1658: DRV Positive torque limit value Channel 2
0x7110:10 Positive torque limit value UINT (16 bits)
0x1659: DRV Negative torque limit value Channel 2
0x7110:11 Negative torque limit value UINT (16 bits)
0x165a: DRV Modes of operation Channel 2
0x7110:03 Modes of operation USINT (8 bits)
0x165b: DRV Low velocity limit value Channel 2
0x7110:12 Low velocity limit value DINT (32 bits)
0x165c: DRV High velocity limit value Channel 2
0x7110:13 High velocity limit value DINT (32 bits)
0x1660: DMC Outputs Channel 2
0x7120:02 DMC__FeedbackControl__Enable latch extern on positive edge BOOL
0x7120:03 DMC__FeedbackControl__Set counter BOOL
0x7120:04 DMC__FeedbackControl__Enable latch extern on negative edge BOOL
0x7120:11 DMC__DriveControl__Enable BOOL
0x7120:12 DMC__DriveControl__Reset BOOL
0x7120:21 DMC__PositioningControl__Execute BOOL
0x7120:22 DMC__PositioningControl__Emergency stop BOOL
0x7120:31 DMC__Set counter value LINT (64 bits)
0x7120:32 DMC__Target position LINT (64 bits)
0x7120:33 DMC__Target velocity INT (16 bits)
0x7120:34 DMC__Start type UINT (16 bits)
0x7120:35 DMC__Target acceleration UINT (16 bits)
0x7120:36 DMC__Target deceleration UINT (16 bits)
0x1661: DMC Outputs 32 Bit Channel 2
0x7120:02 DMC__FeedbackControl__Enable latch extern on positive edge BOOL
0x7120:03 DMC__FeedbackControl__Set counter BOOL
0x7120:04 DMC__FeedbackControl__Enable latch extern on negative edge BOOL
0x7120:11 DMC__DriveControl__Enable BOOL
0x7120:12 DMC__DriveControl__Reset BOOL
0x7120:21 DMC__PositioningControl__Execute BOOL
0x7120:22 DMC__PositioningControl__Emergency stop BOOL
0x7120:31 DMC__Set counter value DINT (32 bits)
0x7120:32 DMC__Target position DINT (32 bits)
0x7120:33 DMC__Target velocity INT (16 bits)
0x7120:34 DMC__Start type UINT (16 bits)
0x7120:35 DMC__Target acceleration UINT (16 bits)
0x7120:36 DMC__Target deceleration UINT (16 bits)