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 |
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| Name | ELM7221-0010 1Ch. Servo Terminal (48 V, 8 A RMS, OCT) |
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| PID | 0x50227559 |
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| Revision Code | 0x0010000a |
0x0011000a |
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| Equivalant Devices | ELM7211-0010 r16 |
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| TX PDOs | 0x1a00: FB Position |
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0x6000:11 Position UDINT (32 bits) |
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0x1a02: FB Status |
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0x6000:0e Status__TxPDO State BOOL |
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0x6000:0f Status__Input cycle counter BIT2 (2 bits) |
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0x1a03: FB Touch probe status |
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0x6001:01 Touch probe status__TP1 Enable BOOL |
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0x6001:02 Touch probe status__TP1 Pos value stored BOOL |
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0x6001:03 Touch probe status__TP1 Neg value stored BOOL |
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0x6001:08 Touch probe status__TP1 Input BOOL |
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0x6001:09 Touch probe status__TP2 Enable BOOL |
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0x6001:0a Touch probe status__TP2 Pos value stored BOOL |
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0x6001:0b Touch probe status__TP2 Neg value stored BOOL |
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0x6001:10 Touch probe status__TP2 Input BOOL |
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0x1a04: FB Touch probe 1 pos position |
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0x6001:11 TP1 Pos position UDINT (32 bits) |
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0x1a05: FB Touch probe 1 neg position |
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0x6001:12 TP1 Neg position UDINT (32 bits) |
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0x1a06: FB Touch probe 2 pos position |
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0x6001:13 TP2 Pos position UDINT (32 bits) |
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0x1a07: FB Touch probe 2 neg position |
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0x6001:14 TP2 Neg position UDINT (32 bits) |
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0x1a08: FB Touch probe 1 pos timestamp |
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0x6001:15 TP1 Pos timestamp UDINT (32 bits) |
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0x1a09: FB Touch probe 1 neg timestamp |
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0x6001:16 TP1 Neg timestamp UDINT (32 bits) |
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0x1a0a: FB Touch probe 2 pos timestamp |
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0x6001:17 TP2 Pos timestamp UDINT (32 bits) |
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0x1a0b: FB Touch probe 2 neg timestamp |
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0x6001:18 TP2 Neg timestamp UDINT (32 bits) |
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0x1a10: DRV Statusword |
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0x6010:01 Statusword UINT (16 bits) |
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0x1a11: DRV Following error actual value |
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0x6010:06 Following error actual value DINT (32 bits) |
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0x1a12: DRV Velocity actual value |
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0x6010:07 Velocity actual value DINT (32 bits) |
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0x1a13: DRV Torque actual value |
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0x6010:08 Torque actual value INT (16 bits) |
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0x1a14: DRV Info data 1 |
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0x6010:12 Info data 1 INT (16 bits) |
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0x1a15: DRV Info data 2 |
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0x6010:13 Info data 2 INT (16 bits) |
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0x1a16: DRV Info data 3 |
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0x6010:14 Info data 3 INT (16 bits) |
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0x1a17: DRV Modes of operation display |
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0x6010:03 Modes of operation display USINT (8 bits) |
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0x1a18: DRV Torque limitation status |
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0x6010:15 Torque limitation status USINT (8 bits) |
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0x1a20: DMC Inputs |
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0x6020:02 DMC__FeedbackStatus__Latch extern valid BOOL |
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0x6020:03 DMC__FeedbackStatus__Set counter done BOOL |
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0x6020:0d DMC__FeedbackStatus__Status of extern latch BOOL |
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0x6020:11 DMC__DriveStatus__Ready to enable BOOL |
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0x6020:12 DMC__DriveStatus__Ready BOOL |
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0x6020:13 DMC__DriveStatus__Warning BOOL |
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0x6020:14 DMC__DriveStatus__Error BOOL |
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0x6020:15 DMC__DriveStatus__Moving positive BOOL |
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0x6020:16 DMC__DriveStatus__Moving negative BOOL |
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0x6020:1c DMC__DriveStatus__Digital input 1 BOOL |
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0x6020:1d DMC__DriveStatus__Digital input 2 BOOL |
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0x6020:21 DMC__PositioningStatus__Busy BOOL |
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0x6020:22 DMC__PositioningStatus__In-Target BOOL |
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0x6020:23 DMC__PositioningStatus__Warning BOOL |
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0x6020:24 DMC__PositioningStatus__Error BOOL |
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0x6020:25 DMC__PositioningStatus__Calibrated BOOL |
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0x6020:26 DMC__PositioningStatus__Accelerate BOOL |
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0x6020:27 DMC__PositioningStatus__Decelerate BOOL |
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0x6020:28 DMC__PositioningStatus__Ready to execute BOOL |
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0x6020:31 DMC__Set position LINT (64 bits) |
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0x6020:32 DMC__Set velocity INT (16 bits) |
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0x6020:33 DMC__Actual drive time UDINT (32 bits) |
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0x6020:34 DMC__Actual position lag LINT (64 bits) |
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0x6020:35 DMC__Actual velocity INT (16 bits) |
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0x6020:36 DMC__Actual position LINT (64 bits) |
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0x6020:37 DMC__Error id UDINT (32 bits) |
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0x6020:38 DMC__Input cycle counter USINT (8 bits) |
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0x6020:39 DMC__Channel id USINT (8 bits) |
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0x6020:3a DMC__Latch value LINT (64 bits) |
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0x6020:3b DMC__Cyclic info data 1 INT (16 bits) |
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0x6020:3c DMC__Cyclic info data 2 INT (16 bits) |
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0x1a21: DMC Inputs 32 Bit |
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0x6020:02 DMC__FeedbackStatus__Latch extern valid BOOL |
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0x6020:03 DMC__FeedbackStatus__Set counter done BOOL |
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0x6020:0d DMC__FeedbackStatus__Status of extern latch BOOL |
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0x6020:11 DMC__DriveStatus__Ready to enable BOOL |
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0x6020:12 DMC__DriveStatus__Ready BOOL |
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0x6020:13 DMC__DriveStatus__Warning BOOL |
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0x6020:14 DMC__DriveStatus__Error BOOL |
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0x6020:15 DMC__DriveStatus__Moving positive BOOL |
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0x6020:16 DMC__DriveStatus__Moving negative BOOL |
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0x6020:1c DMC__DriveStatus__Digital input 1 BOOL |
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0x6020:1d DMC__DriveStatus__Digital input 2 BOOL |
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0x6020:21 DMC__PositioningStatus__Busy BOOL |
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0x6020:22 DMC__PositioningStatus__In-Target BOOL |
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0x6020:23 DMC__PositioningStatus__Warning BOOL |
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0x6020:24 DMC__PositioningStatus__Error BOOL |
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0x6020:25 DMC__PositioningStatus__Calibrated BOOL |
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0x6020:26 DMC__PositioningStatus__Accelerate BOOL |
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0x6020:27 DMC__PositioningStatus__Decelerate BOOL |
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0x6020:28 DMC__PositioningStatus__Ready to execute BOOL |
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0x6020:31 DMC__Set position DINT (32 bits) |
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0x6020:32 DMC__Set velocity INT (16 bits) |
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0x6020:33 DMC__Actual drive time UDINT (32 bits) |
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0x6020:34 DMC__Actual position lag DINT (32 bits) |
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0x6020:35 DMC__Actual velocity INT (16 bits) |
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0x6020:36 DMC__Actual position DINT (32 bits) |
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0x6020:37 DMC__Error id UDINT (32 bits) |
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0x6020:38 DMC__Input cycle counter USINT (8 bits) |
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0x6020:3a DMC__Latch value DINT (32 bits) |
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0x6020:3b DMC__Cyclic info data 1 INT (16 bits) |
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0x6020:3c DMC__Cyclic info data 2 INT (16 bits) |
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0x1a80: DRV Brake Chopper Inputs |
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| RX PDOs | 0x1600: FB Touch probe control |
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0x7001:01 Touch probe function__TP1 Enable BOOL |
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0x7001:02 Touch probe function__TP1 Continous BOOL |
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0x7001:03 Touch probe function__TP1 Trigger mode BIT2 (2 bits) |
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0x7001:05 Touch probe function__TP1 Enable pos edge BOOL |
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0x7001:06 Touch probe function__TP1 Enable neg edge BOOL |
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0x7001:09 Touch probe function__TP2 Enable BOOL |
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0x7001:0a Touch probe function__TP2 Continous BOOL |
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0x7001:0b Touch probe function__TP2 Trigger mode BIT2 (2 bits) |
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0x7001:0d Touch probe function__TP2 Enable pos edge BOOL |
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0x7001:0e Touch probe function__TP2 Enable neg edge BOOL |
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0x1610: DRV Controlword |
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0x7010:01 Controlword UINT (16 bits) |
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0x1611: DRV Target position |
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0x7010:05 Target position UDINT (32 bits) |
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0x1612: DRV Target velocity |
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0x7010:06 Target velocity DINT (32 bits) |
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0x1613: DRV Target torque |
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0x7010:09 Target torque INT (16 bits) |
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0x1614: DRV Commutation angle |
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0x7010:0e Commutation angle UINT (16 bits) |
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0x1615: DRV Velocity offset |
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0x7010:0f Velocity offset DINT (32 bits) |
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0x1616: DRV Torque offset |
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0x7010:0a Torque offset INT (16 bits) |
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0x1617: DRV Torque limitation |
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0x7010:0b Torque limitation UINT (16 bits) |
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0x1618: DRV Positive torque limit value |
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0x7010:10 Positive torque limit value UINT (16 bits) |
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0x1619: DRV Negative torque limit value |
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0x7010:11 Negative torque limit value UINT (16 bits) |
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0x161a: DRV Modes of operation |
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0x7010:03 Modes of operation USINT (8 bits) |
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0x161b: DRV Low velocity limit value |
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0x7010:12 Low velocity limit value DINT (32 bits) |
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0x161c: DRV High velocity limit value |
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0x7010:13 High velocity limit value DINT (32 bits) |
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0x1620: DMC Outputs |
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0x7020:02 DMC__FeedbackControl__Enable latch extern on positive edge BOOL |
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0x7020:03 DMC__FeedbackControl__Set counter BOOL |
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0x7020:04 DMC__FeedbackControl__Enable latch extern on negative edge BOOL |
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0x7020:11 DMC__DriveControl__Enable BOOL |
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0x7020:12 DMC__DriveControl__Reset BOOL |
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0x7020:21 DMC__PositioningControl__Execute BOOL |
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0x7020:22 DMC__PositioningControl__Emergency stop BOOL |
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0x7020:31 DMC__Set counter value LINT (64 bits) |
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0x7020:32 DMC__Target position LINT (64 bits) |
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0x7020:33 DMC__Target velocity INT (16 bits) |
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0x7020:34 DMC__Start type UINT (16 bits) |
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0x7020:35 DMC__Target acceleration UINT (16 bits) |
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0x7020:36 DMC__Target deceleration UINT (16 bits) |
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0x1621: DMC Outputs 32 Bit |
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0x7020:02 DMC__FeedbackControl__Enable latch extern on positive edge BOOL |
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0x7020:03 DMC__FeedbackControl__Set counter BOOL |
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0x7020:04 DMC__FeedbackControl__Enable latch extern on negative edge BOOL |
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0x7020:11 DMC__DriveControl__Enable BOOL |
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0x7020:12 DMC__DriveControl__Reset BOOL |
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0x7020:21 DMC__PositioningControl__Execute BOOL |
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0x7020:22 DMC__PositioningControl__Emergency stop BOOL |
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0x7020:31 DMC__Set counter value DINT (32 bits) |
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0x7020:32 DMC__Target position DINT (32 bits) |
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0x7020:33 DMC__Target velocity INT (16 bits) |
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0x7020:34 DMC__Start type UINT (16 bits) |
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0x7020:35 DMC__Target acceleration UINT (16 bits) |
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0x7020:36 DMC__Target deceleration UINT (16 bits) |
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