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Beckhoff EM7004

Type:

EM7004

Description:

EM7004 4-Axis Interface Unit

Vendor

Beckhoff Automation GmbH & Co. KG

Documentation

http://www.beckhoff.com/EM7004

Revisions and PDOs

The ESI data ingested by github.com/linuxcnc-ethercat/esi-data describes 6 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	r9995	r9996	r9997
Name	EM7004 4-Axis Interface Unit
PID	0x1b5c3452
Revision Code	0x00100000	0x00110000	0x00120000	0x270b0000	0x270c0000	0x270d0000
Equivalant Devices
TX PDOs	0x1a00: DI Inputs			0x1a00: Digital	0x1a00: DI Inputs
	0x6000:01 Input 0 BOOL	0x6000:01 Input__Input 0 BOOL		0x6000:01 Input 0 BOOL
	0x6000:02 Input 1 BOOL	0x6000:02 Input__Input 1 BOOL		0x6000:02 Input 1 BOOL
	0x6000:03 Input 2 BOOL	0x6000:03 Input__Input 2 BOOL		0x6000:03 Input 2 BOOL
	0x6000:04 Input 3 BOOL	0x6000:04 Input__Input 3 BOOL		0x6000:04 Input 3 BOOL
	0x6000:05 Input 4 BOOL	0x6000:05 Input__Input 4 BOOL		0x6000:05 Input 4 BOOL
	0x6000:06 Input 5 BOOL	0x6000:06 Input__Input 5 BOOL		0x6000:06 Input 5 BOOL
	0x6000:07 Input 6 BOOL	0x6000:07 Input__Input 6 BOOL		0x6000:07 Input 6 BOOL
	0x6000:08 Input 7 BOOL	0x6000:08 Input__Input 7 BOOL		0x6000:08 Input 7 BOOL
	0x6000:09 Input 8 BOOL	0x6000:09 Input__Input 8 BOOL		0x6000:09 Input 8 BOOL
	0x6000:0a Input 9 BOOL	0x6000:0a Input__Input 9 BOOL		0x6000:0a Input 9 BOOL
	0x6000:0b Input 10 BOOL	0x6000:0b Input__Input 10 BOOL		0x6000:0b Input 10 BOOL
	0x6000:0c Input 11 BOOL	0x6000:0c Input__Input 11 BOOL		0x6000:0c Input 11 BOOL
	0x6000:0d Input 12 BOOL	0x6000:0d Input__Input 12 BOOL		0x6000:0d Input 12 BOOL
	0x6000:0e Input 13 BOOL	0x6000:0e Input__Input 13 BOOL		0x6000:0e Input 13 BOOL
	0x6000:0f Input 14 BOOL	0x6000:0f Input__Input 14 BOOL		0x6000:0f Input 14 BOOL
	0x6000:10 Input 15 BOOL	0x6000:10 Input__Input 15 BOOL		0x6000:10 Input 15 BOOL
				0x1a01: Encoder, Channel 1
				0x6050:01 Status UINT (16 bits)
				0x6050:02 Value UINT (16 bits)
				0x6050:03 Latch UINT (16 bits)
				0x1a02: Encoder, Channel 2
				0x6060:01 Status UINT (16 bits)
				0x6060:02 Value UINT (16 bits)
				0x6060:03 Latch UINT (16 bits)
				0x1a03: Encoder, Channel 3
				0x6070:01 Status UINT (16 bits)
				0x6070:02 Value UINT (16 bits)
				0x6070:03 Latch UINT (16 bits)
				0x1a04: Encoder, Channel 4
				0x6080:01 Status UINT (16 bits)
				0x6080:02 Value UINT (16 bits)
				0x6080:03 Latch UINT (16 bits)
	0x1a06: ENC Inputs Channel 1				0x1a06: ENC Inputs Channel 1
	0x6060:02 Latch extern valid BOOL	0x6060:02 Status__Latch extern valid BOOL			0x6060:02 Latch extern valid BOOL
	0x6060:03 Set counter done BOOL	0x6060:03 Status__Set counter done BOOL			0x6060:03 Set counter done BOOL
	0x6060:09 Status of input A BOOL	0x6060:09 Status__Status of input A BOOL			0x6060:09 Status of input A BOOL
	0x6060:0a Status of input B BOOL	0x6060:0a Status__Status of input B BOOL			0x6060:0a Status of input B BOOL
	0x6060:0c Status of input gate BOOL	0x6060:0c Status__Status of input gate BOOL			0x6060:0c Status of input gate BOOL
	0x6060:0d Status of extern latch BOOL	0x6060:0d Status__Status of extern latch BOOL			0x6060:0d Status of extern latch BOOL
	0x6060:11 Counter value UINT (16 bits)				0x6060:11 Counter value UINT (16 bits)
	0x6060:12 Latch value UINT (16 bits)				0x6060:12 Latch value UINT (16 bits)
	0x1a07: ENC Inputs Channel 2				0x1a07: ENC Inputs Channel 2
	0x6070:02 Latch extern valid BOOL	0x6070:02 Status__Latch extern valid BOOL			0x6070:02 Latch extern valid BOOL
	0x6070:03 Set counter done BOOL	0x6070:03 Status__Set counter done BOOL			0x6070:03 Set counter done BOOL
	0x6070:09 Status of input A BOOL	0x6070:09 Status__Status of input A BOOL			0x6070:09 Status of input A BOOL
	0x6070:0a Status of input B BOOL	0x6070:0a Status__Status of input B BOOL			0x6070:0a Status of input B BOOL
	0x6070:0c Status of input gate BOOL	0x6070:0c Status__Status of input gate BOOL			0x6070:0c Status of input gate BOOL
	0x6070:0d Status of extern latch BOOL	0x6070:0d Status__Status of extern latch BOOL			0x6070:0d Status of extern latch BOOL
	0x6070:11 Counter value UINT (16 bits)				0x6070:11 Counter value UINT (16 bits)
	0x6070:12 Latch value UINT (16 bits)				0x6070:12 Latch value UINT (16 bits)
	0x1a08: ENC Inputs Channel 3				0x1a08: ENC Inputs Channel 3
	0x6080:02 Latch extern valid BOOL	0x6080:02 Status__Latch extern valid BOOL			0x6080:02 Latch extern valid BOOL
	0x6080:03 Set counter done BOOL	0x6080:03 Status__Set counter done BOOL			0x6080:03 Set counter done BOOL
	0x6080:09 Status of input A BOOL	0x6080:09 Status__Status of input A BOOL			0x6080:09 Status of input A BOOL
	0x6080:0a Status of input B BOOL	0x6080:0a Status__Status of input B BOOL			0x6080:0a Status of input B BOOL
	0x6080:0c Status of input gate BOOL	0x6080:0c Status__Status of input gate BOOL			0x6080:0c Status of input gate BOOL
	0x6080:0d Status of extern latch BOOL	0x6080:0d Status__Status of extern latch BOOL			0x6080:0d Status of extern latch BOOL
	0x6080:11 Counter value UINT (16 bits)				0x6080:11 Counter value UINT (16 bits)
	0x6080:12 Latch value UINT (16 bits)				0x6080:12 Latch value UINT (16 bits)
	0x1a09: ENC Inputs Channel 4				0x1a09: ENC Inputs Channel 4
	0x6090:02 Latch extern valid BOOL	0x6090:02 Status__Latch extern valid BOOL			0x6090:02 Latch extern valid BOOL
	0x6090:03 Set counter done BOOL	0x6090:03 Status__Set counter done BOOL			0x6090:03 Set counter done BOOL
	0x6090:09 Status of input A BOOL	0x6090:09 Status__Status of input A BOOL			0x6090:09 Status of input A BOOL
0x6090:0a Status of input B BOOL	0x6090:0a Status__Status of input B BOOL			0x6090:0a Status of input B BOOL
0x6090:0c Status of input gate BOOL	0x6090:0c Status__Status of input gate BOOL			0x6090:0c Status of input gate BOOL
0x6090:0d Status of extern latch BOOL	0x6090:0d Status__Status of extern latch BOOL			0x6090:0d Status of extern latch BOOL
0x6090:11 Counter value UINT (16 bits)				0x6090:11 Counter value UINT (16 bits)
0x6090:12 Latch value UINT (16 bits)				0x6090:12 Latch value UINT (16 bits)
0x1a0a: PLS Inputs				0x1a0a: PLS Inputs
0x60a0:01 PLS Enabled BOOL	0x60a0:01 Status__PLS Enabled BOOL			0x60a0:01 PLS Enabled BOOL
0x60a0:02 Unequal SI:0 BOOL	0x60a0:02 Status__Unequal SI:0 BOOL			0x60a0:02 Unequal SI:0 BOOL
RX PDOs				0x1600: Digital
				0x7000:01 Output 0 BOOL
				0x7000:02 Output 1 BOOL
				0x7000:03 Output 2 BOOL
				0x7000:04 Output 3 BOOL
				0x7000:05 Output 4 BOOL
				0x7000:06 Output 5 BOOL
				0x7000:07 Output 6 BOOL
				0x7000:08 Output 7 BOOL
				0x7000:09 Output 8 BOOL
				0x7000:0a Output 9 BOOL
				0x7000:0b Output 10 BOOL
				0x7000:0c Output 11 BOOL
				0x7000:0d Output 12 BOOL
				0x7000:0e Output 13 BOOL
				0x7000:0f Output 14 BOOL
				0x7000:10 Output 15 BOOL
	0x1601: DO Outputs			0x1601: Analog, Channel 1	0x1601: DO Outputs
	0x7010:01 Output 0 BOOL	0x7010:01 Output__Output 0 BOOL		0x7010:01 Output INT (16 bits)	0x7010:01 Output 0 BOOL
	0x7010:02 Output 1 BOOL	0x7010:02 Output__Output 1 BOOL			0x7010:02 Output 1 BOOL
	0x7010:03 Output 2 BOOL	0x7010:03 Output__Output 2 BOOL			0x7010:03 Output 2 BOOL
	0x7010:04 Output 3 BOOL	0x7010:04 Output__Output 3 BOOL			0x7010:04 Output 3 BOOL
	0x7010:05 Output 4 BOOL	0x7010:05 Output__Output 4 BOOL			0x7010:05 Output 4 BOOL
	0x7010:06 Output 5 BOOL	0x7010:06 Output__Output 5 BOOL			0x7010:06 Output 5 BOOL
	0x7010:07 Output 6 BOOL	0x7010:07 Output__Output 6 BOOL			0x7010:07 Output 6 BOOL
	0x7010:08 Output 7 BOOL	0x7010:08 Output__Output 7 BOOL			0x7010:08 Output 7 BOOL
	0x7010:09 Output 8 BOOL	0x7010:09 Output__Output 8 BOOL			0x7010:09 Output 8 BOOL
	0x7010:0a Output 9 BOOL	0x7010:0a Output__Output 9 BOOL			0x7010:0a Output 9 BOOL
	0x7010:0b Output 10 BOOL	0x7010:0b Output__Output 10 BOOL			0x7010:0b Output 10 BOOL
	0x7010:0c Output 11 BOOL	0x7010:0c Output__Output 11 BOOL			0x7010:0c Output 11 BOOL
	0x7010:0d Output 12 BOOL	0x7010:0d Output__Output 12 BOOL			0x7010:0d Output 12 BOOL
	0x7010:0e Output 13 BOOL	0x7010:0e Output__Output 13 BOOL			0x7010:0e Output 13 BOOL
	0x7010:0f Output 14 BOOL	0x7010:0f Output__Output 14 BOOL			0x7010:0f Output 14 BOOL
	0x7010:10 Output 15 BOOL	0x7010:10 Output__Output 15 BOOL			0x7010:10 Output 15 BOOL
	0x1602: AO Outputs Channel 1			0x1602: Analog, Channel 2	0x1602: AO Outputs Channel 1
				0x7020:01 Output INT (16 bits)
					0x7020:0b Analog output INT (16 bits)
	0x7020:11 Analog output INT (16 bits)					0x7020:11 Analog output INT (16 bits)
	0x1603: AO Outputs Channel 2			0x1603: Analog, Channel 3	0x1603: AO Outputs Channel 2
				0x7030:01 Output INT (16 bits)
					0x7030:0b Analog output INT (16 bits)
	0x7030:11 Analog output INT (16 bits)					0x7030:11 Analog output INT (16 bits)
	0x1604: AO Outputs Channel 3			0x1604: Analog, Channel 4	0x1604: AO Outputs Channel 3
				0x7040:01 Output INT (16 bits)
					0x7040:0b Analog output INT (16 bits)
	0x7040:11 Analog output INT (16 bits)					0x7040:11 Analog output INT (16 bits)
	0x1605: AO Outputs Channel 4			0x1605: Encoder, Channel 1	0x1605: AO Outputs Channel 4
				0x7050:01 Ctrl UINT (16 bits)
				0x7050:02 Value UINT (16 bits)
					0x7050:0b Analog output INT (16 bits)
	0x7050:11 Analog output INT (16 bits)					0x7050:11 Analog output INT (16 bits)
	0x1606: ENC Outputs Channel 1			0x1606: Encoder, Channel 2	0x1606: ENC Outputs Channel 1
				0x7060:01 Ctrl UINT (16 bits)
	0x7060:02 Enable latch extern on positive edge BOOL	0x7060:02 Control__Enable latch extern on positive edge BOOL		0x7060:02 Value UINT (16 bits)	0x7060:02 Enable latch extern on positive edge BOOL
	0x7060:03 Set counter BOOL	0x7060:03 Control__Set counter BOOL			0x7060:03 Set counter BOOL
	0x7060:04 Enable latch extern on negative edge BOOL	0x7060:04 Control__Enable latch extern on negative edge BOOL			0x7060:04 Enable latch extern on negative edge BOOL
	0x7060:11 Set counter value UINT (16 bits)				0x7060:11 Set counter value UINT (16 bits)
	0x1607: ENC Outputs Channel 2			0x1607: Encoder, Channel 3	0x1607: ENC Outputs Channel 2
				0x7070:01 Ctrl UINT (16 bits)
	0x7070:02 Enable latch extern on positive edge BOOL	0x7070:02 Control__Enable latch extern on positive edge BOOL		0x7070:02 Value UINT (16 bits)	0x7070:02 Enable latch extern on positive edge BOOL
	0x7070:03 Set counter BOOL	0x7070:03 Control__Set counter BOOL			0x7070:03 Set counter BOOL
	0x7070:04 Enable latch extern on negative edge BOOL	0x7070:04 Control__Enable latch extern on negative edge BOOL			0x7070:04 Enable latch extern on negative edge BOOL
	0x7070:11 Set counter value UINT (16 bits)				0x7070:11 Set counter value UINT (16 bits)
	0x1608: ENC Outputs Channel 3			0x1608: Encoder, Channel 4	0x1608: ENC Outputs Channel 3
			0x7080:01 Ctrl UINT (16 bits)
0x7080:02 Enable latch extern on positive edge BOOL	0x7080:02 Control__Enable latch extern on positive edge BOOL		0x7080:02 Value UINT (16 bits)	0x7080:02 Enable latch extern on positive edge BOOL
0x7080:03 Set counter BOOL	0x7080:03 Control__Set counter BOOL			0x7080:03 Set counter BOOL
0x7080:04 Enable latch extern on negative edge BOOL	0x7080:04 Control__Enable latch extern on negative edge BOOL			0x7080:04 Enable latch extern on negative edge BOOL
0x7080:11 Set counter value UINT (16 bits)				0x7080:11 Set counter value UINT (16 bits)
0x1609: ENC Outputs Channel 4				0x1609: ENC Outputs Channel 4
0x7090:02 Enable latch extern on positive edge BOOL	0x7090:02 Control__Enable latch extern on positive edge BOOL			0x7090:02 Enable latch extern on positive edge BOOL
0x7090:03 Set counter BOOL	0x7090:03 Control__Set counter BOOL			0x7090:03 Set counter BOOL
0x7090:04 Enable latch extern on negative edge BOOL	0x7090:04 Control__Enable latch extern on negative edge BOOL			0x7090:04 Enable latch extern on negative edge BOOL
0x7090:11 Set counter value UINT (16 bits)				0x7090:11 Set counter value UINT (16 bits)
0x160a: PLS Outputs				0x160a: PLS Outputs
0x70a0:01 Enable PLS BOOL	0x70a0:01 Control__Enable PLS BOOL			0x70a0:01 Enable PLS BOOL