The ESI data ingested by github.com/linuxcnc-ethercat/esi-data describes 3 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 |
r22 |
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| Name | EP7041-3102 1Ch. Stepper motor output stage (50V, 5A) |
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| PID | 0x1b814052 |
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| Revision Code | 0x00100c1e |
0x00110c1e |
0x00160c1e |
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| Equivalant Devices | EP7041-3002 r20 |
EP7041-3002 r21 |
EP7041-3002 r22 |
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| TX PDOs | 0x1a00: ENC Status compact |
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0x6000:01 Status__Latch C valid BOOL |
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0x6000:02 Status__Latch extern valid BOOL |
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0x6000:03 Status__Set counter done BOOL |
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0x6000:04 Status__Counter underflow BOOL |
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0x6000:05 Status__Counter overflow BOOL |
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0x6000:08 Status__Extrapolation stall BOOL |
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0x6000:09 Status__Status of input A BOOL |
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0x6000:0a Status__Status of input B BOOL |
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0x6000:0b Status__Status of input C BOOL |
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0x6000:0d Status__Status of extern latch BOOL |
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0x6000:0e Status__Sync error BOOL |
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0x6000:10 Status__TxPDO Toggle BOOL |
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0x6000:11 Counter value UINT (16 bits) |
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0x6000:12 Latch value UINT (16 bits) |
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0x1a01: ENC Status |
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0x6000:01 Status__Latch C valid BOOL |
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0x6000:02 Status__Latch extern valid BOOL |
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0x6000:03 Status__Set counter done BOOL |
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0x6000:04 Status__Counter underflow BOOL |
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0x6000:05 Status__Counter overflow BOOL |
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0x6000:08 Status__Extrapolation stall BOOL |
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0x6000:09 Status__Status of input A BOOL |
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0x6000:0a Status__Status of input B BOOL |
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0x6000:0b Status__Status of input C BOOL |
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0x6000:0d Status__Status of extern latch BOOL |
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0x6000:0e Status__Sync error BOOL |
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0x6000:10 Status__TxPDO Toggle BOOL |
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0x6000:11 Counter value UDINT (32 bits) |
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0x6000:12 Latch value UDINT (32 bits) |
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0x1a02: ENC Timest. compact |
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0x6000:16 Timestamp UDINT (32 bits) |
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0x1a03: STM Status |
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0x6010:01 Status__Ready to enable BOOL |
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0x6010:02 Status__Ready BOOL |
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0x6010:03 Status__Warning BOOL |
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0x6010:04 Status__Error BOOL |
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0x6010:05 Status__Moving positive BOOL |
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0x6010:06 Status__Moving negative BOOL |
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0x6010:07 Status__Torque reduced BOOL |
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0x6010:08 Status__Motor stall BOOL |
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0x6010:0c Status__Digital input 1 BOOL |
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0x6010:0d Status__Digital input 2 BOOL |
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0x6010:0e Status__Sync error BOOL |
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0x6010:10 Status__TxPDO Toggle BOOL |
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0x1a04: STM Synchron info data |
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0x6010:11 Info data 1 UINT (16 bits) |
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0x6010:12 Info data 2 UINT (16 bits) |
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0x1a05: STM Motor load |
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0x6010:13 Motor load UINT (16 bits) |
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0x1a06: POS Status compact |
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0x6020:01 Status__Busy BOOL |
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0x6020:02 Status__In-Target BOOL |
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0x6020:03 Status__Warning BOOL |
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0x6020:04 Status__Error BOOL |
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0x6020:05 Status__Calibrated BOOL |
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0x6020:06 Status__Accelerate BOOL |
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0x6020:07 Status__Decelerate BOOL |
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0x6020:08 Status__Ready to execute BOOL |
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0x1a07: POS Status |
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0x6020:01 Status__Busy BOOL |
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0x6020:02 Status__In-Target BOOL |
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0x6020:03 Status__Warning BOOL |
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0x6020:04 Status__Error BOOL |
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0x6020:05 Status__Calibrated BOOL |
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0x6020:06 Status__Accelerate BOOL |
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0x6020:07 Status__Decelerate BOOL |
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0x6020:08 Status__Ready to execute BOOL |
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0x6020:11 Actual position UDINT (32 bits) |
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0x6020:21 Actual velocity INT (16 bits) |
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0x6020:22 Actual drive time UDINT (32 bits) |
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0x1a08: STM Internal position |
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0x6010:14 Internal position UDINT (32 bits) |
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0x1a09: STM External position |
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0x6010:15 External position UDINT (32 bits) |
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0x1a0a: POS Actual position lag |
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0x6020:23 Actual position lag DINT (32 bits) |
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| RX PDOs | 0x1600: ENC Control compact |
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0x7000:01 Control__Enable latch C BOOL |
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0x7000:02 Control__Enable latch extern on positive edge BOOL |
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0x7000:03 Control__Set counter BOOL |
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0x7000:04 Control__Enable latch extern on negative edge BOOL |
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0x7000:11 Set counter value UINT (16 bits) |
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0x1601: ENC Control |
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0x7000:01 Control__Enable latch C BOOL |
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0x7000:02 Control__Enable latch extern on positive edge BOOL |
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0x7000:03 Control__Set counter BOOL |
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0x7000:04 Control__Enable latch extern on negative edge BOOL |
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0x7000:11 Set counter value UDINT (32 bits) |
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0x1602: STM Control |
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0x7010:01 Control__Enable BOOL |
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0x7010:02 Control__Reset BOOL |
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0x7010:03 Control__Reduce torque BOOL |
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0x7010:0c Control__Digital output 1 BOOL |
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0x1603: STM Position |
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0x7010:11 Position UDINT (32 bits) |
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0x1604: STM Velocity |
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0x7010:21 Velocity INT (16 bits) |
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0x1605: POS Control compact |
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0x7020:01 Control__Execute BOOL |
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0x7020:02 Control__Emergency stop BOOL |
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0x7020:11 Target position UDINT (32 bits) |
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0x1606: POS Control |
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0x7020:01 Control__Execute BOOL |
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0x7020:02 Control__Emergency stop BOOL |
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0x7020:11 Target position UDINT (32 bits) |
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0x7020:21 Velocity INT (16 bits) |
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0x7020:22 Start type UINT (16 bits) |
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0x7020:23 Acceleration UINT (16 bits) |
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0x7020:24 Deceleration UINT (16 bits) |
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0x1607: POS Control 2 |
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0x7021:03 Control__Enable auto start BOOL |
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0x7021:11 Target position UDINT (32 bits) |
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0x7021:21 Velocity INT (16 bits) |
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0x7021:22 Start type UINT (16 bits) |
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0x7021:23 Acceleration UINT (16 bits) |
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0x7021:24 Deceleration UINT (16 bits) |
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