Beckhoff EP7211-0035

Type:: EP7211-0035
Description:: EP7211-0035 1Ch. DS402 Servo motor output stage with OCT (50V, 4.5A RMS)
Vendor: Beckhoff Automation GmbH & Co. KG
Documentation: https://www.beckhoff.com/EP7211-0035

Revisions and PDOs

The ESI data ingested by github.com/linuxcnc-ethercat/esi-data describes 4 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	r29	r30	r31	r32
Name	EP7211-0035 1Ch. DS402 Servo motor output stage with OCT (50V, 4.5A RMS)
PID	0x1c2b4052
Revision Code	0x001d0023	0x001e0023	0x001f0023	0x00200023
Equivalant Devices	EJ7211-0011 r27 EJ7211-0011 r28 EJ7211-0011 r29 EJ7211-9415 r29 EL7201-0011 r27 EL7201-0011 r28 EL7201-0011 r29 EL7201-9015 r27 EL7201-9015 r28 EL7201-9015 r29 EL7211-0011 r27 EL7211-0011 r28 EL7211-0011 r29 EL7211-9015 r27 EL7211-9015 r28 EL7211-9015 r29 EL7221-9015 r28 EL7221-9015 r29	EJ7211-0011 r30 EJ7211-0011 r31 EJ7211-9415 r30 EJ7211-9415 r31 EL7201-0011 r30 EL7201-0011 r31 EL7201-9015 r30 EL7201-9015 r31 EL7211-0011 r30 EL7211-0011 r31 EL7211-9015 r30 EL7211-9015 r31 EL7221-9015 r30 EL7221-9015 r31		EJ7211-0011 r32 EJ7211-9415 r32 EL7201-0011 r32 EL7201-9015 r32 EL7211-0011 r32 EL7211-9015 r32 EL7221-9015 r32
TX PDOs	0x1a00: DS402 Statusword
	0x6041:00 Statusword UINT (16 bits)
	0x1a01: DS402 Position actual value
	0x6064:00 Position actual value UDINT (32 bits)
	0x1a02: DS402 Velocity actual value
	0x606c:00 Velocity actual value DINT (32 bits)
	0x1a03: DS402 Torque actual value
	0x6077:00 Torque actual value INT (16 bits)
	0x1a04: DS402 Following error actual value
	0x60f4:00 Following error actual value DINT (32 bits)
	0x1a05: DS402 Touch probe status
	0x60b9:00 Touch probe status UINT (16 bits)
	0x1a06: DS402 Touch probe 1 positive edge
	0x60ba:00 Touch probe 1 positive edge DINT (32 bits)
	0x1a07: DS402 Touch probe 1 negative edge
	0x60bb:00 Touch probe 1 negative edge DINT (32 bits)
	0x1a08: DS402 Touch probe 2 positive edge
	0x60bc:00 Touch probe 2 positive edge DINT (32 bits)
	0x1a09: DS402 Touch probe 2 negative edge
	0x60bd:00 Touch probe 2 negative edge DINT (32 bits)
	0x1a0a: DS402 TxPDO Data Invalid
	0x603e:02 TxPDO Data invalid__Position actual value BOOL
	0x1a0b: DS402 Info data 1
	0x1a0c: DS402 Info data 2
		0x1a0e: DS402 Modes of operation display
		0x6061:00 Modes of operation display USINT (8 bits)
RX PDOs	0x1600: DS402 Controlword
	0x6040:00 Controlword UINT (16 bits)
	0x1601: DS402 Target velocity
	0x60ff:00 Target velocity DINT (32 bits)
	0x1602: DS402 Target torque
	0x6071:00 Target torque INT (16 bits)
	0x1603: DS402 Commutation angle
	0x60ea:00 Commutation angle UINT (16 bits)
	0x1604: DS402 Torque limitation
	0x6072:00 Max torque UINT (16 bits)
	0x1605: DS402 Torque offset
	0x1606: DS402 Target position
	0x607a:00 Target position DINT (32 bits)
	0x1607: DS402 Touch probe function
	0x60b8:00 Touch probe function UINT (16 bits)
		0x1608: DS402 Modes of operation
		0x6060:00 Modes of operation USINT (8 bits)