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Beckhoff EP7402-0167

Type:

EP7402-0167

Description:

EP7402-0167 2 Ch. BLDC Motor, 48VDC, 8x digital In/Output, B23 ENP 5G4, 1x EtherCAT junction

Vendor

Beckhoff Automation GmbH & Co. KG

Documentation

https://www.beckhoff.com/EP7402-0167

Revisions and PDOs

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	r20	r21
Name	EP7402-0167 2 Ch. BLDC Motor, 48VDC, 8x digital In/Output, B23 ENP 5G4, 1x EtherCAT junction
PID	0x1cea4052
Revision Code	0x001400a7	0x001500a7
Equivalant Devices
TX PDOs	0x1a00: DI Inputs
	0x6000:01 Input 1 BOOL
	0x6000:02 Input 2 BOOL
	0x6000:03 Input 3 BOOL
	0x6000:04 Input 4 BOOL
	0x6000:05 Control input 1 BOOL
	0x6000:06 Control input 2 BOOL
	0x6000:07 Control input 3 BOOL
	0x6000:08 Control input 4 BOOL
	0x1a01: STM Status Channel 1
	0x6020:01 Status__Ready to enable BOOL
	0x6020:02 Status__Ready BOOL
	0x6020:03 Status__Warning BOOL
	0x6020:04 Status__Error BOOL
	0x6020:05 Status__Moving positive BOOL
	0x6020:06 Status__Moving negative BOOL
	0x6020:10 Status__TxPDO Toggle BOOL
	0x1a02: STM Synchron info data Channel 1
	0x6020:11 Info data 1 UINT (16 bits)
	0x6020:12 Info data 2 UINT (16 bits)
	0x6020:16 Info data 3 UINT (16 bits)
	0x1a03: STM Status Channel 2
	0x6030:01 Status__Ready to enable BOOL
	0x6030:02 Status__Ready BOOL
	0x6030:03 Status__Warning BOOL
	0x6030:04 Status__Error BOOL
	0x6030:05 Status__Moving positive BOOL
	0x6030:06 Status__Moving negative BOOL
	0x6030:10 Status__TxPDO Toggle BOOL
	0x1a04: STM Synchron info data Channel 2
	0x6030:11 Info data 1 UINT (16 bits)
	0x6030:12 Info data 2 UINT (16 bits)
	0x6030:16 Info data 3 UINT (16 bits)
	0x1a05: STM Inputs Device
	0x1a06: ZNCTRL Inputs Channel 1
	0x6040:01 Status__Moving BOOL
	0x6040:02 Status__Zone sensor input BOOL
	0x6040:03 Status__Upstream control input value BOOL
	0x6040:04 Status__Upstream control output value BOOL
	0x6040:05 Status__Downstream control input value BOOL
	0x6040:06 Status__Downstream control output value BOOL
	0x6040:07 Status__Reset Input Value BOOL
	0x6040:11 Status__Zone state USINT (8 bits)
	0x1a07: ZNCTRL Inputs Channel 2
	0x6050:01 Status__Moving BOOL
	0x6050:02 Status__Zone sensor input BOOL
	0x6050:03 Status__Upstream control input value BOOL
	0x6050:04 Status__Upstream control output value BOOL
	0x6050:05 Status__Downstream control input value BOOL
	0x6050:06 Status__Downstream control output value BOOL
	0x6050:07 Status__Reset Input Value BOOL
	0x6050:11 Status__Zone state USINT (8 bits)
RX PDOs	0x1600: DO Outputs
	0x7010:01 Output 1 BOOL
	0x7010:02 Output 2 BOOL
	0x7010:03 Output 3 BOOL
	0x7010:04 Output 4 BOOL
	0x7010:05 Control output 1 BOOL
	0x7010:06 Control output 2 BOOL
	0x7010:07 Control output 3 BOOL
	0x7010:08 Control output 4 BOOL
	0x1601: STM Control Channel 1
	0x7020:01 Control__Enable BOOL
	0x7020:02 Control__Reset BOOL
	0x7020:04 Control__Invert direction BOOL
	0x1602: STM Target Velocity Channel 1
	0x7020:21 Velocity INT (16 bits)
	0x7020:22 Accelleration UINT (16 bits)
	0x7020:23 Decceleration UINT (16 bits)
	0x1603: STM Control Channel 2
	0x7030:01 Control__Enable BOOL
	0x7030:02 Control__Reset BOOL
	0x7030:04 Control__Invert direction BOOL
	0x1604: STM Target Velocity Channel 2
	0x7030:21 Velocity INT (16 bits)
	0x7030:22 Accelleration UINT (16 bits)
	0x7030:23 Decceleration UINT (16 bits)
	0x1605: ZNCTRL Outputs Channel 1
	0x7040:01 Control__Reset BOOL
	0x7040:02 Control__Disable BOOL
		0x7040:03 Control__Upstream PLC input value BOOL
		0x7040:04 Control__Downstream PLC input value BOOL
	0x1606: ZNCTRL Outputs Channel 2
	0x7050:01 Control__Reset BOOL
	0x7050:02 Control__Disable BOOL
		0x7050:03 Control__Upstream PLC input value BOOL
		0x7050:04 Control__Downstream PLC input value BOOL