Beckhoff ER7041-3002

Type:: ER7041-3002
Description:: ER7041-3002 1Ch. Stepper motor output stage (50V, 5A)
Vendor: Beckhoff Automation GmbH & Co. KG
Documentation: https://www.beckhoff.com/ER7041-3002

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	r21	r22
Name	ER7041-3002 1Ch. Stepper motor output stage (50V, 5A)
PID	0x1b814852
Revision Code	0x00150bba	0x00160bba
Equivalant Devices	EP7041-3002 r21 EP7041-3102 r17 EPP7041-3002 r16 EPP7041-3002 r17	EP7041-3002 r22 EP7041-3102 r22 EPP7041-1002 r23 EPP7041-1002 r24 EPP7041-3002 r18 EPP7041-3002 r23 EPP7041-3002 r24
TX PDOs	0x1a00: ENC Status compact
	0x6000:01 Status__Latch C valid BOOL
	0x6000:02 Status__Latch extern valid BOOL
	0x6000:03 Status__Set counter done BOOL
	0x6000:04 Status__Counter underflow BOOL
	0x6000:05 Status__Counter overflow BOOL
	0x6000:08 Status__Extrapolation stall BOOL
	0x6000:09 Status__Status of input A BOOL
	0x6000:0a Status__Status of input B BOOL
	0x6000:0b Status__Status of input C BOOL
	0x6000:0d Status__Status of extern latch BOOL
	0x6000:0e Status__Sync error BOOL
	0x6000:10 Status__TxPDO Toggle BOOL
	0x6000:11 Counter value UINT (16 bits)
	0x6000:12 Latch value UINT (16 bits)
	0x1a01: ENC Status
	0x6000:01 Status__Latch C valid BOOL
	0x6000:02 Status__Latch extern valid BOOL
	0x6000:03 Status__Set counter done BOOL
	0x6000:04 Status__Counter underflow BOOL
	0x6000:05 Status__Counter overflow BOOL
	0x6000:08 Status__Extrapolation stall BOOL
	0x6000:09 Status__Status of input A BOOL
	0x6000:0a Status__Status of input B BOOL
	0x6000:0b Status__Status of input C BOOL
	0x6000:0d Status__Status of extern latch BOOL
	0x6000:0e Status__Sync error BOOL
	0x6000:10 Status__TxPDO Toggle BOOL
	0x6000:11 Counter value UDINT (32 bits)
	0x6000:12 Latch value UDINT (32 bits)
	0x1a02: ENC Timest. compact
	0x6000:16 Timestamp UDINT (32 bits)
	0x1a03: STM Status
	0x6010:01 Status__Ready to enable BOOL
	0x6010:02 Status__Ready BOOL
	0x6010:03 Status__Warning BOOL
	0x6010:04 Status__Error BOOL
	0x6010:05 Status__Moving positive BOOL
	0x6010:06 Status__Moving negative BOOL
	0x6010:07 Status__Torque reduced BOOL
	0x6010:08 Status__Motor stall BOOL
	0x6010:0c Status__Digital input 1 BOOL
	0x6010:0d Status__Digital input 2 BOOL
	0x6010:0e Status__Sync error BOOL
	0x6010:10 Status__TxPDO Toggle BOOL
	0x1a04: STM Synchron info data
	0x6010:11 Info data 1 UINT (16 bits)
	0x6010:12 Info data 2 UINT (16 bits)
	0x1a05: STM Motor load
	0x6010:13 Motor load UINT (16 bits)
	0x1a06: POS Status compact
	0x6020:01 Status__Busy BOOL
	0x6020:02 Status__In-Target BOOL
	0x6020:03 Status__Warning BOOL
	0x6020:04 Status__Error BOOL
	0x6020:05 Status__Calibrated BOOL
	0x6020:06 Status__Accelerate BOOL
	0x6020:07 Status__Decelerate BOOL
		0x6020:08 Status__Ready to execute BOOL
	0x1a07: POS Status
	0x6020:01 Status__Busy BOOL
	0x6020:02 Status__In-Target BOOL
	0x6020:03 Status__Warning BOOL
	0x6020:04 Status__Error BOOL
0x6020:05 Status__Calibrated BOOL
0x6020:06 Status__Accelerate BOOL
0x6020:07 Status__Decelerate BOOL
	0x6020:08 Status__Ready to execute BOOL
0x6020:11 Actual position UDINT (32 bits)
0x6020:21 Actual velocity INT (16 bits)
0x6020:22 Actual drive time UDINT (32 bits)
	0x1a08: STM Internal position
	0x6010:14 Internal position UDINT (32 bits)
	0x1a09: STM External position
	0x6010:15 External position UDINT (32 bits)
	0x1a0a: POS Actual position lag
	0x6020:23 Actual position lag DINT (32 bits)
RX PDOs	0x1600: ENC Control compact
	0x7000:01 Control__Enable latch C BOOL
	0x7000:02 Control__Enable latch extern on positive edge BOOL
	0x7000:03 Control__Set counter BOOL
	0x7000:04 Control__Enable latch extern on negative edge BOOL
	0x7000:11 Set counter value UINT (16 bits)
	0x1601: ENC Control
	0x7000:01 Control__Enable latch C BOOL
	0x7000:02 Control__Enable latch extern on positive edge BOOL
	0x7000:03 Control__Set counter BOOL
	0x7000:04 Control__Enable latch extern on negative edge BOOL
	0x7000:11 Set counter value UDINT (32 bits)
	0x1602: STM Control
	0x7010:01 Control__Enable BOOL
	0x7010:02 Control__Reset BOOL
	0x7010:03 Control__Reduce torque BOOL
	0x7010:0c Control__Digital output 1 BOOL
	0x1603: STM Position
	0x7010:11 Position UDINT (32 bits)
	0x1604: STM Velocity
	0x7010:21 Velocity INT (16 bits)
	0x1605: POS Control compact
	0x7020:01 Control__Execute BOOL
	0x7020:02 Control__Emergency stop BOOL
	0x7020:11 Target position UDINT (32 bits)
	0x1606: POS Control
	0x7020:01 Control__Execute BOOL
	0x7020:02 Control__Emergency stop BOOL
	0x7020:11 Target position UDINT (32 bits)
	0x7020:21 Velocity INT (16 bits)
	0x7020:22 Start type UINT (16 bits)
	0x7020:23 Acceleration UINT (16 bits)
	0x7020:24 Deceleration UINT (16 bits)
		0x1607: POS Control 2
		0x7021:03 Control__Enable auto start BOOL
		0x7021:11 Target position UDINT (32 bits)
		0x7021:21 Velocity INT (16 bits)
		0x7021:22 Start type UINT (16 bits)
		0x7021:23 Acceleration UINT (16 bits)
		0x7021:24 Deceleration UINT (16 bits)