Beckhoff ER7342-0002

Type:: ER7342-0002
Description:: ER7342-0002 2Ch. DC motor output stage (50V, 3.5A)
Vendor: Beckhoff Automation GmbH & Co. KG
Documentation: https://www.beckhoff.com/ER7342-0002

Revisions and PDOs

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	r20	r21	r22
Name	ER7342-0002 2Ch. DC motor output stage (50V, 3.5A)
PID	0x1cae4852
Revision Code	0x00140002	0x00150002	0x00160002
Equivalant Devices	EJ7342 r19 EL7342 r17 EL7342 r18 EL7342 r19 EL7342-0035 r19 EL7342-0035 r20	EJ7342 r20 EL7342 r20 EL7342 r21 EL7342 r22 EP7342-0002 r21 EPP7342-0002 r16 EPP7342-0002 r17	EP7342-0002 r22
TX PDOs	0x1a00: ENC Status compact Channel 1
	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
	0x6000:0d 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 Channel 1
	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
	0x6000:0d 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 Channel 1
	0x6000:16 Timestamp UDINT (32 bits)
	0x1a03: ENC Status compact Channel 2
	0x6010:02 Status__Latch extern valid BOOL
	0x6010:03 Status__Set counter done BOOL
	0x6010:04 Status__Counter underflow BOOL
	0x6010:05 Status__Counter overflow BOOL
	0x6010:08 Status__Extrapolation stall BOOL
	0x6010:09 Status__Status of input A BOOL
	0x6010:0a Status__Status of input B BOOL
	0x6010:0d Status__Status of extern latch BOOL
		0x6010:0e Status__Sync error BOOL
		0x6010:10 Status__TxPDO Toggle BOOL
	0x6010:11 Counter value UINT (16 bits)
	0x6010:12 Latch value UINT (16 bits)
	0x1a04: ENC Status Channel 2
	0x6010:02 Status__Latch extern valid BOOL
	0x6010:03 Status__Set counter done BOOL
	0x6010:04 Status__Counter underflow BOOL
	0x6010:05 Status__Counter overflow BOOL
	0x6010:08 Status__Extrapolation stall BOOL
	0x6010:09 Status__Status of input A BOOL
	0x6010:0a Status__Status of input B BOOL
	0x6010:0d Status__Status of extern latch BOOL
		0x6010:0e Status__Sync error BOOL
		0x6010:10 Status__TxPDO Toggle BOOL
	0x6010:11 Counter value UDINT (32 bits)
	0x6010:12 Latch value UDINT (32 bits)
	0x1a05: ENC Timest. compact Channel 2
	0x6010:16 Timestamp UDINT (32 bits)
	0x1a06: DCM 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
	0x6020:07 Status__Torque reduced BOOL
0x6020:0c Status__Digital input 1 BOOL
0x6020:0d Status__Digital input 2 BOOL
	0x6020:0e Status__Sync error BOOL
	0x6020:10 Status__TxPDO Toggle BOOL
0x1a07: DCM Synchron info data Channel 1
0x6020:11 Info Data 1 UINT (16 bits)	0x6020:11 Info data 1 UINT (16 bits)
0x6020:12 Info Data 2 UINT (16 bits)	0x6020:12 Info data 2 UINT (16 bits)
0x1a08: DCM 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
0x6030:07 Status__Torque reduced BOOL
0x6030:0c Status__Digital input 1 BOOL
0x6030:0d Status__Digital input 2 BOOL
	0x6030:0e Status__Sync error BOOL
	0x6030:10 Status__TxPDO Toggle BOOL
0x1a09: DCM Synchron info data Channel 2
0x6030:11 Info Data 1 UINT (16 bits)	0x6030:11 Info data 1 UINT (16 bits)
0x6030:12 Info Data 2 UINT (16 bits)	0x6030:12 Info data 2 UINT (16 bits)
0x1a0a: POS Status compact Channel 1
0x6040:01 Status__Busy BOOL
0x6040:02 Status__In-Target BOOL
0x6040:03 Status__Warning BOOL
0x6040:04 Status__Error BOOL
0x6040:05 Status__Calibrated BOOL
0x6040:06 Status__Accelerate BOOL
0x6040:07 Status__Decelerate BOOL
		0x6040:08 Status__Ready to execute BOOL
0x1a0b: POS Status Channel 1
0x6040:01 Status__Busy BOOL
0x6040:02 Status__In-Target BOOL
0x6040:03 Status__Warning BOOL
0x6040:04 Status__Error BOOL
0x6040:05 Status__Calibrated BOOL
0x6040:06 Status__Accelerate BOOL
0x6040:07 Status__Decelerate BOOL
		0x6040:08 Status__Ready to execute BOOL
0x6040:11 Actual position UDINT (32 bits)
0x6040:21 Actual velocity INT (16 bits)
0x6040:22 Actual drive time UDINT (32 bits)
0x1a0c: POS Status compact Channel 2
0x6050:01 Status__Busy BOOL
0x6050:02 Status__In-Target BOOL
0x6050:03 Status__Warning BOOL
0x6050:04 Status__Error BOOL
0x6050:05 Status__Calibrated BOOL
0x6050:06 Status__Accelerate BOOL
0x6050:07 Status__Decelerate BOOL
		0x6050:08 Status__Ready to execute BOOL
0x1a0d: POS Status Channel 2
0x6050:01 Status__Busy BOOL
0x6050:02 Status__In-Target BOOL
0x6050:03 Status__Warning BOOL
0x6050:04 Status__Error BOOL
0x6050:05 Status__Calibrated BOOL
0x6050:06 Status__Accelerate BOOL
0x6050:07 Status__Decelerate BOOL
		0x6050:08 Status__Ready to execute BOOL
0x6050:11 Actual position UDINT (32 bits)
0x6050:21 Actual velocity INT (16 bits)
0x6050:22 Actual drive time UDINT (32 bits)
RX PDOs	0x1600: ENC Control compact Channel 1
	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 Channel 1
	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: ENC Control compact Channel 2
	0x7010:02 Control__Enable latch extern on positive edge BOOL
	0x7010:03 Control__Set counter BOOL
	0x7010:04 Control__Enable latch extern on negative edge BOOL
	0x7010:11 Set counter value UINT (16 bits)
	0x1603: ENC Control Channel 2
	0x7010:02 Control__Enable latch extern on positive edge BOOL
	0x7010:03 Control__Set counter BOOL
	0x7010:04 Control__Enable latch extern on negative edge BOOL
	0x7010:11 Set counter value UDINT (32 bits)
	0x1604: DCM Control Channel 1
	0x7020:01 Control__Enable BOOL
	0x7020:02 Control__Reset BOOL
	0x7020:03 Control__Reduce torque BOOL
	0x1605: DCM Position Channel 1
	0x7020:11 Position UDINT (32 bits)
	0x1606: DCM Velocity Channel 1
	0x7020:21 Velocity INT (16 bits)
	0x1607: DCM Control Channel 2
	0x7030:01 Control__Enable BOOL
	0x7030:02 Control__Reset BOOL
	0x7030:03 Control__Reduce torque BOOL
	0x1608: DCM Position Channel 2
	0x7030:11 Position UDINT (32 bits)
	0x1609: DCM Velocity Channel 2
	0x7030:21 Velocity INT (16 bits)
	0x160a: POS Control compact Channel 1
	0x7040:01 Control__Execute BOOL
	0x7040:02 Control__Emergency stop BOOL
	0x7040:11 Target position UDINT (32 bits)
	0x160b: POS Control Channel 1
	0x7040:01 Control__Execute BOOL
	0x7040:02 Control__Emergency stop BOOL
	0x7040:11 Target position UDINT (32 bits)
	0x7040:21 Velocity INT (16 bits)
	0x7040:22 Start type UINT (16 bits)
	0x7040:23 Acceleration UINT (16 bits)
	0x7040:24 Deceleration UINT (16 bits)
	0x160c: POS Control compact Channel 2
	0x7050:01 Control__Execute BOOL
	0x7050:02 Control__Emergency stop BOOL
	0x7050:11 Target position UDINT (32 bits)
	0x160d: POS Control Channel 2
	0x7050:01 Control__Execute BOOL
	0x7050:02 Control__Emergency stop BOOL
	0x7050:11 Target position UDINT (32 bits)
	0x7050:21 Velocity INT (16 bits)
	0x7050:22 Start type UINT (16 bits)
	0x7050:23 Acceleration UINT (16 bits)
	0x7050:24 Deceleration UINT (16 bits)