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AB&T EpoCAT FR4000

Type:

EpoCAT FR4000

Description:

FR4000 5 frequency controlled axes

Vendor

AB&T Tecnologie Informatiche

Documentation

http://www.bausano.net/

Revisions and PDOs

The ESI data ingested by github.com/linuxcnc-ethercat/esi-data describes 1 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	r0
Name	FR4000 5 frequency controlled axes
PID	0x04decade
Revision Code	0x00005a00
Equivalant Devices
TX PDOs	0x1a00: Analog input
	0x6000:01 Input 1 INT (16 bits)
	0x6000:02 Input 2 INT (16 bits)
	0x1a01: Pulse feedback
	0x6001:01 Drive 1 count UINT (16 bits)
	0x6001:02 Drive 2 count UINT (16 bits)
	0x6001:03 Drive 3 count UINT (16 bits)
	0x6001:04 Drive 4 count UINT (16 bits)
	0x6001:05 Drive 5 count UINT (16 bits)
	0x1a02: Pulse latch
	0x6002:01 Drive 1 latch UINT (16 bits)
	0x6002:02 Drive 2 latch UINT (16 bits)
	0x6002:03 Drive 3 latch UINT (16 bits)
	0x6002:04 Drive 4 latch UINT (16 bits)
	0x6002:05 Drive 5 latch UINT (16 bits)
	0x1a06: Flag latch idx/probe
	0x6006:01 Drive 1 flag BOOL
	0x6006:02 Drive 2 flag BOOL
	0x6006:03 Drive 3 flag BOOL
	0x6006:04 Drive 4 flag BOOL
	0x6006:05 Drive 5 flag BOOL
	0x1a04: Home microswitch
	0x6004:01 Drive 1 home BOOL
	0x6004:02 Drive 2 home BOOL
	0x6004:03 Drive 3 home BOOL
	0x6004:04 Drive 4 home BOOL
	0x6004:05 Drive 5 home BOOL
	0x1a03: Drive status
	0x6003:01 Drive 1 ok BOOL
	0x6003:02 Drive 2 ok BOOL
	0x6003:03 Drive 3 ok BOOL
	0x6003:04 Drive 4 ok BOOL
	0x6003:05 Drive 5 ok BOOL
	0x6003:06 Auxiliary ok BOOL
	0x1a05: Index
	0x6005:01 Drive 1 idx BOOL
	0x6005:02 Drive 2 idx BOOL
	0x6005:03 Drive 3 idx BOOL
	0x6005:04 Drive 4 idx BOOL
	0x6005:05 Drive 5 idx BOOL
	0x1a07: Digital Input
	0x6007:01 Input 1 BOOL
	0x6007:02 Input 2 BOOL
	0x6007:03 Input 3 BOOL
	0x6007:04 Input 4 BOOL
	0x6007:05 Probe BOOL
RX PDOs	0x1600: Analog output
	0x7000:01 Output INT (16 bits)
	0x1601: Frequency
	0x7001:01 Drive 1 freq UDINT (32 bits)
	0x7001:02 Drive 2 freq UDINT (32 bits)
	0x7001:03 Drive 3 freq UDINT (32 bits)
	0x7001:04 Drive 4 freq UDINT (32 bits)
	0x7001:05 Drive 5 freq UDINT (32 bits)
	0x1602: Enable
	0x7002:01 Drive 1 en BOOL
	0x7002:02 Drive 2 en BOOL
	0x7002:03 Drive 3 en BOOL
	0x7002:04 Drive 4 en BOOL
	0x7002:05 Drive 5 en BOOL
	0x1603: Direction
	0x7003:01 Drive 1 dir BOOL
	0x7003:02 Drive 2 dir BOOL
	0x7003:03 Drive 3 dir BOOL
	0x7003:04 Drive 4 dir BOOL
	0x7003:05 Drive 5 dir BOOL
	0x1604: Drive commands
	0x7004:01 Drive 1 res flag BOOL
	0x7004:02 Drive 2 res flag BOOL
	0x7004:03 Drive 3 res flag BOOL
	0x7004:04 Drive 4 res flag BOOL
	0x7004:05 Drive 5 res flag BOOL
	0x7004:06 Sel idx/probe BOOL
	0x7004:07 3state single ended BOOL
	0x1605: Polarity
	0x7005:01 Drive 1 polarity BOOL
	0x7005:02 Drive 2 polarity BOOL
	0x7005:03 Drive 3 polarity BOOL
	0x7005:04 Drive 4 polarity BOOL
	0x7005:05 Drive 5 polarity BOOL
	0x1606: Digital output
	0x7006:01 Drive 1 en 24V BOOL
	0x7006:02 Drive 2 en 24V BOOL
	0x7006:03 Drive 3 en 24V BOOL
	0x7006:04 Drive 4 en 24V BOOL
	0x7006:05 Drive 5 en 24V BOOL
	0x7006:06 Auxiliary en 24V BOOL
	0x7006:07 Output 1 24V BOOL
	0x7006:08 Output 2 24V BOOL