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 | r2 |
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| Name | Delta MS300 EtherCAT(CoE) |
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| PID | 0x10400200 |
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| Revision Code | 0x00020000 |
0x00020100 |
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| Equivalant Devices | MS300(CMM-EC01 Card) r1 |
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| TX PDOs | 0x1a00: 1st TxPDO Mapping |
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0x6041:00 Status Word UINT (16 bits) |
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0x6043:00 vl velocity demand INT (16 bits) |
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0x6061:00 Mode Of Operation Display SINT (8 bits) |
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0x1a01: 2nd TxPDO Mapping |
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0x1a02: 3rd TxPDO Mapping |
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0x1a03: 4th TxPDO Mapping |
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| RX PDOs | 0x1600: 1st RxPDO Mapping |
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0x6040:00 Control Word UINT (16 bits) |
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0x6042:00 vl target velocity INT (16 bits) |
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0x6060:00 Mode Of Operation SINT (8 bits) |
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0x1601: 2nd Receive PDO mapping |
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0x1602: 3nd Receive PDO mapping |
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0x1603: 4nd Receive PDO mapping |
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