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 | r1 |
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| Name | R88D-KN15F-ECT-L G5 Series ServoDrive for Linear Motor |
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| PID | 0x00000076 |
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| Revision Code | 0x00010000 |
0x00010001 |
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| Equivalant Devices | R88D-KN01H-ECT-L r1 |
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| TX PDOs | 0x1a00: 1st transmit PDO Mapping |
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0x6041:00 Statusword UINT (16 bits) |
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0x6064:00 Position actual value DINT (32 bits) |
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0x60b9:00 Touch probe status UINT (16 bits) |
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0x60ba:00 Touch probe pos1 pos value DINT (32 bits) |
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0x60bc:00 Touch probe pos2 pos value DINT (32 bits) |
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0x603f:00 Error code UINT (16 bits) |
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0x60fd:00 Digital inputs UDINT (32 bits) |
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0x1b01: 258th transmit PDO Mapping |
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0x603f:00 Error code UINT (16 bits) |
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0x6041:00 Statusword UINT (16 bits) |
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0x6064:00 Position actual value DINT (32 bits) |
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0x6077:00 Torque actual value INT (16 bits) |
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0x60f4:00 Following error actual value DINT (32 bits) |
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0x60b9:00 Touch probe status UINT (16 bits) |
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0x60ba:00 Touch probe pos1 pos value DINT (32 bits) |
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0x60bc:00 Touch probe pos2 pos value DINT (32 bits) |
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0x60fd:00 Digital inputs UDINT (32 bits) |
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0x1b02: 259th transmit PDO Mapping |
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0x603f:00 Error code UINT (16 bits) |
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0x6041:00 Statusword UINT (16 bits) |
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0x6064:00 Position actual value DINT (32 bits) |
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0x6077:00 Torque actual value INT (16 bits) |
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0x6061:00 Modes of operation display SINT (8 bits) |
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0x60b9:00 Touch probe status UINT (16 bits) |
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0x60ba:00 Touch probe pos1 pos value DINT (32 bits) |
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0x60bc:00 Touch probe pos2 pos value DINT (32 bits) |
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0x60fd:00 Digital inputs UDINT (32 bits) |
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0x1b03: 260th transmit PDO Mapping |
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0x603f:00 Error code UINT (16 bits) |
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0x6041:00 Statusword UINT (16 bits) |
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0x6064:00 Position actual value DINT (32 bits) |
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0x6077:00 Torque actual value INT (16 bits) |
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0x60f4:00 Following error actual value DINT (32 bits) |
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0x6061:00 Modes of operation display SINT (8 bits) |
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0x60b9:00 Touch probe status UINT (16 bits) |
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0x60ba:00 Touch probe pos1 pos value DINT (32 bits) |
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0x60bc:00 Touch probe pos2 pos value DINT (32 bits) |
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0x60fd:00 Digital inputs UDINT (32 bits) |
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0x1b04: 261th transmit PDO Mapping |
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0x603f:00 Error code UINT (16 bits) |
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0x6041:00 Statusword UINT (16 bits) |
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0x6064:00 Position actual value DINT (32 bits) |
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0x6077:00 Torque actual value INT (16 bits) |
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0x6061:00 Modes of operation display SINT (8 bits) |
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0x60b9:00 Touch probe status UINT (16 bits) |
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0x60ba:00 Touch probe pos1 pos value DINT (32 bits) |
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0x60bc:00 Touch probe pos2 pos value DINT (32 bits) |
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0x60fd:00 Digital inputs UDINT (32 bits) |
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0x606c:00 Velocity actual value DINT (32 bits) |
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0x1bff: 512th transmit PDO Mapping |
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| RX PDOs | 0x1600: 1st receive PDO Mapping |
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0x6040:00 Controlword UINT (16 bits) |
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0x607a:00 Target position DINT (32 bits) |
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0x60b8:00 Touch probe function UINT (16 bits) |
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0x1701: 258th receive PDO Mapping |
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0x6040:00 Controlword UINT (16 bits) |
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0x607a:00 Target position DINT (32 bits) |
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0x60b8:00 Touch probe function UINT (16 bits) |
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0x60fe:01 Physical outputs UDINT (32 bits) |
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0x1702: 259th receive PDO Mapping |
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0x6040:00 Controlword UINT (16 bits) |
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0x607a:00 Target position DINT (32 bits) |
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0x60ff:00 Target velocity DINT (32 bits) |
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0x6071:00 Target torque INT (16 bits) |
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0x6060:00 Modes of operation SINT (8 bits) |
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0x60b8:00 Touch probe function UINT (16 bits) |
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0x607f:00 Max profile velocity UDINT (32 bits) |
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0x1703: 260th receive PDO Mapping |
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0x6040:00 Controlword UINT (16 bits) |
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0x607a:00 Target position DINT (32 bits) |
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0x60ff:00 Target velocity DINT (32 bits) |
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0x6060:00 Modes of operation SINT (8 bits) |
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0x60b8:00 Touch probe function UINT (16 bits) |
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0x60e0:00 Positive torque limit value UINT (16 bits) |
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0x60e1:00 Negative torque limit value UINT (16 bits) |
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0x1704: 261th receive PDO Mapping |
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0x6040:00 Controlword UINT (16 bits) |
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0x607a:00 Target position DINT (32 bits) |
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0x60ff:00 Target velocity DINT (32 bits) |
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0x6071:00 Target torque INT (16 bits) |
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0x6060:00 Modes of operation SINT (8 bits) |
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0x60b8:00 Touch probe function UINT (16 bits) |
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0x607f:00 Max profile velocity UDINT (32 bits) |
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0x60e0:00 Positive torque limit value UINT (16 bits) |
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0x60e1:00 Negative torque limit value UINT (16 bits) |
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0x1705: 262th receive PDO Mapping |
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0x6040:00 Controlword UINT (16 bits) |
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0x607a:00 Target position DINT (32 bits) |
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0x60ff:00 Target velocity DINT (32 bits) |
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0x6060:00 Modes of operation SINT (8 bits) |
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0x60b8:00 Touch probe function UINT (16 bits) |
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0x60e0:00 Positive torque limit value UINT (16 bits) |
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0x60e1:00 Negative torque limit value UINT (16 bits) |
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0x60b2:00 Torque offset INT (16 bits) |
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