EtherCAT ESI Data for LinuxCNC

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Yaskawa SGD7S-xxxxA0x CoE Drive

Type:
SGD7S-xxxxA0x CoE Drive
Description:
SGD7S-xxxxA0x EtherCAT(CoE) SERVOPACK Rev7.04
Vendor
Yaskawa Electric Corporation
Documentation

Revisions and PDOs

The ESI data ingested by github.com/linuxcnc-ethercat/esi-data describes 7 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 
r7
 
r8
Name 
SGD7S-xxxxA0x EtherCAT(CoE) SERVOPACK Rev7.04
 
SGD7S-xxxxA0x EtherCAT(CoE) SERVOPACK Rev7.05
 
SGD7S-xxxxA0x EtherCAT(CoE) SERVOPACK Rev8.03
 
SGD7S-xxxxA0x EtherCAT(CoE) SERVOPACK Rev8.06
 
SGD7S-xxxxA0x EtherCAT(CoE) SERVOPACK Rev8.13
 
SGD7S-xxxxA0x EtherCAT(CoE) SERVOPACK Rev8.14
 
SGD7S-xxxxA0x EtherCAT(CoE) SERVOPACK Rev8.19
PID 
0x02200301
Revision Code 
0x00070004
 
0x00070005
 
0x00080003
 
0x00080006
 
0x00080013
 
0x00080014
 
0x00080019
Equivalant Devices
TX PDOs 
0x1a00: 1st Transmit PDO mapping
 
  0x6041:00  Status word                     UINT (16 bits)
 
  0x6064:00  Position actual value           DINT (32 bits)
 
  0x6077:00  Torque actual value             INT (16 bits)
 
  0x60f4:00  Following error actual value    DINT (32 bits)
 
  0x6061:00  Modes of operation display      SINT (8 bits)
 
  0x60b9:00  Touch probe status              UINT (16 bits)
 
  0x60ba:00  Touch probe 1 position value    DINT (32 bits)
 
0x1a01: 2nd Transmit PDO mapping
 
  0x6041:00  Status word                     UINT (16 bits)
 
  0x6064:00  Position actual value           DINT (32 bits)
 
0x1a02: 3rd Transmit PDO mapping
 
  0x6041:00  Status word                     UINT (16 bits)
 
  0x6064:00  Position actual value           DINT (32 bits)
 
0x1a03: 4th Transmit PDO mapping
 
  0x6041:00  Status word                     UINT (16 bits)
 
  0x6064:00  Position actual value           DINT (32 bits)
 
  0x6077:00  Torque actual value             INT (16 bits)
RX PDOs 
0x1600: 1st Receive PDO mapping
 
  0x6040:00  Control word                    UINT (16 bits)
 
  0x607a:00  Target position                 DINT (32 bits)
 
  0x60ff:00  Target velocity                 DINT (32 bits)
 
  0x6071:00  Target torque                   INT (16 bits)
 
  0x6072:00  Max torque                      UINT (16 bits)
 
  0x6060:00  Modes of operation              SINT (8 bits)
 
  0x60b8:00  Touch probe function            UINT (16 bits)
 
0x1601: 2nd Receive PDO mapping
 
  0x6040:00  Control word                    UINT (16 bits)
 
  0x607a:00  Target position                 DINT (32 bits)
 
0x1602: 3rd Receive PDO mapping
 
  0x6040:00  Control word                    UINT (16 bits)
 
  0x60ff:00  Target velocity                 DINT (32 bits)
 
0x1603: 4th Receive PDO mapping
 
  0x6040:00  Control word                    UINT (16 bits)
 
  0x6071:00  Target torque                   INT (16 bits)