The ESI data ingested by github.com/linuxcnc-ethercat/esi-data describes 11 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 |
r2 |
r3 |
r4 |
r5 |
r6 |
r7 |
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| Name | SGDV-E5 EtherCAT(CoE) SERVOPACK Rev1 |
SGDV-E5 EtherCAT(CoE) SERVOPACK Rev2 |
SGDV-E5 EtherCAT(CoE) SERVOPACK Rev3 |
SGDV-E5 EtherCAT(CoE) SERVOPACK Rev4 |
SGDV-E5 EtherCAT(CoE) SERVOPACK Rev5 |
SGDV-E5 EtherCAT(CoE) SERVOPACK Rev5.04 |
SGDV-E5 EtherCAT(CoE) SERVOPACK Rev6.00 |
SGDV-E5 EtherCAT(CoE) SERVOPACK Rev6.03 |
SGDV-E5 EtherCAT(CoE) SERVOPACK Rev7.00 |
SGDV-E5 EtherCAT(CoE) SERVOPACK Rev7.01 |
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| PID | 0x02200002 |
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| Revision Code | 0x00010000 |
0x00020000 |
0x00030001 |
0x00030005 |
0x00040000 |
0x00050000 |
0x00050004 |
0x00060000 |
0x00060003 |
0x00070000 |
0x00070001 |
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| Equivalant Devices | SGDV-E1 CoE Drive r1 |
SGDV-E1 CoE Drive r4 |
SGDV-E1 CoE Drive r5 |
SGDV-E1 CoE Drive r6 |
SGDV-E1 CoE Drive r7 |
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| TX PDOs | 0x1a00: 1st Transmit PDO mapping |
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0x6041:00 Status word 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 1 position value DINT (32 bits) |
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0x1a01: 2nd Transmit PDO mapping |
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0x6041:00 Status word UINT (16 bits) |
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0x6064:00 Position actual value DINT (32 bits) |
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0x1a02: 3rd Transmit PDO mapping |
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0x6041:00 Status word UINT (16 bits) |
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0x6064:00 Position actual value DINT (32 bits) |
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0x1a03: 4th Transmit PDO mapping |
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0x6041:00 Status word 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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| RX PDOs | 0x1600: 1st Receive PDO mapping |
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0x6040:00 Control word 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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0x6072:00 Max torque UINT (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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0x1601: 2nd Receive PDO mapping |
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0x6040:00 Control word UINT (16 bits) |
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0x607a:00 Target position DINT (32 bits) |
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0x1602: 3rd Receive PDO mapping |
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0x6040:00 Control word UINT (16 bits) |
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0x60ff:00 Target velocity DINT (32 bits) |
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0x1603: 4th Receive PDO mapping |
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0x6040:00 Control word UINT (16 bits) |
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0x6071:00 Target torque INT (16 bits) |
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