EtherCAT ESI Data for LinuxCNC

Control Unidrive M709 Open Loop

Type:
Unidrive M709 Open Loop
Description:
Unidrive M709 Open Loop
Vendor
Control Techniques
Documentation

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
r512
Name
Unidrive M709 Open Loop
PID
0x01012002
Revision Code
0x0200000c
Equivalant Devices
Digitax HD M754 Open Loop r512
Unidrive M708 Open Loop r512
TX PDOs
0x1a00: Transmit PDO Mapping 1
  0x6041:00  Status word                     UINT (16 bits)
0x1a01: Transmit PDO Mapping 2
  0x6041:00  Status word                     UINT (16 bits)
  0x6061:00  Modes of operation display      SINT (8 bits)
0x1a02: Transmit PDO Mapping 3
  0x6041:00  Status word                     UINT (16 bits)
  0x6064:00  Position actual value           DINT (32 bits)
0x1a04: Transmit PDO Mapping 5
  0x6041:00  Status word                     UINT (16 bits)
  0x6077:00  Torque actual value             INT (16 bits)
0x1a05: Transmit PDO Mapping 6
  0x6041:00  Status word                     UINT (16 bits)
  0x6044:00  vl velocity actual value        INT (16 bits)
RX PDOs
0x1600: Receive PDO Mapping 1
  0x6040:00  Control word                    UINT (16 bits)
0x1601: Receive PDO Mapping 2
  0x6040:00  Control word                    UINT (16 bits)
  0x6060:00  Modes of operation              SINT (8 bits)
0x1602: Receive PDO Mapping 3
  0x6040:00  Control word                    UINT (16 bits)
  0x607a:00  Target position                 DINT (32 bits)
0x1604: Receive PDO Mapping 5
  0x6040:00  Control word                    UINT (16 bits)
  0x6071:00  Target torque                   INT (16 bits)
0x1605: Receive PDO Mapping 6
  0x6040:00  Control word                    UINT (16 bits)
  0x6042:00  vl target velocity              INT (16 bits)