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 |
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| Name | Unidrive M709 RFC-A |
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| PID | 0x01022002 |
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| Revision Code | 0x0200000c |
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| Equivalant Devices | Digitax HD M754 RFC-A r512 |
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| TX PDOs | 0x1a00: Transmit PDO Mapping 1 |
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0x6041:00 Status word UINT (16 bits) |
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0x1a01: Transmit PDO Mapping 2 |
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0x6041:00 Status word UINT (16 bits) |
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0x6061:00 Modes of operation display SINT (8 bits) |
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0x1a02: Transmit PDO Mapping 3 |
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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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0x1a04: Transmit PDO Mapping 5 |
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0x6041:00 Status word UINT (16 bits) |
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0x6077:00 Torque actual value INT (16 bits) |
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0x1a05: Transmit PDO Mapping 6 |
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0x6041:00 Status word UINT (16 bits) |
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0x6044:00 vl velocity actual value INT (16 bits) |
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| RX PDOs | 0x1600: Receive PDO Mapping 1 |
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0x6040:00 Control word UINT (16 bits) |
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0x1601: Receive PDO Mapping 2 |
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0x6040:00 Control word UINT (16 bits) |
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0x6060:00 Modes of operation SINT (8 bits) |
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0x1602: Receive PDO Mapping 3 |
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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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0x1604: Receive PDO Mapping 5 |
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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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0x1605: Receive PDO Mapping 6 |
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0x6040:00 Control word UINT (16 bits) |
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0x6042:00 vl target velocity INT (16 bits) |