linuxcnc-ethercat

Devices Supported by LinuxCNC-Ethercat

This is a work in progress, listing all of the devices that LinuxCNC-Ethercat has code to support today. Not all of these are well-tested.

Description Driver EtherCAT VID:PID Device Type Testing Status Notes
Leadshine 2CL3-EC503(COE) leadshine_stepper 0x4321:0x00002200 Stepper Drive    
Leadshine 2CL3-EC507(COE) leadshine_stepper 0x4321:0x00002100 Stepper Drive Part of @scottlaird’s test suite  
Leadshine 2DM3-EC522(COE) leadshine_stepper 0x4321:0x0000a300 Stepper Drive    
Leadshine 2DM3-EC556(COE) leadshine_stepper 0x4321:0x0000a100 Stepper Drive    
Leadshine 2DM3-EC870(COE) leadshine_stepper 0x4321:0x0000a200 Stepper Drive    
Beckhoff AX5101-0000-0214 EtherCAT Drive (SoE, 1 Ch.) ax5100 0x2:0x13ed6012 Servo Drive    
Beckhoff AX5103-0000-0214 EtherCAT Drive (SoE, 1 Ch.) ax5100 0x2:0x13ef6012 Servo Drive    
Beckhoff AX5106-0000-0214 EtherCAT Drive (SoE, 1 Ch.) ax5100 0x2:0x13f26012 Servo Drive    
Beckhoff AX5112-0000-0214 EtherCAT Drive (SoE, 1 Ch.) ax5100 0x2:0x13f86012 Servo Drive    
Beckhoff AX5118-0000-0214 EtherCAT Drive (SoE, 1 Ch.) ax5100 0x2:0x13fe6012 Servo Drive    
Beckhoff AX5203-0000-0214 EtherCAT Drive (SoE, 2 Ch.) ax5200 0x2:0x14536012 Servo Drive    
Beckhoff AX5206-0000-0214 EtherCAT Drive (SoE, 2 Ch.) ax5200 0x2:0x14566012 Servo Drive    
Beckhoff AX5805 (Safety Drive Option) ax5805 0x2:0x16ad6012 Safety Terminals    
Leadshine CS3E-D1008 leadshine_stepper 0x4321:0x00001200 Stepper Drive    
Leadshine CS3E-D503 leadshine_stepper 0x4321:0x00001300 Stepper Drive    
Leadshine CS3E-D503E leadshine_stepper 0x4321:0x00000700 Stepper Drive    
Leadshine CS3E-D507 leadshine_stepper 0x4321:0x00001100 Stepper Drive    
Leadshine CS3E-D507E leadshine_stepper 0x4321:0x00000500 Stepper Drive    
Delta MS-300 AC Motor Drive dems300 0x1dd:0x10400200 AC Motor Drive    
RTelligent DRV1500E DC Servo rtdrv 0xa88:0x0a880044 DC Servo Drive    
RTelligent DRV400E DC Servo rtdrv 0xa88:0x0a880042 DC Servo Drive In @scottlaird’s test bench  
RTelligent DRV750E DC Servo rtdrv 0xa88:0x0a880043 DC Servo Drive    
Delta ASDA-A2-E deasda 0x1dd:0x10305070 Servo Drive    
Delta ASDA-A3 deasda 0x1dd:0x00006010 Servo Drive    
Delta ASDA-B3 deasda 0x1dd:0x00006080 Servo Drive    
ECR60 open-loop stepper drive rtec 0xa88:0x0a880001 Stepper Drive Untested, but similar to the ECT60 which is tested.  
ECR60x2 2-axis open-loop stepper drive rtec 0xa88:0x0a880005 Stepper Drive Untested, but similar to the ECT60 which is tested. Currently only supports the first axis, but adding the second should be fairly easy.
ECR86 open-loop stepper drive rtec 0xa88:0x0a880003 Stepper Drive Untested, but similar to the ECT60 which is tested.  
ECT60 closed-loop stepper drive rtec 0xa88:0x0a880002 Stepper Drive Actively tested  
ECT60x2 2-axis open-loop stepper drive rtec 0xa88:0x0a880006 Stepper Drive Untested, but similar to the ECT60 which is tested. Currently only supports the first axis, but adding the second should be fairly easy.
ECR86 open-loop stepper drive rtec 0xa88:0x0a880004 Stepper Drive Untested, but similar to the ECT60 which is tested.  
Beckhoff EJ1859 8Ch. Dig. Input 24V, 3ms, 8Ch. Dig. Output 24V, 0.5A digitalcombo 0x2:0x07432852 Digital Input/Output    
Beckhoff EJ3004 4Ch. Ana. Input +/-10V el3xxx 0x2:0x0bbc2852 Analog Input    
Beckhoff EJ3202 2Ch. Ana. Input PT100 (RTD) el3xxx 0x2:0x0c822852 Analog Input New, untested  
Beckhoff EJ3214 4Ch. Ana. Input PT100 (RTD) el3xxx 0x2:0x0c8e2852 Analog Input New, untested  
Beckhoff EJ4002 2Ch. Ana. Output 0-10V, 12bit el4xxx 0x2:0x0fa22852 Analog Output    
Beckhoff EJ4004 4Ch. Ana. Output 0-10V, 12bit el4xxx 0x2:0x0fa42852 Analog Output    
Beckhoff EJ4008 8Ch. Ana. Output 0-10V, 12bit el4xxx 0x2:0x0fa82852 Analog Output    
Beckhoff EJ4018 8Ch. Ana. Output 0-20mA, 12bit el4xxx 0x2:0x0fb22852 Analog Output    
Beckhoff EJ4024 4Ch. Ana. Output 4-20mA, 12bit el4xxx 0x2:0x0fb82852 Analog Output    
Beckhoff EJ4132 2Ch. Ana. Output -10/+10V, 16bit el41x2 0x2:0x10242852 Analog Output    
Beckhoff EJ4134 4Ch. Ana. Output -10/+10V, 16bit el4xxx 0x2:0x10262852 Analog Output    
Beckhoff EJ5002 2Ch. SSI Encoder el5002 0x2:0x138a2852 Encoder Input    
Beckhoff EK1100 EtherCAT Coupler (0.5A E-Bus) passive 0x2:0x044c2c52 System Terminals Part of @scottlaird’s test suite. Passive device
Beckhoff EK1101 EtherCAT Coupler (2A E-Bus, ID switch) passive 0x2:0x044d2c52 System Terminals   Passive device
Beckhoff EK1110 EtherCAT extension passive 0x2:0x04562c52 System Terminals Part of @scottlaird’s test suite Passive device
Beckhoff EK1122 2 port EtherCAT junction passive 0x2:0x04622c52 System Terminals   Passive device
Beckhoff EK1814 EtherCAT IO-Coupler (0,5A E-Bus, 4 Ch. Dig. In, 3ms, 4 Ch. Dig. Out 24V, 0,5A) digitalcombo 0x2:0x07162c52 System Couplers New, @scottlaird will be using in testing.  
Beckhoff EK1818 EtherCAT IO-Coupler (1A E-Bus, 8 Ch. Dig. In, 3ms, 4 Ch. Dig. Out 24V, 0,5A) digitalcombo 0x2:0x071a2c52 System Couplers    
Beckhoff EK1828 EtherCAT IO-Coupler (1A E-Bus, 4 Ch. Dig. In, 3ms, 8 Ch. Dig. Out 24V, 0,5A) digitalcombo 0x2:0x07242c52 System Couplers    
Beckhoff EK1828 EtherCAT IO-Coupler (1A E-Bus, 4 Ch. Dig. In, 3ms, 8 Ch. Dig. Out 24V, 0,5A) digitalcombo 0x2:0x07242c52 System Couplers    
Beckhoff EL1002 2Ch. Dig. Input 24V, 3ms el1xxx 0x2:0x03ea3052 Digital Input Terminals    
Beckhoff EL1004 4Ch. Dig. Input 24V, 3ms el1xxx 0x2:0x03ec3052 Digital Input Terminals    
Beckhoff EL1008 8Ch. Dig. Input 24V, 3ms el1xxx 0x2:0x03f03052 Digital Input Terminals    
Beckhoff EL1012 2Ch. Dig. Input 24V, 10µs el1xxx 0x2:0x03f43052 Digital Input    
Beckhoff EL1014 4Ch. Dig. Input 24V, 10µs el1xxx 0x2:0x03f63052 Digital Input    
Beckhoff EL1018 8Ch. Dig. Input 24V, 10µs el1xxx 0x2:0x03fa3052 Digital Input Part of @scottlaird’s test suite, hardware is actively exercised for most releases.  
Beckhoff EL1024 4Ch. Dig. Input 24V, Type 2, 3ms el1xxx 0x2:0x04003052 Digital Input    
Beckhoff EL1034 4Ch. Dig. Input 24V, potential-free, 10µs el1xxx 0x2:0x040a3052 Digital Input    
Beckhoff EL1084 4Ch. Dig. Input 24V, 3ms, negative el1xxx 0x2:0x043c3052 Digital Input    
Beckhoff EL1088 8Ch. Dig. Input 24V, 3ms, negative el1xxx 0x2:0x04403052 Digital Input    
Beckhoff EL1094 4Ch. Dig. Input 24V, 10µs, negative el1xxx 0x2:0x04463052 Digital Input    
Beckhoff EL1098 8Ch. Dig. Input 24V, 10µs, negative el1xxx 0x2:0x044a3052 Digital Input    
Beckhoff EL1104 4Ch. Dig. Input 24V, 3ms, Sensor Power el1xxx 0x2:0x04503052 Digital Input    
Beckhoff EL1114 4Ch. Dig. Input 24V, 10µs, Sensor Power el1xxx 0x2:0x045a3052 Digital Input    
Beckhoff EL1124 4Ch. Dig. Input 5V, 10µs, Sensor Power el1xxx 0x2:0x04643052 Digital Input    
Beckhoff EL1134 4Ch. Dig. Input 48V, 10µs, Sensor Power el1xxx 0x2:0x046e3052 Digital Input    
Beckhoff EL1144 4Ch. Dig. Input 12V, 10µs, Sensor Power el1xxx 0x2:0x04783052 Digital Input    
Beckhoff EL1252 2Ch. Fast Dig. Input 24V, 1µs, DC Latch digitalcombo 0x2:0x04e43052 Digital Input   Driver does not support hardware timestamping
Beckhoff EL1804 4Ch. Dig. Input 24V, 3ms el1xxx 0x2:0x070c3052 Digital Input    
Beckhoff EL1808 8Ch. Dig. Input 24V, 3ms el1xxx 0x2:0x07103052 Digital Input Uncertain; @scottlaird has one  
Beckhoff EL1809 16Ch. Dig. Input 24V, 3ms el1xxx 0x2:0x07113052 Digital Input    
Beckhoff EL1819 16Ch. Dig. Input 24V, 10µs el1xxx 0x2:0x071b3052 Digital Input    
Beckhoff EL1852 8Ch. Dig. Input 24V, 3ms, 8Ch. Dig. Output 24V, 0.5A digitalcombo 0x2:0x073c3052 Digital Input/Output    
Beckhoff EL1859 8Ch. Dig. Input 24V, 3ms, 8Ch. Dig. Output 24V, 0.5A digitalcombo 0x2:0x07433052 Digital Input    
Beckhoff EL1904, 4 Ch. Safety Input 24V, TwinSAFE el1904 0x2:0x07703052 Safety Terminals Part of @scottlaird’s test suite, but not currently being evaluated.  
Beckhoff EL1918, 8Ch. Safety Input 24V, TwinSAFE el1918_logic 0x2:0x077e3052 Safety Terminals    
Beckhoff EL2002 2Ch. Dig. Output 24V, 0.5A el2xxx 0x2:0x07d23052 Digital Output    
Beckhoff EL2004 4Ch. Dig. Output 24V, 0.5A el2xxx 0x2:0x07d43052 Digital Output    
Beckhoff EL2008 8Ch. Dig. Output 24V, 0.5A el2xxx 0x2:0x07d83052 Digital Output Part of @scottlaird’s test suite, hardware is actively exercised for most releases.  
Beckhoff EL2022 2Ch. Dig. Output 24V, 2A el2xxx 0x2:0x07e63052 Digital Output Part of @scottlaird’s test suite.  
Beckhoff EL2024 4Ch. Dig. Output 24V, 2A el2xxx 0x2:0x07e83052 Digital Output    
Beckhoff EL2032 2Ch. Dig. Output 24V, 2A Diag el2xxx 0x2:0x07f03052 Digital Output    
Beckhoff EL2034 4Ch. Dig. Output 24V, 2A, Diagnostic el2xxx 0x2:0x07f23052 Digital Output Part of @scottlaird’s test suite.  
Beckhoff EL2042 2Ch. Dig. Output 24V, 4A el2xxx 0x2:0x07fa3052 Digital Output    
Beckhoff EL2084 4Ch. Dig. Output 24V, 0.5A, switching to negative el2xxx 0x2:0x08243052 Digital Output Part of @scottlaird’s test suite.  
Beckhoff EL2088 8Ch. Dig. Output 24V, 0.5A, switching to negative el2xxx 0x2:0x08283052 Digital Output    
Beckhoff EL2124 4Ch. Dig. Output 5V, 20mA el2xxx 0x2:0x084c3052 Digital Output    
Beckhoff EL2202 2Ch. Dig. Output 24V, 0.5A, DC Sync el2202 0x2:0x089a3052 Digital Output    
Beckhoff EL2521 1Ch. Pulse Train Output el2521 0x2:0x09d93052 Digital Output    
Beckhoff EL2612 2Ch. Relay Output, CO (125V AC / 30V DC) el2xxx 0x2:0x0a343052 Digital Output    
Beckhoff EL2622 2Ch. Relay Output, NO (230V AC / 30V DC) el2xxx 0x2:0x0a3e3052 Digital Output    
Beckhoff EL2624 4Ch. Relay Output, NO (125V AC / 30V DC) el2xxx 0x2:0x0a403052 Digital Output    
Beckhoff EL2634 4Ch. Relay Output, NO (250V AC / 30V DC) el2xxx 0x2:0x0a4a3052 Digital Output    
Beckhoff EL2652 2Ch. Relay Output, CO (230V AC / 30V DC) el2xxx 0x2:0x0a5c3052 Digital Output    
Beckhoff EL2798 8Ch. Dig. Output 24V AC/DC, 2A, potential-free el2xxx 0x2:0x0aee3052 Digital Output Part of @scottlaird’s test suite.  
Beckhoff EL2808 8Ch. Dig. Output 24V, 0.5A el2xxx 0x2:0x0af83052 Digital Output Uncertain; @scottlaird has several  
Beckhoff EL2809 16Ch. Dig. Output 24V, 0.5A el2xxx 0x2:0x0af93052 Digital Output    
Beckhoff EL2904, 4 Ch. Safety Output 24V, 0.5A, TwinSAFE el2904 0x2:0x0b583052 Safety Terminals Part of @scottlaird’s test suite, but not currently being evaluated.  
Beckhoff EL3001 1Ch. Ana. Input +/-10V el3xxx 0x2:0x0bb93052 Analog Input New, untested.  
Beckhoff EL3002 2Ch. Ana. Input +/-10V el3xxx 0x2:0x0bba3052 Analog Input New, untested.  
Beckhoff EL3004 4Ch. Ana. Input +/-10V el3xxx 0x2:0x0bbc3052 Analog Input    
Beckhoff EL3008 8Ch. Ana. Input +/-10V el3xxx 0x2:0x0bc03052 Analog Input New, untested.  
Beckhoff EL3011 4Ch. Ana. Input 0-20mA DIFF el3xxx 0x2:0x0bc33052 Analog Input New, untested.  
Beckhoff EL3012 4Ch. Ana. Input 0-20mA DIFF el3xxx 0x2:0x0bc43052 Analog Input New, untested.  
Beckhoff EL3014 4Ch. Ana. Input 0-20mA DIFF el3xxx 0x2:0x0bc63052 Analog Input New, untested.  
Beckhoff EL3021 4Ch. Ana. Input 4-20mA DIFF el3xxx 0x2:0x0bcd3052 Analog Input New, untested.  
Beckhoff EL3022 4Ch. Ana. Input 4-20mA DIFF el3xxx 0x2:0x0bce3052 Analog Input New, untested.  
Beckhoff EL3024 4Ch. Ana. Input 4-20mA DIFF el3xxx 0x2:0x0bd03052 Analog Input New, untested.  
Beckhoff EL3041 1Ch. Ana. Input 0-20mA el3xxx 0x2:0x0be13052 Analog Input New, untested.  
Beckhoff EL3042 2Ch. Ana. Input 0-20mA el3xxx 0x2:0x0be23052 Analog Input New, untested.  
Beckhoff EL3044 4Ch. Ana. Input 0-20mA el3xxx 0x2:0x0be43052 Analog Input    
Beckhoff EL3048 8Ch. Ana. Input 0-20mA el3xxx 0x2:0x0be83052 Analog Input New, untested.  
Beckhoff EL3051 1Ch. Ana. Input 4-20mA el3xxx 0x2:0x0beb3052 Analog Input New, untested.  
Beckhoff EL3052 2Ch. Ana. Input 4-20mA el3xxx 0x2:0x0bec3052 Analog Input New, untested.  
Beckhoff EL3054 4Ch. Ana. Input 4-20mA el3xxx 0x2:0x0bee3052 Analog Input    
Beckhoff EL3058 8Ch. Ana. Input 4-20mA el3xxx 0x2:0x0bf23052 Analog Input New, untested.  
Beckhoff EL3061 1Ch. Ana. Input 0-10V el3xxx 0x2:0x0bf53052 Analog Input New, untested.  
Beckhoff EL3062 2Ch. Ana. Input 0-10V el3xxx 0x2:0x0bf63052 Analog Input New, untested.  
Beckhoff EL3064 4Ch. Ana. Input 0-10V el3xxx 0x2:0x0bf83052 Analog Input    
Beckhoff EL3068 8Ch. Ana. Input 0-10V el3xxx 0x2:0x0bfc3052 Analog Input Part of @scottlaird’s test suite, hardware is actively exercised for most releases.  
Beckhoff EL3101 1Ch. Ana. Input +/-10V Diff. el3xxx 0x2:0x0c1d3052 Analog Input New, untested.  
Beckhoff EL3102 2Ch. Ana. Input +/-10V, Diff. el31x2 0x2:0x0c1e3052 Analog Input    
Beckhoff EL3104 4Ch. Ana. Input +/-10V Diff. el3xxx 0x2:0x0c203052 Analog Input New, untested.  
Beckhoff EL3111 1Ch. Ana. Input 0-20mA, Diff. el3xxx 0x2:0x0c273052 Analog Input New, untested.  
Beckhoff EL3112 2Ch. Ana. Input 0-20mA, Diff. el31x2 0x2:0x0c283052 Analog Input    
Beckhoff EL3114 4Ch. Ana. Input 0-20mA, Diff. el3xxx 0x2:0x0c2a3052 Analog Input New, untested.  
Beckhoff EL3121 1Ch. Ana. Input 4-20mA Diff. el3xxx 0x2:0x0c313052 Analog Input New, untested.  
Beckhoff EL3122 2Ch. Ana. Input 4-20mA, Diff. el31x2 0x2:0x0c323052 Analog Input    
Beckhoff EL3124 4Ch. Ana. Input 4-20mA Diff. el3xxx 0x2:0x0c343052 Analog Input    
Beckhoff EL3141 1Ch. Ana. Input 0-20mA el3xxx 0x2:0x0c453052 Analog Input New, untested.  
Beckhoff EL3142 2Ch. Ana. Input 0-20mA el31x2 0x2:0x0c463052 Analog Input    
Beckhoff EL3144 4Ch. Ana. Input 0-20mA el3xxx 0x2:0x0c483052 Analog Input New, untested.  
Beckhoff EL3151 1Ch. Ana. Input 4-20mA el3xxx 0x2:0x0c4f3052 Analog Input New, untested.  
Beckhoff EL3152 2Ch. Ana. Input 4-20mA el31x2 0x2:0x0c503052 Analog Input    
Beckhoff EL3154 4Ch. Ana. Input 4-20mA el3xxx 0x2:0x0c523052 Analog Input New, untested.  
Beckhoff EL3161 1Ch. Ana. Input 0-10V el3xxx 0x2:0x0c593052 Analog Input New, untested.  
Beckhoff EL3162 2Ch. Ana. Input 0-10V el31x2 0x2:0x0c5a3052 Analog Input Uncertain; @scottlaird has one  
Beckhoff EL3164 4Ch. Ana. Input 0-10V el3xxx 0x2:0x0c5c3052 Analog Input    
Beckhoff EL3182 2Ch. Ana. Input 4-20mA, HART el31x2 0x2:0x0c6e3052 Analog Input New, untested.  
Beckhoff EL3201 1Ch. Ana. Input PT100 (RTD) el3xxx 0x2:0x0c813052 Analog Input New, untested  
Beckhoff EL3202 2Ch. Ana. Input PT100 (RTD) el3xxx 0x2:0x0c823052 Analog Input @scottlaird has hardware  
Beckhoff EL3204 4Ch. Ana. Input PT100 (RTD) el3xxx 0x2:0x0c843052 Analog Input In @scottlaird’s test system, tested every release.  
Beckhoff EL3208 8Ch. Ana. Input PT100 (RTD) el3xxx 0x2:0x0c883052 Analog Input New, untested.  
Beckhoff EL3214 4Ch. Ana. Input PT100 (RTD) el3xxx 0x2:0x0c8e3052 Analog Input New, untested.  
Beckhoff EL3218-0000 8Ch. Ana. Input PT100 (RTD) el3xxx 0x2:0x0c923052 Analog Input New, untested.  
Beckhoff EL3255 5Ch. potentiometer measurement with sensor supply el3255 0x2:0x0cb73052 Analog Input    
Beckhoff EL3403 3Ch. Power Measuring el3403 0x2:0x0d4b3052 Analog Input Uncertain; @scottlaird has several 3-phase AC power measurement
Beckhoff EL4001 1Ch. Ana. Output 0-10V, 12bit el4xxx 0x2:0x0fa13052 Analog Output    
Beckhoff EL4002 2Ch. Ana. Output 0-10V, 12bit el4xxx 0x2:0x0fa23052 Analog Output    
Beckhoff EL4004 4Ch. Ana. Output 0-10V, 12bit el4xxx 0x2:0x0fa43052 Analog Output    
Beckhoff EL4008 8Ch. Ana. Output 0-10V, 12bit el4xxx 0x2:0x0fa83052 Analog Output    
Beckhoff EL4011 1Ch. Ana. Output 0-20mA, 12bit el4xxx 0x2:0x0fab3052 Analog Output    
Beckhoff EL4012 2Ch. Ana. Output 0-20mA, 12bit el4xxx 0x2:0x0fac3052 Analog Output    
Beckhoff EL4014 4Ch. Ana. Output 0-20mA, 12bit el4xxx 0x2:0x0fae3052 Analog Output    
Beckhoff EL4018 8Ch. Ana. Output 0-20mA, 12bit el4xxx 0x2:0x0fb23052 Analog Output    
Beckhoff EL4021 1Ch. Ana. Output 4-20mA, 12bit el4xxx 0x2:0x0fb53052 Analog Output    
Beckhoff EL4022 2Ch. Ana. Output 4-20mA, 12bit el4xxx 0x2:0x0fb63052 Analog Output    
Beckhoff EL4024 4Ch. Ana. Output 4-20mA, 12bit el4xxx 0x2:0x0fb83052 Analog Output    
Beckhoff EL4028 8Ch. Ana. Output 4-20mA, 12bit el4xxx 0x2:0x0fbc3052 Analog Output    
Beckhoff EL4031 1Ch. Ana. Output -10/+10V, 12bit el4xxx 0x2:0x0fbf3052 Analog Output    
Beckhoff EL4032 2Ch. Ana. Output -10/+10V, 12bit el4xxx 0x2:0x0fc03052 Analog Output    
Beckhoff EL4034 4Ch. Ana. Output +/-10V, 12bit el4xxx 0x2:0x0fc23052 Analog Output    
Beckhoff EL4038 8Ch. Ana. Output -10/+10V, 12bit el4xxx 0x2:0x0fc63052 Analog Output    
Beckhoff EL4102 2Ch. Ana. Output 0-10V el41x2 0x2:0x10063052 Analog Output    
Beckhoff EL4104 4Ch. Ana. Output 0-10V, 16bit el4xxx 0x2:0x10083052 Analog Output    
Beckhoff EL4112 2Ch. Ana. Output 0-20mA el41x2 0x2:0x10103052 Analog Output    
Beckhoff EL4114 4Ch. Ana. Output 0-20mA, 16bit el4xxx 0x2:0x10123052 Analog Output    
Beckhoff EL4122 2Ch. Ana. Output 4-20mA el41x2 0x2:0x101a3052 Analog Output    
Beckhoff EL4124 4Ch. Ana. Output 4-20mA, 16bit el4xxx 0x2:0x101c3052 Analog Output    
Beckhoff EL4132 2Ch. Ana. Output +/-10V el41x2 0x2:0x10243052 Analog Output    
Beckhoff EL4134 4Ch. Ana. Output -10/+10V, 16bit el4xxx 0x2:0x10263052 Analog Output    
Beckhoff EL5002 2Ch. SSI Encoder el5002 0x2:0x138a3052 Encoder Input    
Beckhoff EL5032 2Ch. EnDat Encoder el5032 0x2:0x13a83052 Encoder Input    
Beckhoff EL5101 1Ch. Encoder 5V el5101 0x2:0x13ed3052 Encoder Input    
Beckhoff EL5102 2Ch. Inc. Encoder 5V (RS422,TTL) el5102 0x2:0x13ee3052 Encoder Input Developed without hardware, may work  
Beckhoff EL5151 1Ch. Inc. Encoder el5151 0x2:0x141f3052 Encoder Input    
Beckhoff EL5152 2Ch. Inc. Encoder el5152 0x2:0x14203052 Encoder Input    
Beckhoff EL6090 Display terminal el6090 0x2:0x17ca3052 LCD Display Uncertain; @scottlaird has one, but the driver was just merged.  
Beckhoff EL6900, TwinSAFE PLC el6900 0x2:0x1af43052 Safety Terminals Part of @scottlaird’s test suite, but not currently being evaluated.  
Beckhoff EL7031 1Ch. Stepper motor output stage (24V, 1.5A) el70x1 0x2:0x1b773052 Stepper Drive    
Beckhoff EL7041 1Ch. Stepper motor output stage (50V, 5A) el70x1 0x2:0x1b813052 Stepper Drive    
Beckhoff EL7041 1Ch. Stepper motor output stage (50V, 5A) el7041 0x2:0x1b813052 Stepper Drive    
Beckhoff EL7041 1Ch. Stepper motor output stage (50V, 5A) el7041 0x2:0x1b813052 Stepper Drive    
Beckhoff EL7201 1Ch. MDP742 Servo motor output stage (50V, 4A) el7211 0x2:0x1c213052 Servo Drive    
Beckhoff EL7211 1Ch. MDP742 Servo motor output stage (50V, 4.5A RMS) el7211 0x2:0x1c2b3052 Servo Drive    
Beckhoff EL7221 1Ch. MDP742 Servo motor output stage (50V, 8A RMS) el7211 0x2:0x1c353052 Servo Drive    
Beckhoff EL7342 2Ch. DC motor output stage (50V, 3.5A) el7342 0x2:0x1cae3052 DC Drive    
Beckhoff EL7411 BLDC Terminal with incremental encoder/Hall, 50 V DC, 4.5 A el7411 0x2:0x1cf33052 BLDC Drive    
Beckhoff EL9410 E-Bus Power Supplier (Diagnostics) el9410 0x2:0x24c23052 System Terminals    
Beckhoff EL9505 Power supply terminal 5V el95xx 0x2:0x25213052 System Terminals    
Beckhoff EL9508 Power supply terminal 8V el95xx 0x2:0x25243052 System Terminals    
Beckhoff EL9510 Power supply terminal 10V el95xx 0x2:0x25263052 System Terminals    
Beckhoff EL9512 Power supply terminal 12V el95xx 0x2:0x25283052 System Terminals    
Beckhoff EL9515 Power supply terminal 15V el95xx 0x2:0x252b3052 System Terminals    
Beckhoff EL9576 Brake chopper terminal el95xx 0x2:0x25683052 System Terminals    
Beckhoff EM3701, 1Ch. differential pressure measuring terminal 100hPa (100mbar) el3xxx 0x2:0x0e753452 Analog Input    
Beckhoff EM3702 2Ch. relative pressure measuring terminal 7,500 hPa (7.5 bar) el3xxx 0x2:0x0e763452 Analog Input Uncertain; @scottlaird has one  
Beckhoff EM3712 2Ch relative pressure measuring terminal -1,000…+1,000 hPa (-1…+1 bar) el3xxx 0x2:0x0e803452 Analog Input    
Leadshine DM3C-EC522(COE) leadshine_stepper 0x4321:0x00008800 Stepper Drive    
Leadshine DM3C-EC556(COE) leadshine_stepper 0x4321:0x00008600 Stepper Drive    
Leadshine DM3C-EC870(COE) leadshine_stepper 0x4321:0x00008700 Stepper Drive    
Beckhoff EM7004 4-Axis Interface Unit em7004 0x2:0x1b5c3452 Servo Drive    
Beckhoff EP1008-0001 8 Ch. Dig. Input 24V, 3ms, M8 el1xxx 0x2:0x03f04052 Digital Input Uncertain; @scottlaird has several  
Beckhoff EP1018-0001 8 Ch. Dig. Input 24V, 10µs, M8 el1xxx 0x2:0x03fa4052 Digital Input Uncertain; @scottlaird has several  
Beckhoff EP1122-0001 2 port EtherCAT junction passive 0x2:0x04624052 System Terminals   Passive device
Beckhoff EP1819-0005 16 Ch. Dig. Input 24V, 10µs, M8 4pol el1xxx 0x2:0x071b4052 Digital Input    
Beckhoff EP2008-0001 8 Ch. Dig. Output 24V, 0,5A, M8 el2xxx 0x2:0x07d84052 Digital Output    
Beckhoff EP2028-0001 8 Ch. Dig. Output 24V, 2A, M8 el2xxx 0x2:0x07ec4052 Digital Output    
Beckhoff EP2308-0000 4 Ch. Dig. In, 3ms, 4 Ch. Dig. Out 24V, 0,5A, S8 digitalcombo 0x2:0x09044052 Digital Input/Output    
Beckhoff EP2316-0003 8 Ch. Dig. In, 10µs, 8Ch. Dig. Out 24V, 0,5A, Diagnostic, 10-Pole Plug Connector ep2316 0x2:0x090c4052 Digital Input/Output    
Beckhoff EP2318-0001 4 Ch. Dig. In, 10µs, 4 Ch. Dig. Out 24V, 0,5A, M8 digitalcombo 0x2:0x090e4052 Digital Input/Output    
Beckhoff EP2328-0001 4 CH. Dig. In, 3ms, 4 Ch. Dig. Out 24V, 2A, M8 digitalcombo 0x2:0x09184052 Digital Input/Output    
Beckhoff EP2338-0001 8 Ch. Dig. Input/Output 24V, 0,5A, M8 digitalcombo 0x2:0x09224052 Digital Input/Output Uncertain; @scottlaird has several  
Beckhoff EP2339 16 Ch. Dig. Input/Output 24V, 0,5A, 10-Pole Plug Connector digitalcombo 0x2:0x09234052 Digital Input/Output   NOTE: some r16 EP2339 devices have a different PDO layout and will not work.
Beckhoff EP2349-0021 16 Ch. Dig. Input/Output 24V, 10µs, 0,5A, M8 digitalcombo 0x2:0x092d4052 Digital Input/Output    
Beckhoff EP2809-0021 16 Ch. Dig. Output 24V, 0,5A, M8 el2xxx 0x2:0x0af94052 Digital Output    
Beckhoff EP3174-0002 4Ch. Ana. Input +/-10V, 0-10V, 0/4-20mA configurable el3xxx 0x2:0x0c664052 Analog Input    
Beckhoff EP3184-0002 4Ch. Ana. Input +/-10V, 0-10V, 0/4-20mA configurable, single ended el3xxx 0x2:0x0c704052 Analog Input    
Beckhoff EP3204-0002 4Ch. Ana. Input PT100 (RTD) el3xxx 0x2:0x0c844052 Analog Input    
Beckhoff EP4174-0002 4Ch. Ana. Output +/-10V, 0-10V, 0/4-20mA configurable el4xxx 0x2:0x104e4052 Analog Output Untested  
Beckhoff EL7041 1Ch. Stepper motor output stage (50V, 5A) el7041 0x2:0x1b813052 Stepper Drive Uncertain; @scottlaird has several EP7041-0002  
Beckhoff EPP2308-0001 4 Ch. Dig. In, 3ms, 4 Ch. Dig. Out 24V, 0,5A, M8 digitalcombo 0x2:0x64765649 Digital Input/Output    
Beckhoff EP2316-0003 8 Ch. Dig. In, 10µs, 8Ch. Dig. Out 24V, 0,5A, Diagnostic, 10-Pole Plug Connector digitalcombo 0x2:0x090c4052 Digital Input/Output    
Beckhoff EPP2318-0001 4 Ch. Dig. In, 10µs, 4 Ch. Dig. Out 24V, 0,5A, M8 digitalcombo 0x2:0x647656e9 Digital Input/Output    
Beckhoff EPP2328-0001 4 CH. Dig. In, 3ms, 4 Ch. Dig. Out 24V, 2A, M8 digitalcombo 0x2:0x64765789 Digital Input/Output    
Beckhoff EPP2334-0061 4 Ch. Dig. Input/Output 24V, 0,5A, M8 digitalcombo 0x2:0x647657e9 Digital Input/Output    
Beckhoff EP2338-0001 8 Ch. Dig. Input/Output 24V, 0,5A, M8 digitalcombo 0x2:0x64765829 Digital Input/Output    
Beckhoff EPP2339-0003 16 Ch. Dig. Input/Output 24V, 0,5A, 10-Pole Plug Connector digitalcombo 0x2:0x64765839 Digital Input/Output    
Beckhoff EPP2349-0021 16 Ch. Dig. Input/Output 24V, 10µs, 0,5A, M8 digitalcombo 0x2:0x647658d9 Digital Input/Output    
Beckhoff EPX3158 8Ch. Ana. Input 4-20mA, Ex i el3xxx 0x2:0x9809ab69 Analog Input New, untested.  
Beckhoff EP2349-0021 16 Ch. Dig. Input/Output 24V, 10µs, 0,5A, M8 digitalcombo 0x2:0x092d4052 Digital Input/Output    
SMC EX260-SEC1 ex260 0x114:0x01000001 Valve Controller Merged 2023-12-31, untested by @satiowadahc
SMC EX260-SEC1 ex260 0x114:0x01000002 Valve Controller Merged 2023-12-31, untested by @satiowadahc
SMC EX260-SEC3 ex260 0x114:0x01000003 Valve Controller Merged 2023-12-31, untested by @satiowadahc
SMC EX260-SEC4 ex260 0x114:0x01000004 Valve Controller Merged 2023-12-31, untested by @satiowadahc
AB&T EasyIO 16 din, 16 dout, 4 ain, 2 aout module easyio 0x79a:0x0debacca Analog/Digital Combo COMPLETELY UNTESTED. Written without hardware.  
AB&T EpoCAT FR4000 epocat 0x79a:0x00decade Stepper Drive Merged 2023-12-31, untested by @abausano
Omron MX2 VFD ommx2 0x83:0x00000053 VFD    
Omron R88D-KN01H-ECT G5 Series ServoDrive/Motor omrg5 0x83:0x00000005 Servo Drive    
Omron R88D-KN01L-ECT G5 Series ServoDrive/Motor omrg5 0x83:0x00000002 Servo Drive    
Omron R88D-KN02H-ECT G5 Series ServoDrive/Motor omrg5 0x83:0x00000006 Servo Drive    
Omron R88D-KN02L-ECT G5 Series ServoDrive/Motor omrg5 0x83:0x00000003 Servo Drive    
Omron R88D-KN04H-ECT G5 Series ServoDrive/Motor omrg5 0x83:0x00000007 Servo Drive    
Omron R88D-KN04L-ECT G5 Series ServoDrive/Motor omrg5 0x83:0x00000004 Servo Drive    
Omron R88D-KN06F-ECT G5 Series ServoDrive/Motor omrg5 0x83:0x0000000b Servo Drive    
Omron R88D-KN08H-ECT G5 Series ServoDrive/Motor omrg5 0x83:0x00000008 Servo Drive    
Omron R88D-KN10F-ECT G5 Series ServoDrive/Motor omrg5 0x83:0x0000000c Servo Drive    
Omron R88D-KN10H-ECT G5 Series ServoDrive/Motor omrg5 0x83:0x00000009 Servo Drive    
Omron R88D-KN150F-ECT G5 Series ServoDrive/Motor omrg5 0x83:0x0000005f Servo Drive    
Omron R88D-KN150H-ECT G5 Series ServoDrive/Motor omrg5 0x83:0x0000005a Servo Drive    
Omron R88D-KN15F-ECT G5 Series ServoDrive/Motor omrg5 0x83:0x0000000d Servo Drive    
Omron R88D-KN15H-ECT G5 Series ServoDrive/Motor omrg5 0x83:0x0000000a Servo Drive    
Omron R88D-KN20F-ECT G5 Series ServoDrive/Motor omrg5 0x83:0x0000005b Servo Drive    
Omron R88D-KN20H-ECT G5 Series ServoDrive/Motor omrg5 0x83:0x00000056 Servo Drive    
Omron R88D-KN30F-ECT G5 Series ServoDrive/Motor omrg5 0x83:0x0000005c Servo Drive    
Omron R88D-KN30H-ECT G5 Series ServoDrive/Motor omrg5 0x83:0x00000057 Servo Drive    
Omron R88D-KN50F-ECT G5 Series ServoDrive/Motor omrg5 0x83:0x0000005d Servo Drive    
Omron R88D-KN50H-ECT G5 Series ServoDrive/Motor omrg5 0x83:0x00000058 Servo Drive    
Omron R88D-KN75F-ECT G5 Series ServoDrive/Motor omrg5 0x83:0x0000005e Servo Drive    
Omron R88D-KN75H-ECT G5 Series ServoDrive/Motor omrg5 0x83:0x00000059 Servo Drive    
Omron R88D-KNA5L-ECT G5 Series ServoDrive/Motor omrg5 0x83:0x00000001 Servo Drive    
Stoeber Posidrive MDS 5000 stmds5k 0xb9:0x00001388 Servo Drive    
Driver for generic CiA 402 hardware without a dedicated driver basic_cia402 0xffffffff:0xffffffff Motion Controller    

There are an additional 4 device(s) supported that do not have enough documentation to display here. Please look at the documentation/devices/ files and update them if you’re able.

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