linuxcnc-ethercat

CiA 402 Support

DISCLAIMER: LinuxCNC-Ethercat’s CiA 402 support is still very young and is not complete yet. Expect rough edges, bugs, and undocumented requirements. Please file bugs as you find them, and it’ll hopefully mature rapidly.

About

CiA 402 is a standard for servo drives, stepper drives, VFDs, and similar motion controllers. It is part of the CanOPEN Industry Association, and can be implemented on top of EtherCAT and other common fieldbusses.

Most Ethercat servo and stepper drives support CiA 402, including Beckhoff’s AX8000 series, EtherCAT drives from RTelligent, Leadshine, Delta, and other vendors at all points of the price spectrum.

Notable non CiA 402 devices are Beckhoff EL7xxx and AX5xxx series drives.

How to use

To use a CiA 402 EtherCAT device with LinuxCNC, you need two things:

  1. A way to get the EtherCAT layer talking to your device. This can be done with a generic driver and a bunch of XML, or a device-specific driver that (at least potentially) makes everything much less trouble-prone. This document covers the device-specific driver case, but some of the details can be used with generic as well. See the LinuxCNC forums for help with generic configs.
  2. The CiA 402 HAL component for LinuxCNC, from https://github.com/dbraun1981/hal-cia402

Configuring XML

Here’s a simple example for an RTelligent ECT60:

<masters>
  <master idx="0" appTimePeriod="1000000" refClockSyncCycles="1000">
    ...
    <slave idx="22" type="ECT60" name="xaxis">
      <modParam name="peakCurrent_amps" value="3.5"/>
      <modParam name="homeOffset" value="1"/>
    </slave>
	...
  </master>
</masters>

or the same device using the basic_cia402 driver:

<masters>
  <master idx="0" appTimePeriod="1000000" refClockSyncCycles="1000">
    ...
    <slave idx="22" vid="0x00000a88" pid="0x0a880002" type="basic_cia402" name="xaxis">
      <modParam name="homeOffset" value="1"/>
    </slave>
	...
  </master>
</masters>

Notice that you need to specify the vid and pid parameters for basic_cia402 devices, and that peakCurrent_amps is no longer allowed as it’s an ECT60-specific configuration setting.

See below for more details on all of the options available.

Installing the HAL component

To use the CiA HAL component, you’ll need to download it, make sure that you have the LinuxCNC dev package installed, and run sudo halcompile --install hal-cia402.comp. This should install the component needed.

Configuring HAL for CiA 402 devices

TODO: explain setting up the HAL settings for devices. For now, follow the hal-cia402 instructions.

Supported devices and drivers

Generally, for new hardware, the best way to support it is to begin with a generic XML config but then create a dedicated driver using basic_cia402 as template, adding device-specific features over time.

Common CiA 402 Features

Operation Modes

CiA 402 defines a number of different operation modes. Devices may support one or more of these modes. These names appear throughout this document.

<modParam>s

The CiA 402 framework defines a number of generic parameters that can be configured in the XML file. Here’s an overly-complex example:

    <slave idx="22" type="ECT60" name="xaxis">
      <modParam name="peakCurrent_amps" value="6.0"/>
      <modParam name="controlMode" value="closedloop"/>
      <modParam name="encoderResolution" value="1000"/>
      <modParam name="input3Func" value="home"/>
      <modParam name="input6Func" value="emergency-stop"/>
      <modParam name="output1Func" value="alarm"/>
      <modParam name="homeMode" value="17"/>
      <modParam name="homeOffset" value="0"/>
      <modParam name="homeAccel" value="500"/>
      <modParam name="homeSpeedFast" value="2500"/>
      <modParam name="homeSpeedSlow" value="500"/>
    </slave>

Not all devices support all modparams. Trying to set a parameter that your device doesn’t support will trigger an error and halt LinuxCNC. Since this only happens at startup, this is relatively safe.

You can verify which modparams your device supports with a bit of work. Look at the table below under “Implementation Notes”, find the modparam that you’re interested in, find the SDO address (6085:00, for example, and then look in ethercat sdos to see if your device supports it. If it doesn’t appear in ethercat sdos, then it won’t work.

Option Codes

CiA 402 provides a framework for telling the device what to do in the case of certain exceptional events. These *OptionCode settings control how it handles these events.

<modParam name="quickStopOptionCode" value=?>

This configures behavior when a CiA 402 “quick stop” event happens. Standard values include:

Consult your device documentation to see which of these are supported, what device-specific options are available, and what your device’s default it (likely 2).

<modParam name="shutdownOptionCode" value=?>

This configures behavior when a CiA 402 device goes from “Operation Enabled” to “Ready To Switch On”. Standard values include:

Consult your device documentation to see which of these are supported, what device-specific options are available, and what your device’s default it (likely 0).

<modParam name="disableOptionCode" value=?>

This configures behavior when a CiA 402 device goes from “Operation Enabled” to “Switched On.” Standard values include:

Consult your device documentation to see which of these are supported, what device-specific options are available, and what your device’s default it (likely 1).

<modParam name="haltOptionCode" value=?>

This configures behavior when the halt function is triggered. Standard values include:

Consult your device documentation to see which of these are supported, what device-specific options are available, and what your device’s default it (likely 1).

<modParam name="faultOptionCode" value=?>

This configures behavior when a fault occurs.

Standard values include:

Consult your device documentation to see which of these are supported, what device-specific options are available, and what your device’s default it (likely 2).

Position Limits

CiA 402 provides two ways to tell the device what the limits are to its range of motion:

Units are implementation-defined, see your manufacturer’s documentation.

<modParam name="positionLimitMax" value=?>

Sets the maximum value allowed for the position. When this happens, the position value will wrap around to the minimum limit (see below).

<modParam name="positionLimitMin" value=?>

Sets the minimum value allowed for the position. When this happens, the position value will wrap around to the maximum limit (see above).

<modParam name="swPositionLimitMax" value=?>

Sets the maximum value for the “software position limit”. This is the largest value that you can request that the motor moves to. This may be offset by homeOffset, below.

<modParam name="swPositionLimitMin" value=?>

Sets the minimum value for the “software position limit”. This is the smallest value that you can request that the motor moves to. This may be offset by homeOffset, below.

Velocity and Acceleration

CiA 402 has a number of speed, velocity, and acceleration settings.

Many devices will also have device-specific settings that interact with these.

Note that the units for most of these are undefined in the CiA 402 standard, you’ll need to see your device’s documentation.

<modParam name="profileMaxVelocity" value=?>

This is the maximum velocity allowed during movement in pv, pp, and it modes.

<modParam name="motorMaxSpeed_RPM" value=?>

This is the maximum motor speed allowed, in RPM. This controls the same basic setting as profileMaxVelocity, above, but in different units.

<modParam name="profileVelocity" value=?>

This controls the maximum velocity used when moving in pp and ip modes.

<modParam name="profileEndVelocity" value=?>

This controls the ending velocity when motion reaches the target position. It should generally be 0. It’s used in it and pp modes.

<modParam name="profileAccel" value=?>

This controls the normal acceleration in pp, pv, and it modes.

<modParam name="profileDecel" value=?>

This controls the normal deceleration in pp, pv, and it modes.

<modParam name="quickDeccel" value=?>

This controls the deceleration when a quick stop is needed, see the “Option Code” settings above to see when quick stops are used.

Homing

CiA 402 provides a bunch of homing settings. In general, CiA 402 homing isn’t yet complete in LinuxCNC.

<modParam name="homeOffset" value=?>

TODO

<modParam name="homeMethod" value=?>

TODO

<modParam name="homeVelocityFast" value=?>

TODO

<modParam name="homeVelocitySlow" value=?>

TODO

<modParam name="homeAccel" value=?>

TODO

Probing

CiA 402 provides several probing settings. In general, CiA 402 probing isn’t yet complete in LinuxCNC.

<modParam name="probeFunction" value=?>

TODO

<modParam name="probe1Positive" value=?>

TODO

<modParam name="probe1Negative" value=?>

TODO

<modParam name="probe2Positive" value=?>

TODO

<modParam name="probe2Negative" value=?>

TODO

Pins

The CiA 402 framework defines a number of HAL pins, depending on which optional features are enabled.

Supporting new devices

The CiA 402 standard covers a wide variety of motion controllers with a variety of operating modes. Very few of the features and settings that the CiA 402 standard describes are required in all devices; the bulk of them are either completely optional or only required if the controller supports a specific operating mode.

Given this, the LinuxCNC CiA 402 driver framework has to be very flexible, and this means that each specific device driver will have to do more setup work than might be expected.

To create a new driver, start with the driver in src/devices/lcec_basic_cia402.c. Make a copy of it with a new name (lcec_my_devicename.c) and start modifying it. As a first step, do a search-and-replace for lcec_basic_cia402 and replace that with lcec_my_devicename through the whole file.

Search for XXXX, this should flag things that will need to be changed, and things that you may wish to modify for your device. use lcec_rtec.c as an example of a more fleshed-out CiA 402 driver, it should have examples of most of the features that are currently supported.

There are 4 basic classes of things that will need to be handled:

  1. Configure CiA 402 featues. Look for the block that includes options->enable_pv and set values as appropriate for your device. Feel free to delete lines rather than setting them to 0. There is only one options->enable_ setting that defaults to true; if somehow you have a CiA 402 device that doesn’t support the opmode PDO, then you’ll want to set options->enable_opmode=0. Then please file a bug to let us know that you actually found an opmode-less device.
  2. Add device-specific <modParam>s. See lcec_rtec.c for an example here; you can define parameters that let users control device-specific settings (motor current, encoder type, etc) from the XML configuration file. To do this, you’ll need to assign the modparam a number (add a #define M_MYNEWMODPARAM x entry, x needs to be unique but less than 0x1000.) Then add your new param to the list just below this, and add code for setting it to handle_modparams(). Again, see lcec_rtec.c for an example.
  3. Add device-specific pins. This is a multi-step process, but isn’t particularly CiA 402-specific:
    1. Add variables for the pins and PDOs to lcec_my_devicename_data_t. You’ll want a hal_pin_* variable for each pin. Each PDO will need an int pdoname_os entry, and boolean PDOs will also need an int pdoname_bp variable.
    2. Add the pins to slave_pins. See lcec_rtec.c for the format.
    3. Add the PDO entries to the sync mapping. Look for lcec_syncs_add_pdo_entry and follow the instructions. Make sure that you get the variable sizes correct, and add gaps around boolean entries.
    4. Register the PDOs with lcec_pdo_init(). There’s an example commented out. For boolean PDOs (or really anything smaller than 8 bits), you’ll need to use &hal_data->pdoname_bp instead of NULL at the end of the line.
    5. Add the PDOs and pins to the read and write functions. There should be an example provided, if you need more help look at almost any other driver’s read or write functions, and you’ll probably find an example.
  4. Deal with digital in/out pins. There are examples in place now, commented out. At some point, this may be moved fully into the CiA 402 framework, but it’s somewhat complicated right now.

Run make -j from src/ to compile the driver, and sudo make install to install it. Then test, find bugs, and iterate.

Feel free to open issues in Github asking for help.

Implementation Notes

I haven’t yet found a current copy of the CiA 402 spec that is available without paying hundreds of dollars. So, for the moment, we’re implementing this somewhat blind, by following a 2007 draft plus the manufacturer documentation for multiple devices, and trying to infer what the actual spec says by what devices implement.

Here’s a full list of objects defined across multiple vendors’ allegedly CiA 402-compliant EtherCAT hardware plus entries from a 2007 draft. Note that almost all devices will also provide device-specific objects, and some of these will overlap with CiA 402 objects. Also, it’s not always clear which objects should be mapped as PDOs and which should just be set via SDOs before startup. We will try to document problem cases here as they arise.

In addition, many objects are only used in specific opmodes, and a very similar (but not quite identical) set of objects control similar features in other modes. For example, 6042:00 is target velocity for vl mode, while 60ff:00 is target velocity for pv mode.

All addresses are hex, presented without the leading 0x. Addresses are provided for the first channel on a slave; additional channels on multi-axis devices will start at 0x6800, 0x7000, and 0x7800 instead of 0x6000.

Items listed as “add” should be added soon. Items listed as “add if hardware supports” or “add?” can be added if hardware that supports the feature is added.

Most objects are marked as “optional” in the standard. The “Mandatory?” column records which objects are required and when. Many objects are only required if specific opmodes are supported, these should all be called out.

Index Type Mandatory? Used in Modes Description Pin/modParam Notes
6007:00 S16     Abort connection option code ADD MODPARAM  
603f:00 U16     Fault Code pin: src-error-code Error code of the last error. Optional.
6040:00 U16 Yes All Control Word pin: srv-cia-controlword Controls CiA 402 device. Required.
6041:00 U16 Yes All Status Word pin: srv-cia-statusword Status of CiA 402 device. Required.
6042:00 S16 vl vl Target vl velocity pin: srv-target-vl Not on ECT60 (for VFDs, mostly)
6043:00 S16 vl vl vl Velocity demand pin: srv-demand-vl Not on ECT60 (for VFDs, mostly)
6044:00 S16 vl vl Actual vl velocity pin: srv-actual-vl Not on ECT60 (for VFDs, mostly)
6046:01 S16 vl vl vl velocity minimum pin: srv-vl-minimum Not on ECT60 (for VFDs, mostly)
6046:02 S16 vl vl vl velocity maximum pin: srv-vl-maximum Not on ECT60 (for VFDs, mostly)
6048:00 U32 vl vl vl velocity acceleration pin: srv-vl-accel Not on ECT60 (for VFDs, mostly)
6049:00 U32 vl vl vl velocity deceleration pin: srv-vl-decel Not on ECT60 (for VFDs, mostly)
604a:01 U32 vl vl vl velocity quick stop numerator mp: vlQuickStopRatio  
604a:02 U16 vl vl vl velocity quick stop denominator mp: vlQuickStopRatio  
604b:01 S16 vl vl vl velocity set-point numerator mp: vlSetPoint  
604b:02 S16 vl vl vl velocity set-point denominator mp: vlSetPoint  
604c:00 S32 vl vl vl velocity dimension numerator mp: vlDimensionFactor  
604c:00 S32 vl vl vl velocity dimension denominator mp: vlDimensionFactor  
605a:00 S16   ~all Quick stop option code mp: quickStopOptionCode  
605b:00 S16     Shutdown option code mp: shutdownOptionCode  
605c:00 S16     Disable operation option code mp: disableOptionCode  
605d:00 S16     Halt option code mp: haltOptionCode  
605e:00 S16     Fault Reaction Option Code mp: faultOptionCode Controls what happens when a fault is detected.
6060:00 U16 optional! All Operating Mode pin: srv-opmode Controls the operating mode of the device. Profile/velocity/torque/etc. See cia402 component.
6061:00 U16 optional! All Operating Mode Display pin: srv-opmode-display Shows the current operating mode. See cia402 component.
6062:00 S32   pp, ip, others? Position demand value add pin: srv-position-demand Input, showing state of motion controller
6063:00 S32     Actual location internal NOT PLANNED Current position in internal units. Encoder position?
6064:00 S32 pp csp pp, csp, csv?, cst? Actual location pin: srv-actual-position Current position. See cia402 component.
6065:00 U32   pp?, csp Following error window pin: srv-following-error-window Error window that will trigger a fault is the motor position is outside of the window. -1 disables.
6066:00 U16   pp?, csp Following error timeout pin: srv-following-error-timeout Time window (in ms) for a following error.
6067:00 U32     Position error window ADD PIN Position window that will trigger a fault
6068:00 U16     Position error timeout ADD PIN Time window (in ms) for a position error.
6069:00 S32   pv, csp, csv Velocity sensor actual value pin: srv-actual-velocity-sensor  
606a:00 S16   pv (also csp, csv?) Velocity sensor selection code pin: srv-velocity-sensor-selector  
606b:00 S32   pv Velocity demand value pin: srv-velocity-demand Outputs internal “velocity demand” between trajectory generator and velocity controller.
606c:00 S32 pv csv pv, csp, csv, cst Actual velocity pin: srv-actual-velocity Current velocity. See cia402 component.
606d:00 U16   pv Velocity error window pin: srv-velocity-error-window Velocity window for calculating a velocity error
606e:00 U16   pv Velocity error timeout pin: srv-velocity-error-time Time for calculating a velocity error
606f:00 U16   pv Velocity threshold pin: srv-velocity-threshold-window  
6070:00 U16   pv Velocity threshold time pin: srv-velocity-threshold-time  
6071:00 S16 tq cst tq, cst Target torque pin: srv-target-torque  
6072:00 U16   tq, csp, csv, cst Maximum torque pin: srv-maximum-torque  
6073:00 U16   tq Maximum current pin: srv-maximum-current In torque mode, in mA.
6074:00 S16   tq Torque demand pin: srv-torque-demand Outputs internal “torque demand” between trajectory generator and torque controller.
6075:00 U32   tq Motor rated current pin: srv-motor-rated-current Only for torque mode? In mA.
6076:00 U32   tq, csp, csv, cst Motor rated torque pin: srv-motor-rated-torque In csp, others? In mN or mN-m
6077:00 S16 cst tq, csp, csv, cst Actual torque pin: srv-actual-torque Current torque. See cia402 component.
6078:00 S16   tq Actual current pin: srv-actual-current Current current, in mA.
6079:00 U32   tq Actual voltage pin: srv-actual-voltage Current voltage, in mV.
607a:00 S32 pp pc(?) csp pp, csp Target location pin: srv-target-position Target position. See cia402 component.
607b:01 S32   pp, ip, csp Position range limit (min) mp: positionLimitMin Range limit for position, wraps around on overflow. Not on ECT60.
607b:01 S32   pp, ip, csp Position range limit (max) mp: positionLimitMax Range limit for position, wraps around on overflow. Not on ECT60.
607c:00 S32   hm, ip, other *p? Home Offset mp: homeOffset ECT60 says it’s in units of ‘pulses’.
607d:01 S32   pp, ip, csp Min position limit mp: swPositionLimitMin Range limit for position, does not wrap.
607d:02 S32   pp, ip, csp Max position limit mp: swPositionLimitMax Range limit for position, does not wrap.
607e:00 U8   pv, pp, csv, csp Polarity pin: srv-polarity Controls direction +/-. Functionally 2 different settings in one register.
607f:00 U32   pp, ip, pv Max profile velocity pin: srv-profile-max-velocity Maximum speed during a profiled motion.
6080:00 U32   pp, ip, pv, csp, csv, cst Max motor speed pin: srv-maximum-motor-rpm Max allowed speed of motor, in RPM.
6081:00 U32   pp, ip Profile Velocity pin: srv-profile-velocity Normal limit for velocity during a move operation.
6082:00 U32   pp, ip End velocity pin: srv-profile-end-velocity Velocity at the end of a move. Usually 0.
6083:00 S32   pp, ip, pv Profile/Track Acceleration pin: srv-profile-accel  
6084:00 S32   pp, ip, pv Profile/Track deceleration pin: srv-profile-decel  
6085:00 S32   pp, ip, pv Quick stop deceleration mp: quickDecel Used for “quick stops” (errors, etc).
6086:00 S16   pp, pv, csp, csv Motion profile type pin: srv-motion-profile Not supported on ECT60. Linear ramp, sin^2 ramp, jerk ramps, etc.
6087:00 U32 tq tq Torque slope pin: srv-torque-slope  
6088:00 S16   tq Torque profile type pin: srv-torque-profile-type  
608f:01 U32     Position encoder increments ADD RATIO MODPARAM Not supported on ECT60. Number of encoder steps per revolultion is ratio with below.
608f:02 U32     Position motor revolutions ADD RATIO MODPARAM Not supported on ECT60.
6090:01 U32     Velocity encoder increments ADD RATIO MODPARAM for “velocity encoders”.
6090:02 U32     Velocity motor revolutions ADD RATIO MODPARAM  
6091:01 U32     Gear ratio motor revolutions ADD RATIO MODPARAM Not on ECT60
6091:02 U32     Gear ratio shaft revolutions ADD RATIO MODPARAM From Beckhoff AX8xxx, not on ECT60
6092:01 U32     Feed constant numerator ADD RATIO MODPARAM According to Leadshine, this is steps per revolution
6092:02 U32     Feed constant denominator ADD RATIO MODPARAM According to Leadshine, this is steps per revolution
6093:01 U32     E-Gear ratio numerator ADD RATIO MODPARAM From Delta ASDA
6093:02 U32     E-Gear ratio denominator ADD RATIO MODPARAM From Delta ASDA
6096:00 ?     Velocity factor   Not in my CiA 402 draft
6097:00 ?     Acceleration factor   Not in my CiA 402 draft
6098:00 S8 hm hm Homing method pin: srv-home-method Defines which of 36 standard homing modes (plus up to 128 manufacturer-specific modes) to use.
6099:01 U32 hm hm Homing velocity fast pin: srv-home-velocity-fast  
6099:02 U32 hm hm Homing velocity slow pin: srv-home-velocity-slow  
609a:00 U32   hm Homing acceleration pin: srv-home-accel  
60a2:00 ?     Jerk factor   Not in my CiA 402 draft
60a3:00 U8   pp Profile jerk use   Not supported on ECT60 (?)
60a4:0x U32   pp Profile jerk (x=1..6)   Not supported on ECT60
60b0:00 S32   csp Position offset NOT PLANNED Offset for position in csp mode. Probably not useful in LinuxCNC.
60b1:00 S32   csp, csv Velocity offset NOT PLANNED Offset for velocity in csp and csv modes. Probably not useful in LinuxCNC.
60b2:00 S16   csp, csv, cst Torque offset NOT PLANNED Offset for torque in cs* modes. Actually a multiplier, in units of 1/1000 max torque.
60b8:00 U16   hm Probe function mp: probeFunction Broken into 10 sub-fields. Implement as an integer for now?
60b9:00 U16   hm Probe status ADD PIN  
60ba:00 S32   hm Touch probe 1 positive value mp: probe1Positive  
60bb:00 S32   hm Touch probe 1 negative value mp: probe1Negative  
60bc:00 S32   hm Touch probe 2 positive value mp: probe2Positive  
60bd:00 S32   hm Touch probe 2 negative value mp: probe2Negative  
60c0:00 S16   ip Interpolated sub mode select NOT PLANNED  
60c1:xx S32   ip Interpolation data record NOT PLANNED Data for interpolation mode
60c2:01 U8 ip csp csv cst ip, csp, csv, cst Interpolation time period pin: srv-interpolation-time-period  
60c2:02 S8 ip csp csv cst ip, csp, csv, cst Interpolation index NOT PLANNED  
60c4:01 U32   ip Interpolation max buffer size NOT PLANNED  
60c4:02 U32   ip Interpolation act buffer size NOT PLANNED  
60c4:03 bit   ip Interpolation buffer organ. NOT PLANNED  
60c4:04 U16   ip Interpolation buffer position NOT PLANNED  
60c4:05 U8   ip Interpolation record size NOT PLANNED  
60c4:06 bit   ip Interpolation buffer clear NOT PLANNED  
60c5:00 U32   pp, ip, pv Max acceleration pin: srv-maximum-acceleration Overall max accel, not on ECT60
60c6:00 U32   pp, ip, pv Max deceleration pin: srv-maximum-deceleration Overall max decel, not on ECT60
60d0:00 ?     Touch probe source   Not in my CiA 402 draft
60d1:00 ?     Touch probe timestamp 1 + edge   Not in my CiA 402 draft
60d2:00 ?     Touch probe timestamp 1 - edge   Not in my CiA 402 draft
60d3:00 ?     Touch probe timestamp 2 + edge   Not in my CiA 402 draft
60d4:00 ?     Touch probe timestamp 2 - edge   Not in my CiA 402 draft
60d5:00 U16     Touch probe counter 1 + edge   Not in my CiA 402 draft
60d6:00 U16     Touch probe counter 1 - edge   Not in my CiA 402 draft
60d7:00 U16     Touch probe counter 2 + edge   Not in my CiA 402 draft
60d8:00 U16     Touch probe counter 2 - edge   Not in my CiA 402 draft
60f2:00 U16   pp, ip Positioning option code ADD MODPARAM  
60f4:00 U32   csp Following error actual value pin: srv-actual-following-error  
60f8:00 S32   pv Max slipage ADD PIN  
60fa:00 S32   pp Control effort ADD PIN “Control effort” measured in control loop, in undefined units.
60fc:00 S32   pp, hm, ip Position demand internal value skip for now  
60fd:00 U32     Digital inputs added  
60fe:01 U32     Digital outputs added Undocumented on ECT60
60fe:02 U32     Digital outputs mask unsure what to do with these today Undocumented on ECT60
60ff:00 S32 pv csv pv, csv Target velocity pin: srv-target-velocity  
6402:00 U16     Motor type NOT PLANNED  
6403:00 str     Motor catalog number NOT PLANNED  
6404:00 str     Motor manufacturer NOT PLANNED  
6405:00 str     Motor catalog URL NOT PLANNED  
6406:00 time     Motor calibration date NOT PLANNED  
6407:00 U32     Motor service period NOT PLANNED  
6502:00 U32 yes   Supported opmodes pin: srv-supported-modes See also srv-supports-mode-*
6503:00 str     Drive catalog number NOT PLANNED  
6505:00 str     Drive catalog url NOT PLANNED  
This site is open source. Improve this page.