EL7221-9014/15 LCEC Driver Support

Hello guys, it's been longer than I'd like since the last time...

Without further ado, I'll get to the point:

I want to try the EL7221 module. I've read some of the manual and I see that there are different versions depending on the profile:

EL7221-9014 --> MDP742 profile

EL7221-9015 --> DS402 (CIA402) profile
I've also seen that the lcec_el7211.c driver included in linuxcnc-ethercat supports the EL7221 module, although version 9014/15 isn't specified. The EL7201-9014 module is specified, and for the latter, a separate initialization function is used:

static lcec_typelist_t types[] = {

{"EL7201_9014", LCEC_BECKHOFF_VID, 0x1C213052, 0, NULL, lcec_el7201_9014_init}, 
{"EL7211", LCEC_BECKHOFF_VID, 0x1C2B3052, 0, NULL, lcec_el7211_init}, 
{"EL7221", LCEC_BECKHOFF_VID, 0x1C353052, 0, NULL, lcec_el7211_init}, 
{NULL},
};

Another thing I have noticed is that the "product code" for the EL7221 also does not match the one specified by the el72x1-901x_en.pdf manual:

1018:02 | Product code | Product code of the EtherCAT slave | UINT32 RO | 0x1C213052

The product code matches for the EL7201-9014.

Therefore, here are a couple of questions:

1- Is the EL7221-9014 module truly supported by the lcec_el7211.c driver?

2- Would I have to use the driver, configuring the ethercat_conf.xml file for the EL7201-9014 module, even though the actual module is the EL7221-9014?

The last question is based on the fact that the models EL7201-9014, EL7211-9014, and EL7221-9014 have the same PDOs/SDOs objects.

Another issue I see is that if the EL7221-9014/15 module is supported, the driver doesn't fully utilize its potential. However, using it in CSV mode and having position feedback is sufficient for LinuxCNC, so this shouldn't be a problem. Nevertheless, it excludes modes like CSP and homing procedures that the module could handle.

Now, after reading the el72x1-901x_en.pdf manual, it occurred to me that the module complies with the DS402/CIA402 standard. I could use lcec_class_cia402.c from the same repository, so I turned to the linuxcnc-ethercat documentation, specifically cia402.md, and found this:

"Notable non-Cia 402 devices are Beckhoff EL7xxx and AX5xxx series drives."

However, the manual states:

Terminal designation MDP742 and DS402 profile
Note that the servomotor terminal is given a different type designation in TwinCAT as a result of the profile change process described above.

The terminal then represents itself in the TwinCAT system manager as one of the following devices:
- Servomotor terminal with MDP742 profile: EL72x1-0010 or EL72x1-9014
- Servomotor terminal with DS402 profile: EL72x1-0011 or EL72x1-9015

So here's another question:

3- Does the lcec_class_cia402.c driver support the EL7221-9015 module with DS402/CIA402 profile?

In conclusion, I've seen that in the examples directory of the linuxcnc-ethercat repository there's a fairly practical example for an AM8121 motor using the EL7211 module, although the version isn't specified. From my reading and comparison between the manuals el72x1-901x_en.pdf and el72x1_en.pdf, I see that the SDO objects are quite similar.

4- Does anyone have experience with an EL7221-9014/15 module who could offer some assistance?

I haven't purchased my hardware yet, but I plan to use the EL7221-9014 module and the AM8131-0J00-0000 motor.

As always, I tend to elaborate in my explanations, so thank you in advance.