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ESP20/40 in ASR100n chassis

It's a bit unclear to me which ESP is supported in which ASR chassis - for example, I've found sources claiming that ESP20 is supported with ASR1002 and sources claiming that at least ASR1004 is required;  also, I've read that ASR1006 is required for ESP40, while we have two ASRs 1004 running in our network with that type of ESP.

Could anyone please provide an authoritative opinion on the subject?

Thank you.

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Cisco ASR 1000 Series

Cisco ASR 1000 Series Embedded Services Processors Data Sheet

For ESP 20, the compatible chassis are the 1004 and 1006 (Table 21).

For ESP 40, the compatible chassis are the 1004, 1006 and 1013 (Table 22).

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