EtherCAT ESI Data for LinuxCNC

Beckhoff EJ5002

Type:
EJ5002
Description:
EJ5002 2Ch. SSI Encoder
Vendor
Beckhoff Automation GmbH & Co. KG
Documentation
http://www.beckhoff.com/EJ5002

Revisions and PDOs

The ESI data ingested by github.com/linuxcnc-ethercat/esi-data describes 2 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
r16
r17
Name
EJ5002 2Ch. SSI Encoder
PID
0x138a2852
Revision Code
0x00100000
0x00110000
Equivalant Devices
EL5002 r19
EL5002 r20
TX PDOs
0x1a00: SSI Inputs Channel 1
  0x6000:01  Status__Data error              BOOL
  0x6000:02  Status__Frame error             BOOL
  0x6000:03  Status__Power failure           BOOL
  0x6000:04  Status__Data mismatch           BOOL
  0x6000:0e  Status__Sync error              BOOL
  0x6000:0f  Status__TxPDO State             BOOL
  0x6000:10  Status__TxPDO Toggle            BOOL
  0x6000:11  Counter value                   UDINT (32 bits)
0x1a01: SSI Inputs Channel 2
  0x6010:01  Status__Data error              BOOL
  0x6010:02  Status__Frame error             BOOL
  0x6010:03  Status__Power failure           BOOL
  0x6010:04  Status__Data mismatch           BOOL
  0x6010:0e  Status__Sync error              BOOL
  0x6010:0f  Status__TxPDO State             BOOL
  0x6010:10  Status__TxPDO Toggle            BOOL
  0x6010:11  Counter value                   UDINT (32 bits)