Beckhoff EJ5151

Type:: EJ5151
Description:: EJ5151 1Ch. Inc. Encoder
Vendor: Beckhoff Automation GmbH & Co. KG
Documentation: http://www.beckhoff.com/EJ5151

Revisions and PDOs

The ESI data ingested by github.com/linuxcnc-ethercat/esi-data describes 1 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
Name	EJ5151 1Ch. Inc. Encoder
PID	0x141f2852
Revision Code	0x00100000
Equivalant Devices	EL5151 r25 EL5151 r26 EL5151-0080 r21
TX PDOs	0x1a00: ENC Inputs
	0x6000:01 Status__Latch C valid BOOL
	0x6000:02 Status__Latch extern valid BOOL
	0x6000:03 Status__Set counter done BOOL
	0x6000:08 Status__Extrapolation stall BOOL
	0x6000:09 Status__Status of input A BOOL
	0x6000:0a Status__Status of input B BOOL
	0x6000:0b Status__Status of input C BOOL
	0x6000:0d Status__Status of extern latch BOOL
	0x6000:0e Status__Sync error BOOL
	0x6000:10 Status__TxPDO Toggle BOOL
	0x6000:11 Counter value UDINT (32 bits)
	0x6000:12 Latch value UDINT (32 bits)
	0x1a01: ENC Inputs
	0x6000:01 Status__Latch C valid BOOL
	0x6000:02 Status__Latch extern valid BOOL
	0x6000:03 Status__Set counter done BOOL
	0x6000:08 Status__Extrapolation stall BOOL
	0x6000:09 Status__Status of input A BOOL
	0x6000:0a Status__Status of input B BOOL
	0x6000:0b Status__Status of input C BOOL
	0x6000:0d Status__Status of extern latch BOOL
	0x6000:0e Status__Sync error BOOL
	0x6000:10 Status__TxPDO Toggle BOOL
	0x6000:11 Counter value UINT (16 bits)
	0x6000:12 Latch value UINT (16 bits)
	0x1a02: ENC Inputs
	0x6000:14 Period value UDINT (32 bits)
	0x1a03: ENC Inputs
	0x6000:13 Frequency value UDINT (32 bits)
	0x1a04: ENC Inputs
	0x6000:16 Timestamp ULINT (64 bits)
	0x1a05: ENC Inputs
	0x6000:16 Timestamp UDINT (32 bits)
RX PDOs	0x1600: ENC Outputs
	0x7000:01 Control__Enable latch C BOOL
	0x7000:02 Control__Enable latch extern on positive edge BOOL
	0x7000:03 Control__Set counter BOOL
	0x7000:04 Control__Enable latch extern on negative edge BOOL
	0x7000:11 Set counter value UDINT (32 bits)
	0x1601: ENC Outputs
	0x7000:01 Control__Enable latch C BOOL
	0x7000:02 Control__Enable latch extern on positive edge BOOL
	0x7000:03 Control__Set counter BOOL
	0x7000:04 Control__Enable latch extern on negative edge BOOL
	0x7000:11 Set counter value UINT (16 bits)