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Beckhoff EL2521

Type:

EL2521

Description:

EL2521 1Ch. Pulse Train Output

Vendor

Beckhoff Automation GmbH & Co. KG

Documentation

http://www.beckhoff.com/EL2521

Revisions and PDOs

The ESI data ingested by github.com/linuxcnc-ethercat/esi-data describes 8 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	r0	r1016	r1017	r1018	r1019	r1020	r1021	r1022
Name	EL2521 1Ch. Pulse Train Output
PID	0x09d93052
Revision Code	0x00000000	0x03f80000	0x03f90000	0x03fa0000	0x03fb0000	0x03fc0000	0x03fd0000	0x03fe0000
Equivalant Devices	EL2521-1001 r1	EL2521-0024 r1016 EL2521-0024 r1017 EL2521-0025 r1016 EL2521-0025 r1017 EL2521-1001 r1016 EL2521-1001 r1017			EL2521-0024 r1018 EL2521-0024 r1019 EL2521-0024 r1020 EL2521-0025 r1018 EL2521-0025 r1019 EL2521-0025 r1020 EL2521-1001 r1018 EL2521-1001 r1019 EL2521-1001 r1020			EL2521-0024 r1021 EL2521-0025 r1021
TX PDOs	0x1a00: Inputs
	0x6000:01 Status UINT (16 bits)
	0x6000:02 Data In UINT (16 bits)
		0x1a01: PTO Status
		0x6010:01 Sel. Ack/End counter BOOL	0x6010:01 Status__Sel. Ack/End counter BOOL
		0x6010:02 Ramp active BOOL	0x6010:02 Status__Ramp active BOOL
		0x6010:05 Status of input target BOOL	0x6010:05 Status__Status of input target BOOL
		0x6010:06 Status of input zero BOOL	0x6010:06 Status__Status of input zero BOOL
		0x6010:07 Error BOOL	0x6010:07 Status__Error BOOL
								0x6010:0e Status__Sync error BOOL
								0x6010:10 Status__TxPDO Toggle BOOL
		0x1a02: ENC Status compact
		0x6020:03 Set counter done BOOL	0x6020:03 Status__Set counter done BOOL
		0x6020:04 Counter underflow BOOL	0x6020:04 Status__Counter underflow BOOL
		0x6020:05 Counter overflow BOOL	0x6020:05 Status__Counter overflow BOOL
								0x6020:0e Status__Sync error BOOL
								0x6020:10 Status__TxPDO Toggle BOOL
		0x6020:11 Counter value UINT (16 bits)
		0x1a05: ENC Status
		0x6020:03 Set counter done BOOL	0x6020:03 Status__Set counter done BOOL
		0x6020:04 Counter underflow BOOL	0x6020:04 Status__Counter underflow BOOL
		0x6020:05 Counter overflow BOOL	0x6020:05 Status__Counter overflow BOOL
								0x6020:0e Status__Sync error BOOL
								0x6020:10 Status__TxPDO Toggle BOOL
		0x6020:11 Counter value UDINT (32 bits)
RX PDOs	0x1600: Outputs
	0x7000:01 Ctrl UINT (16 bits)
	0x7000:02 Data Out UINT (16 bits)
		0x1601: PTO Control
		0x7010:01 Frequency select BOOL	0x7010:01 Control__Frequency select BOOL
		0x7010:02 Disable ramp BOOL	0x7010:02 Control__Disable ramp BOOL
		0x7010:03 Go counter BOOL	0x7010:03 Control__Go counter BOOL
		0x7010:11 Frequency value UINT (16 bits)
		0x1604: PTO Target compact
		0x7010:12 Target counter value UINT (16 bits)
		0x1607: PTO Target
		0x7010:12 Target counter value UDINT (32 bits)
		0x1602: ENC Control compact
		0x7020:03 Set counter BOOL	0x7020:03 Control__Set counter BOOL
		0x7020:11 Set counter value UINT (16 bits)
		0x1605: ENC Control
		0x7020:03 Set counter BOOL	0x7020:03 Control__Set counter BOOL
		0x7020:11 Set counter value UDINT (32 bits)