Beckhoff EL2521-0025

Type:: EL2521-0025
Description:: EL2521-0025 1Ch. Pulse Train 24V DC Output negative
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 6 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	r1016	r1017	r1018	r1019	r1020	r1021
Name	EL2521-0025 1Ch. Pulse Train 24V DC Output negative
PID	0x09d93052
Revision Code	0x03f80019	0x03f90019	0x03fa0019	0x03fb0019	0x03fc0019	0x03fd0019
Equivalant Devices	EL2521 r1016 EL2521-0024 r1016 EL2521-0024 r1017 EL2521-1001 r1016 EL2521-1001 r1017		EL2521 r1019 EL2521 r1020 EL2521 r1021 EL2521-0024 r1018 EL2521-0024 r1019 EL2521-0024 r1020 EL2521-1001 r1018 EL2521-1001 r1019 EL2521-1001 r1020			EL2521 r1022 EL2521-0024 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)