Beckhoff EL2521-1001

Type:: EL2521-1001
Description:: EL2521-1001 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 7 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	r1	r1016	r1017	r1018	r1019	r1020
Name	EL2521-1001 1Ch. Pulse Train Output
PID	0x09d93052
Revision Code	0x000003e9	0x000103e9	0x03f803e9	0x03f903e9	0x03fa03e9	0x03fb03e9	0x03fc03e9
Equivalant Devices		EL2521 r0	EL2521 r1016 EL2521-0024 r1016 EL2521-0024 r1017 EL2521-0025 r1016 EL2521-0025 r1017		EL2521 r1019 EL2521 r1020 EL2521 r1021 EL2521-0024 r1018 EL2521-0024 r1019 EL2521-0024 r1020 EL2521-0025 r1018 EL2521-0025 r1019 EL2521-0025 r1020
TX PDOs	0x1a00: Inputs
	0x6000:01 Status USINT (8 bits)	0x6000:01 Status UINT (16 bits)
	0x6000:02 Data In UINT (16 bits)
	0x1a01: Inputs		0x1a01: PTO Status
	0x6000:01 Status USINT (8 bits)
	0x6000:02 Data In UINT (16 bits)
			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
			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
			0x6020:11 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
			0x6020:11 Counter value UDINT (32 bits)
RX PDOs	0x1600: Outputs
	0x7000:01 Ctrl USINT (8 bits)	0x7000:01 Ctrl UINT (16 bits)
	0x7000:02 Data Out UINT (16 bits)
	0x1601: Outputs		0x1601: PTO Control
	0x7000:01 Ctrl USINT (8 bits)
	0x7000:02 Data Out UINT (16 bits)
			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)