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 | r16 |
r17 |
r18 |
r19 |
r20 |
r21 |
r22 |
|
Name | EL5021 1K. Sin/Cos Encoder |
EL5021 1Ch. Sin/Cos Encoder |
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PID | 0x139d3052 |
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Revision Code | 0x00100000 |
0x00110000 |
0x00120000 |
0x00130000 |
0x00140000 |
0x00150000 |
0x00160000 |
|
Equivalant Devices | EJ5021 r16 |
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TX PDOs | 0x1a00: ENC Status |
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0x6000:01 Status__Latch C valid BOOL |
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0x6000:03 Status__Set counter done BOOL |
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0x6001:04 Status__Frequency error BOOL |
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0x6001:05 Status__Amplitude error BOOL |
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0x6000:0b Status__Status of input C BOOL |
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0x6000:0e Status__Sync error BOOL |
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0x6000:0f Status__TxPDO State BOOL |
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0x6000:10 Status__TxPDO Toggle BOOL |
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0x6000:11 Counter value UDINT (32 bits) |
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0x6000:12 Latch value UDINT (32 bits) |
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0x1a01: ENC Frequency (int32) |
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0x6000:1b Frequency value (int32) DINT (32 bits) |
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0x1a02: ENC Frequency (uint32) |
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0x6000:13 Frequency value UDINT (32 bits) |
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RX PDOs | 0x1600: ENC Control |
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0x7000:01 Control__Enable latch C BOOL |
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0x7000:03 Control__Set counter BOOL |
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0x7000:11 Set counter value UDINT (32 bits) |