EtherCAT ESI Data for LinuxCNC

Beckhoff EL5021

Type:
EL5021
Description:
EL5021 1K. Sin/Cos Encoder
Vendor
Beckhoff Automation GmbH & Co. KG
Documentation
http://www.beckhoff.com/EL5021

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