The ESI data ingested by github.com/linuxcnc-ethercat/esi-data describes 2 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 | r18 |
r19 |
|
| Name | EL5021-0090 1Ch. Sin/Cos Encoder, TwinSAFE SC |
||
| PID | 0x139d3052 |
||
| Revision Code | 0x0012005a |
0x0013005a |
|
| Equivalant Devices | |||
| 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) |
|||