Beckhoff EL5032

Type:: EL5032
Description:: EL5032 2Ch. EnDat Encoder
Vendor: Beckhoff Automation GmbH & Co. KG
Documentation: http://www.beckhoff.com/EL5032

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	r21	r23	r24	r25	r26	r27	r28
Name	EL5032 2Ch. EnDat Encoder
PID	0x13a83052
Revision Code	0x00150000	0x00170000	0x00180000	0x00190000	0x001a0000	0x001b0000	0x001c0000
Equivalant Devices			EJ5042-0010 r16 EL5042 r16
TX PDOs	0x1a00: FB Inputs Channel 1
	0x6000:01 Status__Warning BOOL
	0x6000:02 Status__Error BOOL
	0x6000:03 Status__Ready BOOL
	0x6000:0d Status__Diag BOOL
	0x6000:0e Status__TxPDO State BOOL
	0x6000:0f Status__Input cycle counter BIT2 (2 bits)
	0x6000:11 Position ULINT (64 bits)
	0x1a01: FB Inputs Channel 2
	0x6010:01 Status__Warning BOOL
	0x6010:02 Status__Error BOOL
	0x6010:03 Status__Ready BOOL
	0x6010:0d Status__Diag BOOL
	0x6010:0e Status__TxPDO State BOOL
	0x6010:0f Status__Input cycle counter BIT2 (2 bits)
	0x6010:11 Position ULINT (64 bits)
	0x1a02: FB Inputs Channel 1 compact
	0x6000:01 Status__Warning BOOL
	0x6000:02 Status__Error BOOL
	0x6000:03 Status__Ready BOOL
	0x6000:0d Status__Diag BOOL
	0x6000:0e Status__TxPDO State BOOL
	0x6000:0f Status__Input cycle counter BIT2 (2 bits)
	0x6000:11 Position UDINT (32 bits)
	0x1a03: FB Inputs Channel 2 compact
	0x6010:01 Status__Warning BOOL
	0x6010:02 Status__Error BOOL
	0x6010:03 Status__Ready BOOL
	0x6010:0d Status__Diag BOOL
	0x6010:0e Status__TxPDO State BOOL
	0x6010:0f Status__Input cycle counter BIT2 (2 bits)
	0x6010:11 Position UDINT (32 bits)
							0x1a04: FB Inputs Velocity Channel 1
							0x6008:12 Velocity DINT (32 bits)
							0x1a05: FB Inputs Velocity Channel 2
							0x6018:12 Velocity DINT (32 bits)