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Beckhoff EL5101-0090

Type:

EL5101-0090

Description:

EL5101-0090 1Ch. Inc. Encoder 5V, TwinSAFE SC

Vendor

Beckhoff Automation GmbH & Co. KG

Documentation

http://www.beckhoff.com/EL5101

Revisions and PDOs

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	r16	r17
Name	EL5101-0090 1Ch. Inc. Encoder 5V, TwinSAFE SC
PID	0x13ed3052
Revision Code	0x0010005a	0x0011005a
Equivalant Devices	EJ5101-0090 r17
TX PDOs	0x1a00: Inputs
	0x6000:01 Status USINT (8 bits)
	0x6000:02 Value UINT (16 bits)
	0x6000:03 Latch UINT (16 bits)
	0x1a01: Inputs
	0x6000:01 Status USINT (8 bits)
	0x6000:02 Value UINT (16 bits)
	0x6000:03 Latch UINT (16 bits)
	0x1a02: Inputs
	0x6000:04 Frequency UDINT (32 bits)
	0x6000:05 Period UINT (16 bits)
	0x6000:06 Window UINT (16 bits)
	0x1a03: ENC Status compact
	0x6010:01 Status__Latch C valid BOOL
	0x6010:02 Status__Latch extern valid BOOL
	0x6010:03 Status__Set counter done BOOL
	0x6010:04 Status__Counter underflow BOOL
	0x6010:05 Status__Counter overflow BOOL
	0x6010:06 Status__Status of input status BOOL
	0x6010:07 Status__Open circuit BOOL
	0x6010:08 Status__Extrapolation stall BOOL
	0x6010:09 Status__Status of input A BOOL
	0x6010:0a Status__Status of input B BOOL
	0x6010:0b Status__Status of input C BOOL
	0x6010:0c Status__Status of input gate BOOL
	0x6010:0d Status__Status of extern latch BOOL
	0x6010:0e Status__Sync error BOOL
	0x6010:0f Status__TxPDO State BOOL
	0x6010:10 Status__TxPDO Toggle BOOL
	0x6010:11 Counter value UINT (16 bits)
	0x6010:12 Latch value UINT (16 bits)
	0x1a04: ENC Status
	0x6010:01 Status__Latch C valid BOOL
	0x6010:02 Status__Latch extern valid BOOL
	0x6010:03 Status__Set counter done BOOL
	0x6010:04 Status__Counter underflow BOOL
	0x6010:05 Status__Counter overflow BOOL
	0x6010:06 Status__Status of input status BOOL
	0x6010:07 Status__Open circuit BOOL
	0x6010:08 Status__Extrapolation stall BOOL
	0x6010:09 Status__Status of input A BOOL
	0x6010:0a Status__Status of input B BOOL
	0x6010:0b Status__Status of input C BOOL
	0x6010:0c Status__Status of input gate BOOL
	0x6010:0d Status__Status of extern latch BOOL
	0x6010:0e Status__Sync error BOOL
	0x6010:0f Status__TxPDO State BOOL
	0x6010:10 Status__TxPDO Toggle BOOL
	0x6010:11 Counter value UDINT (32 bits)
	0x6010:12 Latch value UDINT (32 bits)
	0x1a05: ENC Frequency
	0x6010:13 Frequency value UDINT (32 bits)
	0x1a06: ENC Period
	0x6010:14 Period value UDINT (32 bits)
	0x1a07: ENC Timest.
	0x6010:16 Timestamp ULINT (64 bits)
	0x1a08: ENC Timest. compact
	0x6010:16 Timestamp UDINT (32 bits)
RX PDOs	0x1600: Outputs
	0x7000:01 Ctrl USINT (8 bits)
	0x7000:02 Value UINT (16 bits)
	0x1601: Outputs
	0x7000:01 Ctrl USINT (8 bits)
	0x7000:02 Value UINT (16 bits)
	0x1602: ENC Control compact
	0x7010:01 Control__Enable latch C BOOL
	0x7010:02 Control__Enable latch extern on positive edge BOOL
	0x7010:03 Control__Set counter BOOL
	0x7010:04 Control__Enable latch extern on negative edge BOOL
	0x7010:11 Set counter value UINT (16 bits)
	0x1603: ENC Control
	0x7010:01 Control__Enable latch C BOOL
	0x7010:02 Control__Enable latch extern on positive edge BOOL
	0x7010:03 Control__Set counter BOOL
	0x7010:04 Control__Enable latch extern on negative edge BOOL
	0x7010:11 Set counter value UDINT (32 bits)