EtherCAT ESI Data for LinuxCNC

Beckhoff EL5101-1006

Type:
EL5101-1006
Description:
EL5101-1006 1Ch. Inc. Encoder 5V ext.
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 5 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
r1019
r1020
r1021
r1022
r1023
Name
EL5101-1006 1Ch. Inc. Encoder 5V ext.
PID
0x13ed3052
Revision Code
0x03fb03ee
0x03fc03ee
0x03fd03ee
0x03fe03ee
0x03ff03ee
Equivalant Devices
EL5101 r1017
EL5101 r1019
EL5101 r1020
EL5101 r1021
EL5101 r1022
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  Latch C valid                   BOOL
  0x6010:01  Status__Latch C valid           BOOL
  0x6010:02  Latch extern valid              BOOL
  0x6010:02  Status__Latch extern valid      BOOL
  0x6010:03  Set counter done                BOOL
  0x6010:03  Status__Set counter done        BOOL
  0x6010:04  Counter underflow               BOOL
  0x6010:04  Status__Counter underflow       BOOL
  0x6010:05  Counter overflow                BOOL
  0x6010:05  Status__Counter overflow        BOOL
  0x6010:06  Status of input status          BOOL
  0x6010:06  Status__Status of input status  BOOL
  0x6010:07  Open circuit                    BOOL
  0x6010:07  Status__Open circuit            BOOL
  0x6010:08  Extrapolation stall             BOOL
  0x6010:08  Status__Extrapolation stall     BOOL
  0x6010:09  Status of input A               BOOL
  0x6010:09  Status__Status of input A       BOOL
  0x6010:0a  Status of input B               BOOL
  0x6010:0a  Status__Status of input B       BOOL
  0x6010:0b  Status of input C               BOOL
  0x6010:0b  Status__Status of input C       BOOL
  0x6010:0c  Status of input gate            BOOL
  0x6010:0c  Status__Status of input gate    BOOL
  0x6010:0d  Status of extern latch          BOOL
  0x6010:0d  Status__Status of extern latch  BOOL
  0x6010:11  Counter value                   UINT (16 bits)
  0x6010:12  Latch value                     UINT (16 bits)
0x1a04: ENC Status
  0x6010:01  Latch C valid                   BOOL
  0x6010:01  Status__Latch C valid           BOOL
  0x6010:02  Latch extern valid              BOOL
  0x6010:02  Status__Latch extern valid      BOOL
  0x6010:03  Set counter done                BOOL
  0x6010:03  Status__Set counter done        BOOL
  0x6010:04  Counter underflow               BOOL
  0x6010:04  Status__Counter underflow       BOOL
  0x6010:05  Counter overflow                BOOL
  0x6010:05  Status__Counter overflow        BOOL
  0x6010:06  Status of input status          BOOL
  0x6010:06  Status__Status of input status  BOOL
  0x6010:07  Open circuit                    BOOL
  0x6010:07  Status__Open circuit            BOOL
  0x6010:08  Extrapolation stall             BOOL
  0x6010:08  Status__Extrapolation stall     BOOL
  0x6010:09  Status of input A               BOOL
  0x6010:09  Status__Status of input A       BOOL
  0x6010:0a  Status of input B               BOOL
  0x6010:0a  Status__Status of input B       BOOL
  0x6010:0b  Status of input C               BOOL
  0x6010:0b  Status__Status of input C       BOOL
  0x6010:0c  Status of input gate            BOOL
  0x6010:0c  Status__Status of input gate    BOOL
  0x6010:0d  Status of extern latch          BOOL
  0x6010:0d  Status__Status of extern latch  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                       DWORD (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  Enable latch C                  BOOL
  0x7010:01  Control__Enable latch C         BOOL
  0x7010:02  Enable latch extern on positive edge  BOOL
  0x7010:02  Control__Enable latch extern on positive edge  BOOL
  0x7010:03  Set counter                     BOOL
  0x7010:03  Control__Set counter            BOOL
  0x7010:04  Enable latch extern on negative edge  BOOL
  0x7010:04  Control__Enable latch extern on negative edge  BOOL
  0x7010:11  Set counter value               UINT (16 bits)
0x1603: ENC Control
  0x7010:01  Enable latch C                  BOOL
  0x7010:01  Control__Enable latch C         BOOL
  0x7010:02  Enable latch extern on positive edge  BOOL
  0x7010:02  Control__Enable latch extern on positive edge  BOOL
  0x7010:03  Set counter                     BOOL
  0x7010:03  Control__Set counter            BOOL
  0x7010:04  Enable latch extern on negative edge  BOOL
  0x7010:04  Control__Enable latch extern on negative edge  BOOL
  0x7010:11  Set counter value               UDINT (32 bits)