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 |
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| Name | EL5102 2Ch. Inc. Encoder 5V (RS422,TTL) |
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| PID | 0x13ee3052 |
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| Revision Code | 0x00100000 |
0x00110000 |
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| Equivalant Devices | |||
| TX PDOs | 0x1a00: ENC Status Channel 1 |
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0x6000:01 Status__Latch C valid BOOL |
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0x6000:02 Status__Latch extern valid BOOL |
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0x6000:03 Status__Set counter done BOOL |
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0x6000:04 Status__Counter underflow BOOL |
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0x6000:05 Status__Counter overflow BOOL |
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0x6000:06 Status__Status of input status BOOL |
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0x6000:07 Status__Open circuit BOOL |
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0x6000:08 Status__Extrapolation stall BOOL |
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0x6000:09 Status__Status of input A BOOL |
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0x6000:0a Status__Status of input B BOOL |
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0x6000:0b Status__Status of input C BOOL |
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0x6000:0c Status__Status of input gate BOOL |
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0x6002:0d Status__Diag BOOL |
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0x6002:0e Status__TxPDO State BOOL |
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0x6002:0f Status__Input cycle counter BIT2 (2 bits) |
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0x6002:11 Status__Software gate valid BOOL |
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0x6002:12 Status__Latch extern 2 valid BOOL |
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0x6002:13 Status__Direction inversion detected BOOL |
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0x6002:14 Status__Status of extern latch BOOL |
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0x6002:15 Status__Counter value out of range BOOL |
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0x6000:11 Counter value UDINT (32 bits) |
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0x6000:12 Latch value UDINT (32 bits) |
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0x6000:22 Latch value 2 UDINT (32 bits) |
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0x1a01: ENC Status Compact Channel 1 |
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0x6000:01 Status__Latch C valid BOOL |
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0x6000:02 Status__Latch extern valid BOOL |
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0x6000:03 Status__Set counter done BOOL |
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0x6000:04 Status__Counter underflow BOOL |
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0x6000:05 Status__Counter overflow BOOL |
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0x6000:06 Status__Status of input status BOOL |
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0x6000:07 Status__Open circuit BOOL |
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0x6000:08 Status__Extrapolation stall BOOL |
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0x6000:09 Status__Status of input A BOOL |
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0x6000:0a Status__Status of input B BOOL |
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0x6000:0b Status__Status of input C BOOL |
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0x6000:0c Status__Status of input gate BOOL |
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0x6002:0d Status__Diag BOOL |
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0x6002:0e Status__TxPDO State BOOL |
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0x6002:0f Status__Input cycle counter BIT2 (2 bits) |
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0x6002:11 Status__Software gate valid BOOL |
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0x6002:12 Status__Latch extern 2 valid BOOL |
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0x6002:13 Status__Direction inversion detected BOOL |
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0x6002:14 Status__Status of extern latch BOOL |
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0x6002:15 Status__Counter value out of range BOOL |
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0x6000:11 Counter value UINT (16 bits) |
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0x6000:12 Latch value UINT (16 bits) |
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0x6000:22 Latch value 2 UINT (16 bits) |
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0x1a02: ENC Status Counter Channel 1 |
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0x6000:03 Status__Set counter done BOOL |
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0x6002:0d Status__Diag BOOL |
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0x6002:0e Status__TxPDO State BOOL |
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0x6002:0f Status__Input cycle counter BIT2 (2 bits) |
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0x6002:11 Status__Software gate valid BOOL |
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0x6000:11 Counter value UDINT (32 bits) |
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0x1a03: ENC Status Compact Counter Channel 1 |
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0x6000:03 Status__Set counter done BOOL |
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0x6002:0d Status__Diag BOOL |
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0x6002:0e Status__TxPDO State BOOL |
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0x6002:0f Status__Input cycle counter BIT2 (2 bits) |
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0x6002:11 Status__Software gate valid BOOL |
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0x6000:11 Counter value UINT (16 bits) |
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0x1a04: ENC Status Legacy Channel 1 |
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0x6000:01 Status__Latch C valid BOOL |
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0x6000:02 Status__Latch extern valid BOOL |
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0x6000:03 Status__Set counter done BOOL |
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0x6000:04 Status__Counter underflow BOOL |
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0x6000:05 Status__Counter overflow BOOL |
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0x6000:06 Status__Status of input status BOOL |
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0x6000:07 Status__Open circuit BOOL |
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0x6000:08 Status__Extrapolation stall BOOL |
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0x6000:09 Status__Status of input A BOOL |
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0x6000:0a Status__Status of input B BOOL |
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0x6000:0b Status__Status of input C BOOL |
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0x6000:0c Status__Status of input gate BOOL |
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0x6000:0d Status__Status of extern latch BOOL |
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0x6000:0e Status__Sync error BOOL |
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0x6000:0f Status__TxPDO State BOOL |
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0x6000:10 Status__TxPDO Toggle BOOL |
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0x6000:11 Counter value UDINT (32 bits) |
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0x6000:12 Latch value UDINT (32 bits) |
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0x1a05: ENC Status Compact Legacy Channel 1 |
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0x6000:01 Status__Latch C valid BOOL |
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0x6000:02 Status__Latch extern valid BOOL |
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0x6000:03 Status__Set counter done BOOL |
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0x6000:04 Status__Counter underflow BOOL |
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0x6000:05 Status__Counter overflow BOOL |
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0x6000:06 Status__Status of input status BOOL |
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0x6000:07 Status__Open circuit BOOL |
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0x6000:08 Status__Extrapolation stall BOOL |
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0x6000:09 Status__Status of input A BOOL |
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0x6000:0a Status__Status of input B BOOL |
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0x6000:0b Status__Status of input C BOOL |
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0x6000:0c Status__Status of input gate BOOL |
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0x6000:0d Status__Status of extern latch BOOL |
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0x6000:0e Status__Sync error BOOL |
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0x6000:0f Status__TxPDO State BOOL |
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0x6000:10 Status__TxPDO Toggle BOOL |
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0x6000:11 Counter value UINT (16 bits) |
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0x6000:12 Latch value UINT (16 bits) |
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0x1a06: ENC Frequency Channel 1 |
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0x6000:13 Frequency value UDINT (32 bits) |
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0x1a07: ENC Frequency Compact Channel 1 |
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0x6000:13 Frequency value UINT (16 bits) |
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0x1a08: ENC Period Channel 1 |
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0x6000:14 Period value UDINT (32 bits) |
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0x1a09: ENC Period Compact Channel 1 |
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0x6000:14 Period value UINT (16 bits) |
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0x1a0a: ENC Duty Cycle Channel 1 |
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0x6000:23 Duty cycle UINT (16 bits) |
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0x6000:24 Duty cycle min UINT (16 bits) |
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0x6000:25 Duty cycle max UINT (16 bits) |
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0x1a0b: ENC Timestamp Channel 1 |
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0x6000:16 Timestamp ULINT (64 bits) |
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0x6000:1f Timestamp C ULINT (64 bits) |
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0x6000:20 Timestamp latch ULINT (64 bits) |
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0x6000:21 Timestamp latch 2 ULINT (64 bits) |
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0x1a0c: ENC Timestamp Compact Channel 1 |
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0x6000:16 Timestamp UDINT (32 bits) |
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0x6000:1f Timestamp C UDINT (32 bits) |
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0x6000:20 Timestamp latch UDINT (32 bits) |
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0x6000:21 Timestamp latch 2 UDINT (32 bits) |
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0x1a0d: ENC Status Channel 2 |
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0x6010:01 Status__Latch C valid BOOL |
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0x6010:02 Status__Latch extern valid BOOL |
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0x6010:03 Status__Set counter done BOOL |
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0x6010:04 Status__Counter underflow BOOL |
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0x6010:05 Status__Counter overflow BOOL |
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0x6010:06 Status__Status of input status BOOL |
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0x6010:07 Status__Open circuit BOOL |
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0x6010:08 Status__Extrapolation stall BOOL |
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0x6010:09 Status__Status of input A BOOL |
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0x6010:0a Status__Status of input B BOOL |
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0x6010:0b Status__Status of input C BOOL |
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0x6010:0c Status__Status of input gate BOOL |
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0x6012:0d Status__Diag BOOL |
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0x6012:0e Status__TxPDO State BOOL |
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0x6012:0f Status__Input cycle counter BIT2 (2 bits) |
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0x6012:11 Status__Software gate valid BOOL |
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0x6012:12 Status__Latch extern 2 valid BOOL |
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0x6012:13 Status__Direction inversion detected BOOL |
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0x6012:14 Status__Status of extern latch BOOL |
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0x6012:15 Status__Counter value out of range BOOL |
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0x6010:11 Counter value UDINT (32 bits) |
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0x6010:12 Latch value UDINT (32 bits) |
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0x6010:22 Latch value 2 UDINT (32 bits) |
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0x1a0e: ENC Status Compact Channel 2 |
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0x6010:01 Status__Latch C valid BOOL |
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0x6010:02 Status__Latch extern valid BOOL |
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0x6010:03 Status__Set counter done BOOL |
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0x6010:04 Status__Counter underflow BOOL |
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0x6010:05 Status__Counter overflow BOOL |
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0x6010:06 Status__Status of input status BOOL |
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0x6010:07 Status__Open circuit BOOL |
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0x6010:08 Status__Extrapolation stall BOOL |
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0x6010:09 Status__Status of input A BOOL |
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0x6010:0a Status__Status of input B BOOL |
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0x6010:0b Status__Status of input C BOOL |
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0x6010:0c Status__Status of input gate BOOL |
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0x6012:0d Status__Diag BOOL |
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0x6012:0e Status__TxPDO State BOOL |
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0x6012:0f Status__Input cycle counter BIT2 (2 bits) |
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0x6012:11 Status__Software gate valid BOOL |
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0x6012:12 Status__Latch extern 2 valid BOOL |
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0x6012:13 Status__Direction inversion detected BOOL |
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0x6012:14 Status__Status of extern latch BOOL |
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0x6012:15 Status__Counter value out of range BOOL |
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0x6010:11 Counter value UINT (16 bits) |
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0x6010:12 Latch value UINT (16 bits) |
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0x6010:22 Latch value 2 UINT (16 bits) |
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0x1a0f: ENC Status Counter Channel 2 |
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0x6010:03 Status__Set counter done BOOL |
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0x6012:0d Status__Diag BOOL |
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0x6012:0e Status__TxPDO State BOOL |
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0x6012:0f Status__Input cycle counter BIT2 (2 bits) |
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0x6012:11 Status__Software gate valid BOOL |
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0x6010:11 Counter value UDINT (32 bits) |
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0x1a10: ENC Status Compact Counter Channel 2 |
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0x6010:03 Status__Set counter done BOOL |
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0x6012:0d Status__Diag BOOL |
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0x6012:0e Status__TxPDO State BOOL |
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0x6012:0f Status__Input cycle counter BIT2 (2 bits) |
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0x6012:11 Status__Software gate valid BOOL |
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0x6010:11 Counter value UINT (16 bits) |
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0x1a11: ENC Status Legacy Channel 2 |
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0x6010:01 Status__Latch C valid BOOL |
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0x6010:02 Status__Latch extern valid BOOL |
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0x6010:03 Status__Set counter done BOOL |
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0x6010:04 Status__Counter underflow BOOL |
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0x6010:05 Status__Counter overflow BOOL |
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0x6010:06 Status__Status of input status BOOL |
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0x6010:07 Status__Open circuit BOOL |
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0x6010:08 Status__Extrapolation stall BOOL |
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0x6010:09 Status__Status of input A BOOL |
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0x6010:0a Status__Status of input B BOOL |
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0x6010:0b Status__Status of input C BOOL |
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0x6010:0c Status__Status of input gate BOOL |
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0x6010:0d Status__Status of extern latch BOOL |
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0x6010:0e Status__Sync error BOOL |
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0x6010:0f Status__TxPDO State BOOL |
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0x6010:10 Status__TxPDO Toggle BOOL |
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0x6010:11 Counter value UDINT (32 bits) |
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0x6010:12 Latch value UDINT (32 bits) |
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0x1a12: ENC Status Compact Legacy Channel 2 |
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0x6010:01 Status__Latch C valid BOOL |
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0x6010:02 Status__Latch extern valid BOOL |
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0x6010:03 Status__Set counter done BOOL |
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0x6010:04 Status__Counter underflow BOOL |
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0x6010:05 Status__Counter overflow BOOL |
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0x6010:06 Status__Status of input status BOOL |
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0x6010:07 Status__Open circuit BOOL |
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0x6010:08 Status__Extrapolation stall BOOL |
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0x6010:09 Status__Status of input A BOOL |
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0x6010:0a Status__Status of input B BOOL |
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0x6010:0b Status__Status of input C BOOL |
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0x6010:0c Status__Status of input gate BOOL |
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0x6010:0d Status__Status of extern latch BOOL |
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0x6010:0e Status__Sync error BOOL |
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0x6010:0f Status__TxPDO State BOOL |
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0x6010:10 Status__TxPDO Toggle BOOL |
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0x6010:11 Counter value UINT (16 bits) |
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0x6010:12 Latch value UINT (16 bits) |
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0x1a13: ENC Frequency Channel 2 |
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0x6010:13 Frequency value UDINT (32 bits) |
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0x1a14: ENC Frequency Compact Channel 2 |
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0x6010:13 Frequency value UINT (16 bits) |
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0x1a15: ENC Period Channel 2 |
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0x6010:14 Period value UDINT (32 bits) |
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0x1a16: ENC Period Compact Channel 2 |
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0x6010:14 Period value UINT (16 bits) |
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0x1a17: ENC Duty Cycle Channel 2 |
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0x6010:23 Duty cycle UINT (16 bits) |
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0x6010:24 Duty cycle min UINT (16 bits) |
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0x6010:25 Duty cycle max UINT (16 bits) |
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0x1a18: ENC Timestamp Channel 2 |
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0x6010:16 Timestamp ULINT (64 bits) |
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0x6010:1f Timestamp C ULINT (64 bits) |
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0x6010:20 Timestamp latch ULINT (64 bits) |
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0x6010:21 Timestamp latch 2 ULINT (64 bits) |
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0x1a19: ENC Timestamp Compact Channel 2 |
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0x6010:16 Timestamp UDINT (32 bits) |
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0x6010:1f Timestamp C UDINT (32 bits) |
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0x6010:20 Timestamp latch UDINT (32 bits) |
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0x6010:21 Timestamp latch 2 UDINT (32 bits) |
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| RX PDOs | 0x1600: ENC Control Channel 1 |
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0x7000:01 Control__Enable latch C BOOL |
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0x7000:02 Control__Enable latch extern on positive edge BOOL |
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0x7000:03 Control__Set counter BOOL |
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0x7000:04 Control__Enable latch extern on negative edge BOOL |
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0x7000:08 Control__Set counter on latch C BOOL |
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0x7000:09 Control__Set software gate BOOL |
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0x7000:0a Control__Set counter on latch extern on positive edge BOOL |
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0x7000:0b Control__Set counter on latch extern on negative edge BOOL |
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0x7000:0c Control__Enable latch extern 2 on positive edge BOOL |
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0x7000:0d Control__Enable latch extern 2 on negative edge BOOL |
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0x7000:11 Set counter value UDINT (32 bits) |
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0x1601: ENC Control Compact Channel 1 |
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0x7000:01 Control__Enable latch C BOOL |
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0x7000:02 Control__Enable latch extern on positive edge BOOL |
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0x7000:03 Control__Set counter BOOL |
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0x7000:04 Control__Enable latch extern on negative edge BOOL |
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0x7000:08 Control__Set counter on latch C BOOL |
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0x7000:09 Control__Set software gate BOOL |
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0x7000:0a Control__Set counter on latch extern on positive edge BOOL |
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0x7000:0b Control__Set counter on latch extern on negative edge BOOL |
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0x7000:0c Control__Enable latch extern 2 on positive edge BOOL |
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0x7000:0d Control__Enable latch extern 2 on negative edge BOOL |
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0x7000:11 Set counter value UINT (16 bits) |
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0x1602: ENC Control Counter Channel 1 |
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0x7000:03 Control__Set counter BOOL |
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0x7000:09 Control__Set software gate BOOL |
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0x7000:11 Set counter value UDINT (32 bits) |
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0x1603: ENC Control Compact Counter Channel 1 |
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0x7000:03 Control__Set counter BOOL |
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0x7000:09 Control__Set software gate BOOL |
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0x7000:11 Set counter value UINT (16 bits) |
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0x1604: ENC Control Legacy Channel 1 |
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0x7000:01 Control__Enable latch C BOOL |
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0x7000:02 Control__Enable latch extern on positive edge BOOL |
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0x7000:03 Control__Set counter BOOL |
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0x7000:04 Control__Enable latch extern on negative edge BOOL |
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0x7000:11 Set counter value UDINT (32 bits) |
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0x1605: ENC Control Compact Legacy Channel 1 |
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0x7000:01 Control__Enable latch C BOOL |
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0x7000:02 Control__Enable latch extern on positive edge BOOL |
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0x7000:03 Control__Set counter BOOL |
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0x7000:04 Control__Enable latch extern on negative edge BOOL |
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0x7000:11 Set counter value UINT (16 bits) |
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0x1606: ENC Control Channel 2 |
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0x7010:01 Control__Enable latch C BOOL |
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0x7010:02 Control__Enable latch extern on positive edge BOOL |
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0x7010:03 Control__Set counter BOOL |
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0x7010:04 Control__Enable latch extern on negative edge BOOL |
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0x7010:08 Control__Set counter on latch C BOOL |
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0x7010:09 Control__Set software gate BOOL |
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0x7010:0a Control__Set counter on latch extern on positive edge BOOL |
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0x7010:0b Control__Set counter on latch extern on negative edge BOOL |
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0x7010:0c Control__Enable latch extern 2 on positive edge BOOL |
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0x7010:0d Control__Enable latch extern 2 on negative edge BOOL |
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0x7010:11 Set counter value UDINT (32 bits) |
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0x1607: ENC Control Compact Channel 2 |
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0x7010:01 Control__Enable latch C BOOL |
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0x7010:02 Control__Enable latch extern on positive edge BOOL |
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0x7010:03 Control__Set counter BOOL |
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0x7010:04 Control__Enable latch extern on negative edge BOOL |
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0x7010:08 Control__Set counter on latch C BOOL |
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0x7010:09 Control__Set software gate BOOL |
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0x7010:0a Control__Set counter on latch extern on positive edge BOOL |
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0x7010:0b Control__Set counter on latch extern on negative edge BOOL |
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0x7010:0c Control__Enable latch extern 2 on positive edge BOOL |
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0x7010:0d Control__Enable latch extern 2 on negative edge BOOL |
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0x7010:11 Set counter value UINT (16 bits) |
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0x1608: ENC Control Counter Channel 2 |
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0x7010:03 Control__Set counter BOOL |
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0x7010:09 Control__Set software gate BOOL |
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0x7010:11 Set counter value UDINT (32 bits) |
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0x1609: ENC Control Compact Counter Channel 2 |
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0x7010:03 Control__Set counter BOOL |
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0x7010:09 Control__Set software gate BOOL |
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0x7010:11 Set counter value UINT (16 bits) |
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0x160a: ENC Control Legacy Channel 2 |
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0x7010:01 Control__Enable latch C BOOL |
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0x7010:02 Control__Enable latch extern on positive edge BOOL |
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0x7010:03 Control__Set counter BOOL |
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0x7010:04 Control__Enable latch extern on negative edge BOOL |
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0x7010:11 Set counter value UDINT (32 bits) |
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0x160b: ENC Control Compact Legacy Channel 2 |
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0x7010:01 Control__Enable latch C BOOL |
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0x7010:02 Control__Enable latch extern on positive edge BOOL |
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0x7010:03 Control__Set counter BOOL |
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0x7010:04 Control__Enable latch extern on negative edge BOOL |
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0x7010:11 Set counter value UINT (16 bits) |
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