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Beckhoff EL5112

Type:

EL5112

Description:

EL5112 2Ch. Inc. Encoder 5V (2xAB or 1xABC RS422,TTL)

Vendor

Beckhoff Automation GmbH & Co. KG

Documentation

http://www.beckhoff.com/EL5112

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	EL5112 2Ch. Inc. Encoder 5V (2xAB or 1xABC RS422,TTL)
PID	0x13f83052
Revision Code	0x00100000	0x00110000
Equivalant Devices	EJ5112 r16 EJ5112 r17
TX PDOs	0x1a00: ENC Status Channel 1
	0x6000:01 Status__Latch C valid BOOL
	0x6000:02 Status__Latch extern valid BOOL
	0x6000:03 Status__Set counter done BOOL
	0x6000:04 Status__Counter underflow BOOL
	0x6000:05 Status__Counter overflow BOOL
	0x6000:06 Status__Status of input status BOOL
	0x6000:07 Status__Open circuit BOOL
	0x6000:08 Status__Extrapolation stall BOOL
	0x6000:09 Status__Status of input A BOOL
	0x6000:0a Status__Status of input B BOOL
	0x6000:0b Status__Status of input C BOOL
	0x6000:0c Status__Status of input gate BOOL
	0x6002:0d Status__Diag BOOL
	0x6002:0e Status__TxPDO State BOOL
	0x6002:0f Status__Input cycle counter BIT2 (2 bits)
	0x6002:11 Status__Software gate valid BOOL
	0x6002:12 Status__Latch extern 2 valid BOOL
	0x6002:13 Status__Direction inversion detected BOOL
	0x6002:14 Status__Status of extern latch BOOL
	0x6002:15 Status__Counter value out of range BOOL
	0x6000:11 Counter value UDINT (32 bits)
	0x6000:12 Latch value UDINT (32 bits)
	0x6000:22 Latch value 2 UDINT (32 bits)
	0x1a01: ENC Status Compact Channel 1
	0x6000:01 Status__Latch C valid BOOL
	0x6000:02 Status__Latch extern valid BOOL
	0x6000:03 Status__Set counter done BOOL
	0x6000:04 Status__Counter underflow BOOL
	0x6000:05 Status__Counter overflow BOOL
	0x6000:06 Status__Status of input status BOOL
	0x6000:07 Status__Open circuit BOOL
	0x6000:08 Status__Extrapolation stall BOOL
	0x6000:09 Status__Status of input A BOOL
	0x6000:0a Status__Status of input B BOOL
	0x6000:0b Status__Status of input C BOOL
	0x6000:0c Status__Status of input gate BOOL
	0x6002:0d Status__Diag BOOL
	0x6002:0e Status__TxPDO State BOOL
	0x6002:0f Status__Input cycle counter BIT2 (2 bits)
	0x6002:11 Status__Software gate valid BOOL
	0x6002:12 Status__Latch extern 2 valid BOOL
	0x6002:13 Status__Direction inversion detected BOOL
	0x6002:14 Status__Status of extern latch BOOL
	0x6002:15 Status__Counter value out of range BOOL
	0x6000:11 Counter value UINT (16 bits)
	0x6000:12 Latch value UINT (16 bits)
	0x6000:22 Latch value 2 UINT (16 bits)
	0x1a02: ENC Status Channel 1
	0x6000:02 Status__Latch extern valid BOOL
	0x6000:03 Status__Set counter done BOOL
	0x6000:04 Status__Counter underflow BOOL
	0x6000:05 Status__Counter overflow BOOL
	0x6000:07 Status__Open circuit BOOL
	0x6000:09 Status__Status of input A BOOL
	0x6000:0a Status__Status of input B BOOL
	0x6000:0c Status__Status of input gate BOOL
	0x6002:0d Status__Diag BOOL
	0x6002:0e Status__TxPDO State BOOL
	0x6002:0f Status__Input cycle counter BIT2 (2 bits)
	0x6002:11 Status__Software gate valid BOOL
	0x6002:15 Status__Counter value out of range BOOL
	0x6000:11 Counter value UDINT (32 bits)
	0x6000:12 Latch value UDINT (32 bits)
0x1a03: ENC Status Compact Channel 1
0x6000:02 Status__Latch extern valid BOOL
0x6000:03 Status__Set counter done BOOL
0x6000:04 Status__Counter underflow BOOL
0x6000:05 Status__Counter overflow BOOL
0x6000:07 Status__Open circuit BOOL
0x6000:09 Status__Status of input A BOOL
0x6000:0a Status__Status of input B BOOL
0x6000:0c Status__Status of input gate BOOL
0x6002:0d Status__Diag BOOL
0x6002:0e Status__TxPDO State BOOL
0x6002:0f Status__Input cycle counter BIT2 (2 bits)
0x6002:11 Status__Software gate valid BOOL
0x6002:15 Status__Counter value out of range BOOL
0x6000:11 Counter value UINT (16 bits)
0x6000:12 Latch value UINT (16 bits)
0x1a04: ENC Status Counter Channel 1
0x6000:03 Status__Set counter done BOOL
0x6002:0d Status__Diag BOOL
0x6002:0e Status__TxPDO State BOOL
0x6002:0f Status__Input cycle counter BIT2 (2 bits)
0x6002:11 Status__Software gate valid BOOL
0x6000:11 Counter value UDINT (32 bits)
0x1a05: ENC Status Compact Counter Channel 1
0x6000:03 Status__Set counter done BOOL
0x6002:0d Status__Diag BOOL
0x6002:0e Status__TxPDO State BOOL
0x6002:0f Status__Input cycle counter BIT2 (2 bits)
0x6002:11 Status__Software gate valid BOOL
0x6000:11 Counter value UINT (16 bits)
0x1a06: ENC Status Legacy Channel 1
0x6000:01 Status__Latch C valid BOOL
0x6000:02 Status__Latch extern valid BOOL
0x6000:03 Status__Set counter done BOOL
0x6000:04 Status__Counter underflow BOOL
0x6000:05 Status__Counter overflow BOOL
0x6000:06 Status__Status of input status BOOL
0x6000:07 Status__Open circuit BOOL
0x6000:08 Status__Extrapolation stall BOOL
0x6000:09 Status__Status of input A BOOL
0x6000:0a Status__Status of input B BOOL
0x6000:0b Status__Status of input C BOOL
0x6000:0c Status__Status of input gate BOOL
0x6000:0d Status__Status of extern latch 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)
0x1a07: ENC Status Compact Legacy Channel 1
0x6000:01 Status__Latch C valid BOOL
0x6000:02 Status__Latch extern valid BOOL
0x6000:03 Status__Set counter done BOOL
0x6000:04 Status__Counter underflow BOOL
0x6000:05 Status__Counter overflow BOOL
0x6000:06 Status__Status of input status BOOL
0x6000:07 Status__Open circuit BOOL
0x6000:08 Status__Extrapolation stall BOOL
0x6000:09 Status__Status of input A BOOL
0x6000:0a Status__Status of input B BOOL
0x6000:0b Status__Status of input C BOOL
0x6000:0c Status__Status of input gate BOOL
0x6000:0d Status__Status of extern latch BOOL
0x6000:0e Status__Sync error BOOL
0x6000:0f Status__TxPDO State BOOL
0x6000:10 Status__TxPDO Toggle BOOL
0x6000:11 Counter value UINT (16 bits)
0x6000:12 Latch value UINT (16 bits)
0x1a08: ENC Frequency Channel 1
0x6000:13 Frequency value UDINT (32 bits)
0x1a09: ENC Frequency Compact Channel 1
0x6000:13 Frequency value UINT (16 bits)
0x1a0a: ENC Period Channel 1
0x6000:14 Period value UDINT (32 bits)
0x1a0b: ENC Period Compact Channel 1
0x6000:14 Period value UINT (16 bits)
0x1a0c: ENC Duty Cycle Channel 1
0x6000:23 Duty cycle UINT (16 bits)
0x6000:24 Duty cycle min UINT (16 bits)
0x6000:25 Duty cycle max UINT (16 bits)
0x1a0d: ENC Timestamp Channel 1
0x6000:16 Timestamp ULINT (64 bits)
0x6000:1f Timestamp C ULINT (64 bits)
0x6000:20 Timestamp latch ULINT (64 bits)
0x6000:21 Timestamp latch 2 ULINT (64 bits)
0x1a0e: ENC Timestamp Compact Channel 1
0x6000:16 Timestamp UDINT (32 bits)
0x6000:1f Timestamp C UDINT (32 bits)
0x6000:20 Timestamp latch UDINT (32 bits)
0x6000:21 Timestamp latch 2 UDINT (32 bits)
0x1a11: ENC Status Channel 2
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
0x6010:07 Status__Open circuit BOOL
0x6010:09 Status__Status of input A BOOL
0x6010:0a Status__Status of input B BOOL
0x6010:0c Status__Status of input gate BOOL
0x6012:0d Status__Diag BOOL
0x6012:0e Status__TxPDO State BOOL
0x6012:0f Status__Input cycle counter BIT2 (2 bits)
0x6012:11 Status__Software gate valid BOOL
0x6012:15 Status__Counter value out of range BOOL
0x6010:11 Counter value UDINT (32 bits)
0x6010:12 Latch value UDINT (32 bits)
0x1a12: ENC Status Compact Channel 2
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
0x6010:07 Status__Open circuit BOOL
0x6010:09 Status__Status of input A BOOL
0x6010:0a Status__Status of input B BOOL
0x6010:0c Status__Status of input gate BOOL
0x6012:0d Status__Diag BOOL
0x6012:0e Status__TxPDO State BOOL
0x6012:0f Status__Input cycle counter BIT2 (2 bits)
0x6012:11 Status__Software gate valid BOOL
0x6012:15 Status__Counter value out of range BOOL
0x6010:11 Counter value UINT (16 bits)
0x6010:12 Latch value UINT (16 bits)
0x1a13: ENC Status Counter Channel 2
0x6010:03 Status__Set counter done BOOL
0x6012:0d Status__Diag BOOL
0x6012:0e Status__TxPDO State BOOL
0x6012:0f Status__Input cycle counter BIT2 (2 bits)
0x6012:11 Status__Software gate valid BOOL
0x6010:11 Counter value UDINT (32 bits)
0x1a14: ENC Status Compact Counter Channel 2
0x6010:03 Status__Set counter done BOOL
0x6012:0d Status__Diag BOOL
0x6012:0e Status__TxPDO State BOOL
0x6012:0f Status__Input cycle counter BIT2 (2 bits)
0x6012:11 Status__Software gate valid BOOL
0x6010:11 Counter value UINT (16 bits)
0x1a17: ENC Frequency Channel 2
0x6010:13 Frequency value UDINT (32 bits)
0x1a18: ENC Frequency Compact Channel 2
0x6010:13 Frequency value UINT (16 bits)
0x1a19: ENC Period Channel 2
0x6010:14 Period value UDINT (32 bits)
0x1a1a: ENC Period Compact Channel 2
0x6010:14 Period value UINT (16 bits)
RX PDOs	0x1600: ENC Control Channel 1
	0x7000:01 Control__Enable latch C BOOL
	0x7000:02 Control__Enable latch extern on positive edge BOOL
	0x7000:03 Control__Set counter BOOL
	0x7000:04 Control__Enable latch extern on negative edge BOOL
	0x7000:08 Control__Set counter on latch C BOOL
	0x7000:09 Control__Set software gate BOOL
	0x7000:0a Control__Set counter on latch extern on positive edge BOOL
	0x7000:0b Control__Set counter on latch extern on negative edge BOOL
	0x7000:0c Control__Enable latch extern 2 on positive edge BOOL
	0x7000:0d Control__Enable latch extern 2 on negative edge BOOL
	0x7000:11 Set counter value UDINT (32 bits)
	0x1601: ENC Control Compact Channel 1
	0x7000:01 Control__Enable latch C BOOL
	0x7000:02 Control__Enable latch extern on positive edge BOOL
	0x7000:03 Control__Set counter BOOL
	0x7000:04 Control__Enable latch extern on negative edge BOOL
	0x7000:08 Control__Set counter on latch C BOOL
	0x7000:09 Control__Set software gate BOOL
	0x7000:0a Control__Set counter on latch extern on positive edge BOOL
	0x7000:0b Control__Set counter on latch extern on negative edge BOOL
	0x7000:0c Control__Enable latch extern 2 on positive edge BOOL
	0x7000:0d Control__Enable latch extern 2 on negative edge BOOL
	0x7000:11 Set counter value UINT (16 bits)
	0x1602: ENC Control Channel 1
	0x7000:02 Control__Enable latch extern on positive edge BOOL
	0x7000:03 Control__Set counter BOOL
	0x7000:04 Control__Enable latch extern on negative edge BOOL
	0x7000:09 Control__Set software gate BOOL
	0x7000:0a Control__Set counter on latch extern on positive edge BOOL
	0x7000:0b Control__Set counter on latch extern on negative edge BOOL
	0x7000:11 Set counter value UDINT (32 bits)
	0x1603: ENC Control Compact Channel 1
	0x7000:02 Control__Enable latch extern on positive edge BOOL
	0x7000:03 Control__Set counter BOOL
	0x7000:04 Control__Enable latch extern on negative edge BOOL
	0x7000:09 Control__Set software gate BOOL
	0x7000:0a Control__Set counter on latch extern on positive edge BOOL
	0x7000:0b Control__Set counter on latch extern on negative edge BOOL
	0x7000:11 Set counter value UINT (16 bits)
	0x1604: ENC Control Counter Channel 1
	0x7000:03 Control__Set counter BOOL
	0x7000:09 Control__Set software gate BOOL
	0x7000:11 Set counter value UDINT (32 bits)
	0x1605: ENC Control Compact Counter Channel 1
	0x7000:03 Control__Set counter BOOL
	0x7000:09 Control__Set software gate BOOL
	0x7000:11 Set counter value UINT (16 bits)
	0x1606: ENC Control Legacy Channel 1
	0x7000:01 Control__Enable latch C BOOL
	0x7000:02 Control__Enable latch extern on positive edge BOOL
	0x7000:03 Control__Set counter BOOL
	0x7000:04 Control__Enable latch extern on negative edge BOOL
	0x7000:11 Set counter value UDINT (32 bits)
	0x1607: ENC Control Compact Legacy Channel 1
	0x7000:01 Control__Enable latch C BOOL
	0x7000:02 Control__Enable latch extern on positive edge BOOL
	0x7000:03 Control__Set counter BOOL
	0x7000:04 Control__Enable latch extern on negative edge BOOL
	0x7000:11 Set counter value UINT (16 bits)
	0x160a: ENC Control Channel 2
	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
0x7010:09 Control__Set software gate BOOL
0x7010:0a Control__Set counter on latch extern on positive edge BOOL
0x7010:0b Control__Set counter on latch extern on negative edge BOOL
0x7010:11 Set counter value UDINT (32 bits)
0x160b: ENC Control Compact Channel 2
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
0x7010:09 Control__Set software gate BOOL
0x7010:0a Control__Set counter on latch extern on positive edge BOOL
0x7010:0b Control__Set counter on latch extern on negative edge BOOL
0x7010:11 Set counter value UINT (16 bits)
0x160c: ENC Control Counter Channel 2
0x7010:03 Control__Set counter BOOL
0x7010:09 Control__Set software gate BOOL
0x7010:11 Set counter value UDINT (32 bits)
0x160d: ENC Control Compact Counter Channel 2
0x7010:03 Control__Set counter BOOL
0x7010:09 Control__Set software gate BOOL
0x7010:11 Set counter value UINT (16 bits)