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Beckhoff EL5122

Type:

EL5122

Description:

EL5122 2Ch. Inc. Encoder 5V (2xAB TTL)

Vendor

Beckhoff Automation GmbH & Co. KG

Documentation

http://www.beckhoff.com/EL5122

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	EL5122 2Ch. Inc. Encoder 5V (2xAB TTL)
PID	0x14023052
Revision Code	0x00100000	0x00110000
Equivalant Devices
TX PDOs	0x1a00: 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
	0x6000:09 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)
	0x1a01: 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
	0x6000:09 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)
	0x1a02: 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)
	0x1a03: 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)
	0x1a04: ENC Frequency Channel 1
	0x6000:13 Frequency value UDINT (32 bits)
	0x1a05: ENC Frequency Compact Channel 1
	0x6000:13 Frequency value UINT (16 bits)
	0x1a06: ENC Period Channel 1
	0x6000:14 Period value UDINT (32 bits)
	0x1a07: ENC Period Compact Channel 1
	0x6000:14 Period value UINT (16 bits)
	0x1a08: 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
	0x6010:09 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)
0x1a09: 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
0x6010:09 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)
0x1a0a: 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)
0x1a0b: 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)
0x1a0c: ENC Frequency Channel 2
0x6010:13 Frequency value UDINT (32 bits)
0x1a0d: ENC Frequency Compact Channel 2
0x6010:13 Frequency value UINT (16 bits)
0x1a0e: ENC Period Channel 2
0x6010:14 Period value UDINT (32 bits)
0x1a0f: ENC Period Compact Channel 2
0x6010:14 Period value UINT (16 bits)
RX PDOs	0x1600: 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)
	0x1601: 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)
	0x1602: 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)
	0x1603: 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)
	0x1604: 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)
	0x1605: 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)
	0x1606: 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)
	0x1607: 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)