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Beckhoff EL5131

Type:

EL5131

Description:

EL5131 1Ch. Inc. Encoder 5V (RS422,TTL), 2x24V DC Output

Vendor

Beckhoff Automation GmbH & Co. KG

Documentation

http://www.beckhoff.com/EL5131

Revisions and PDOs

The ESI data ingested by github.com/linuxcnc-ethercat/esi-data describes 1 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
Name	EL5131 1Ch. Inc. Encoder 5V (RS422,TTL), 2x24V DC Output
PID	0x140b3052
Revision Code	0x00100000
Equivalant Devices
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 Output Channel 1
	0x6003:01 Status Output__Status of digital output BOOL
	0x6003:02 Status Output__Status of tristate BOOL
	0x1a03: ENC Frequency Channel 1
	0x6000:13 Frequency value UDINT (32 bits)
	0x1a04: ENC Frequency Compact Channel 1
	0x6000:13 Frequency value UINT (16 bits)
	0x1a05: ENC Period Channel 1
	0x6000:14 Period value UDINT (32 bits)
	0x1a06: ENC Period Compact Channel 1
	0x6000:14 Period value UINT (16 bits)
	0x1a07: 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)
	0x1a08: 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)
0x1a09: 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)
0x1a0a: ENC Timestamps Output Channel 1
0x6004:11 Timestamp__Timestamp 1 ULINT (64 bits)
0x6004:12 Timestamp__Timestamp 2 ULINT (64 bits)
0x6004:13 Timestamp__Timestamp 3 ULINT (64 bits)
0x6004:14 Timestamp__Timestamp 4 ULINT (64 bits)
0x6004:15 Timestamp__Timestamp 5 ULINT (64 bits)
0x6004:16 Timestamp__Timestamp 6 ULINT (64 bits)
0x6004:17 Timestamp__Timestamp 7 ULINT (64 bits)
0x6004:18 Timestamp__Timestamp 8 ULINT (64 bits)
0x1a0d: ENC Status Output Channel 2
0x6013:01 Status Output__Status of digital output BOOL
0x6013:02 Status Output__Status of tristate BOOL
0x1a15: ENC Timestamps Output Channel 2
0x6014:11 Timestamp__Timestamp 1 ULINT (64 bits)
0x6014:12 Timestamp__Timestamp 2 ULINT (64 bits)
0x6014:13 Timestamp__Timestamp 3 ULINT (64 bits)
0x6014:14 Timestamp__Timestamp 4 ULINT (64 bits)
0x6014:15 Timestamp__Timestamp 5 ULINT (64 bits)
0x6014:16 Timestamp__Timestamp 6 ULINT (64 bits)
0x6014:17 Timestamp__Timestamp 7 ULINT (64 bits)
0x6014:18 Timestamp__Timestamp 8 ULINT (64 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 Output Channel 1
	0x7001:01 Control Output__Control__Set digital output BOOL
	0x7001:02 Control Output__Control__Enable thresholds output BOOL
	0x7001:03 Control Output__Control__Set tristate BOOL
	0x7001:04 Control Output__Control__Disable thresholds cw BOOL
	0x7001:05 Control Output__Control__Disable thresholds ccw BOOL
	0x7002:11 Control Output__Number of output events USINT (8 bits)
	0x7003:01 Control Output__Output state__Output state 1 BOOL
	0x7003:02 Control Output__Output state__Output state 2 BOOL
	0x7003:03 Control Output__Output state__Output state 3 BOOL
	0x7003:04 Control Output__Output state__Output state 4 BOOL
	0x7003:05 Control Output__Output state__Output state 5 BOOL
	0x7003:06 Control Output__Output state__Output state 6 BOOL
	0x7003:07 Control Output__Output state__Output state 7 BOOL
	0x7003:08 Control Output__Output state__Output state 8 BOOL
	0x7004:11 Control Output__Threshold__Threshold 1 UDINT (32 bits)
	0x7004:12 Control Output__Threshold__Threshold 2 UDINT (32 bits)
	0x7004:13 Control Output__Threshold__Threshold 3 UDINT (32 bits)
	0x7004:14 Control Output__Threshold__Threshold 4 UDINT (32 bits)
	0x7004:15 Control Output__Threshold__Threshold 5 UDINT (32 bits)
	0x7004:16 Control Output__Threshold__Threshold 6 UDINT (32 bits)
	0x7004:17 Control Output__Threshold__Threshold 7 UDINT (32 bits)
	0x7004:18 Control Output__Threshold__Threshold 8 UDINT (32 bits)
	0x7005:11 Control Output__Duration__Duration 1 UDINT (32 bits)
	0x7005:12 Control Output__Duration__Duration 2 UDINT (32 bits)
	0x7005:13 Control Output__Duration__Duration 3 UDINT (32 bits)
	0x7005:14 Control Output__Duration__Duration 4 UDINT (32 bits)
	0x7005:15 Control Output__Duration__Duration 5 UDINT (32 bits)
	0x7005:16 Control Output__Duration__Duration 6 UDINT (32 bits)
	0x7005:17 Control Output__Duration__Duration 7 UDINT (32 bits)
	0x7005:18 Control Output__Duration__Duration 8 UDINT (32 bits)
	0x1605: ENC Control Output Channel 2
	0x7011:01 Control Output__Control__Set digital output BOOL
	0x7011:02 Control Output__Control__Enable thresholds output BOOL
	0x7011:03 Control Output__Control__Set tristate BOOL
	0x7011:04 Control Output__Control__Disable thresholds cw BOOL
	0x7011:05 Control Output__Control__Disable thresholds ccw BOOL
	0x7012:11 Control Output__Number of output events USINT (8 bits)
	0x7013:01 Control Output__Output state__Output state 1 BOOL
	0x7013:02 Control Output__Output state__Output state 2 BOOL
0x7013:03 Control Output__Output state__Output state 3 BOOL
0x7013:04 Control Output__Output state__Output state 4 BOOL
0x7013:05 Control Output__Output state__Output state 5 BOOL
0x7013:06 Control Output__Output state__Output state 6 BOOL
0x7013:07 Control Output__Output state__Output state 7 BOOL
0x7013:08 Control Output__Output state__Output state 8 BOOL
0x7014:11 Control Output__Threshold__Threshold 1 UDINT (32 bits)
0x7014:12 Control Output__Threshold__Threshold 2 UDINT (32 bits)
0x7014:13 Control Output__Threshold__Threshold 3 UDINT (32 bits)
0x7014:14 Control Output__Threshold__Threshold 4 UDINT (32 bits)
0x7014:15 Control Output__Threshold__Threshold 5 UDINT (32 bits)
0x7014:16 Control Output__Threshold__Threshold 6 UDINT (32 bits)
0x7014:17 Control Output__Threshold__Threshold 7 UDINT (32 bits)
0x7014:18 Control Output__Threshold__Threshold 8 UDINT (32 bits)
0x7015:11 Control Output__Duration__Duration 1 UDINT (32 bits)
0x7015:12 Control Output__Duration__Duration 2 UDINT (32 bits)
0x7015:13 Control Output__Duration__Duration 3 UDINT (32 bits)
0x7015:14 Control Output__Duration__Duration 4 UDINT (32 bits)
0x7015:15 Control Output__Duration__Duration 5 UDINT (32 bits)
0x7015:16 Control Output__Duration__Duration 6 UDINT (32 bits)
0x7015:17 Control Output__Duration__Duration 7 UDINT (32 bits)
0x7015:18 Control Output__Duration__Duration 8 UDINT (32 bits)