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Beckhoff EL5151-0080

Type:

EL5151-0080

Description:

EL5151-0080 1Ch. Inc. Encoder (250kHz)

Vendor

Beckhoff Automation GmbH & Co. KG

Documentation

http://www.beckhoff.com/EL5151

Revisions and PDOs

The ESI data ingested by github.com/linuxcnc-ethercat/esi-data describes 6 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	r18	r19	r20	r21
Name	EL5151-0080 1Ch. Inc. Encoder (250kHz)
PID	0x141f3052
Revision Code	0x00100050	0x00110050	0x00120050	0x00130050	0x00140050	0x00150050
Equivalant Devices	EL5151 r17 EL5151 r19	EL5151 r20				EJ5151 r16 EL5151 r25 EL5151 r26
TX PDOs	0x1a00: ENC Inputs
	0x6000:01 Latch C valid BOOL	0x6000:01 Status__Latch C valid BOOL
	0x6000:02 Latch extern valid BOOL	0x6000:02 Status__Latch extern valid BOOL
	0x6000:03 Set counter done BOOL	0x6000:03 Status__Set counter done BOOL
	0x6000:08 Extrapolation stall BOOL	0x6000:08 Status__Extrapolation stall BOOL
	0x6000:09 Status of input A BOOL	0x6000:09 Status__Status of input A BOOL
	0x6000:0a Status of input B BOOL	0x6000:0a Status__Status of input B BOOL
	0x6000:0b Status of input C BOOL	0x6000:0b Status__Status of input C BOOL
	0x6000:0d Status of extern latch BOOL	0x6000:0d Status__Status of extern latch BOOL
						0x6000:0e Status__Sync error BOOL
						0x6000:10 Status__TxPDO Toggle BOOL
	0x6000:11 Counter value UDINT (32 bits)
	0x6000:12 Latch value UDINT (32 bits)
	0x1a01: ENC Inputs
	0x6000:01 Latch C valid BOOL	0x6000:01 Status__Latch C valid BOOL
	0x6000:02 Latch extern valid BOOL	0x6000:02 Status__Latch extern valid BOOL
	0x6000:03 Set counter done BOOL	0x6000:03 Status__Set counter done BOOL
	0x6000:08 Extrapolation stall BOOL	0x6000:08 Status__Extrapolation stall BOOL
	0x6000:09 Status of input A BOOL	0x6000:09 Status__Status of input A BOOL
	0x6000:0a Status of input B BOOL	0x6000:0a Status__Status of input B BOOL
	0x6000:0b Status of input C BOOL	0x6000:0b Status__Status of input C BOOL
	0x6000:0d Status of extern latch BOOL	0x6000:0d Status__Status of extern latch BOOL
						0x6000:0e Status__Sync error BOOL
						0x6000:10 Status__TxPDO Toggle BOOL
	0x6000:11 Counter value UINT (16 bits)
	0x6000:12 Latch value UINT (16 bits)
	0x1a02: ENC Inputs
	0x6000:14 Period value UDINT (32 bits)
	0x1a03: ENC Inputs
	0x6000:13 Frequency value UDINT (32 bits)
	0x1a04: ENC Inputs
	0x6000:16 Timestamp ULINT (64 bits)
	0x1a05: ENC Inputs
	0x6000:16 Timestamp DWORD (32 bits)					0x6000:16 Timestamp UDINT (32 bits)
RX PDOs	0x1600: ENC Outputs
	0x7000:01 Enable latch C BOOL	0x7000:01 Control__Enable latch C BOOL
	0x7000:02 Enable latch extern on positive edge BOOL	0x7000:02 Control__Enable latch extern on positive edge BOOL
	0x7000:03 Set counter BOOL	0x7000:03 Control__Set counter BOOL
	0x7000:04 Enable latch extern on negative edge BOOL	0x7000:04 Control__Enable latch extern on negative edge BOOL
	0x7000:11 Set counter value UDINT (32 bits)
	0x1601: ENC Outputs
	0x7000:01 Enable latch C BOOL	0x7000:01 Control__Enable latch C BOOL
	0x7000:02 Enable latch extern on positive edge BOOL	0x7000:02 Control__Enable latch extern on positive edge BOOL
	0x7000:03 Set counter BOOL	0x7000:03 Control__Set counter BOOL
	0x7000:04 Enable latch extern on negative edge BOOL	0x7000:04 Control__Enable latch extern on negative edge BOOL
	0x7000:11 Set counter value UINT (16 bits)