Beckhoff EL5151

Type:: EL5151
Description:: EL5151 1Ch. Inc. Encoder
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 13 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

r22

r23

r24

r25

r26

r27

r9995

Name

EL5151 1Ch. Inc. Encoder

PID

0x141f3052

Revision Code

0x00100000

0x00110000

0x00120000

0x00130000

0x00140000

0x00150000

0x00160000

0x00170000

0x00180000

0x00190000

0x001a0000

0x001b0000

0x270b0000

Equivalant Devices

EL5151-0080 r16

EL5151-0080 r16

EL5151-0080 r17
EL5151-0080 r18
EL5151-0080 r19
EL5151-0080 r20

EJ5151 r16
EL5151-0080 r21

EL5101 r9995
EL5101 r9995

TX PDOs

0x1a00: ENC Inputs

  0x6000:01  Status__Latch C valid           BOOL

  0x6000:01  Latch C valid                   BOOL

  0x6000:01  Status__Latch C valid           BOOL

  0x6000:02  Status__Latch extern valid      BOOL

  0x6000:02  Latch extern valid              BOOL

  0x6000:02  Status__Latch extern valid      BOOL

  0x6000:03  Status__Set counter done        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__Status of input A       BOOL

  0x6000:09  Status of input A               BOOL

  0x6000:09  Status__Status of input A       BOOL

  0x6000:0a  Status__Status of input B       BOOL

  0x6000:0a  Status of input B               BOOL

  0x6000:0a  Status__Status of input B       BOOL

  0x6000:0b  Status__Status of input C       BOOL

  0x6000:0b  Status of input C               BOOL

  0x6000:0b  Status__Status of input C       BOOL

  0x6000:0d  Status__Status of extern latch  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  Status__Latch C valid           BOOL

  0x6000:01  Latch C valid                   BOOL

  0x6000:01  Status__Latch C valid           BOOL

  0x6000:02  Status__Latch extern valid      BOOL

  0x6000:02  Latch extern valid              BOOL

  0x6000:02  Status__Latch extern valid      BOOL

  0x6000:03  Status__Set counter done        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__Status of input A       BOOL

  0x6000:09  Status of input A               BOOL

  0x6000:09  Status__Status of input A       BOOL

  0x6000:0a  Status__Status of input B       BOOL

  0x6000:0a  Status of input B               BOOL

  0x6000:0a  Status__Status of input B       BOOL

  0x6000:0b  Status__Status of input C       BOOL

  0x6000:0b  Status of input C               BOOL

  0x6000:0b  Status__Status of input C       BOOL

  0x6000:0d  Status__Status of extern latch  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

0x1a02: ENC Inputs 2

0x1a02: ENC Inputs

  0x6000:14  Period value                    UDINT (32 bits)

0x1a03: ENC Inputs

0x1a03: ENC Inputs 2

0x1a03: ENC Inputs

  0x6000:13  Frequency value                 UDINT (32 bits)

0x1a04: ENC Inputs

0x1a04: ENC Inputs 3

0x1a04: ENC Inputs

  0x6000:16  Timestamp                       ULINT (64 bits)

0x1a05: ENC Inputs

0x1a05: ENC Inputs 3

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)