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Beckhoff EL5152

Type:

EL5152

Description:

EL5152 2Ch. Inc. Encoder

Vendor

Beckhoff Automation GmbH & Co. KG

Documentation

http://www.beckhoff.com/EL5152

Revisions and PDOs

The ESI data ingested by github.com/linuxcnc-ethercat/esi-data describes 5 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
Name	EL5152 2Ch. Inc. Encoder
PID	0x14203052
Revision Code	0x00100000	0x00110000	0x00120000	0x00130000	0x00140000
Equivalant Devices
TX PDOs	0x1a00: ENC Status Channel 1
	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
					0x6000:0e Status__Sync error BOOL
					0x6000:10 Status__TxPDO Toggle BOOL
	0x6000:11 Counter value UDINT (32 bits)
	0x1a01: ENC Status compact Channel 1
	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
					0x6000:0e Status__Sync error BOOL
					0x6000:10 Status__TxPDO Toggle BOOL
	0x6000:11 Counter value UINT (16 bits)
	0x1a02: ENC Period Channel 1
	0x6000:14 Period value UDINT (32 bits)
	0x1a03: ENC Frequency Channel 1
	0x6000:13 Frequency value UDINT (32 bits)
	0x1a04: ENC Status Channel 2
	0x6010:03 Set counter done BOOL		0x6010:03 Status__Set counter done BOOL
	0x6010:08 Extrapolation stall BOOL		0x6010:08 Status__Extrapolation stall BOOL
	0x6010:09 Status of input A BOOL		0x6010:09 Status__Status of input A BOOL
	0x6010:0a Status of input B BOOL		0x6010:0a Status__Status of input B BOOL
					0x6010:0e Status__Sync error BOOL
					0x6010:10 Status__TxPDO Toggle BOOL
	0x6010:11 Counter value UDINT (32 bits)
	0x1a05: ENC Status compact Channel 2
	0x6010:03 Set counter done BOOL		0x6010:03 Status__Set counter done BOOL
	0x6010:08 Extrapolation stall BOOL		0x6010:08 Status__Extrapolation stall BOOL
	0x6010:09 Status of input A BOOL		0x6010:09 Status__Status of input A BOOL
	0x6010:0a Status of input B BOOL		0x6010:0a Status__Status of input B BOOL
					0x6010:0e Status__Sync error BOOL
					0x6010:10 Status__TxPDO Toggle BOOL
	0x6010:11 Counter value UINT (16 bits)
	0x1a06: ENC Period Channel 2
	0x6010:14 Period value UDINT (32 bits)
	0x1a07: ENC Frequency Channel 2
	0x6010:13 Frequency value UDINT (32 bits)
RX PDOs	0x1600: ENC Control Channel 1
	0x7000:03 Set counter BOOL		0x7000:03 Control__Set counter BOOL
	0x7000:11 Set counter value UDINT (32 bits)
	0x1601: ENC Control compact Channel 1
	0x7000:03 Set counter BOOL		0x7000:03 Control__Set counter BOOL
	0x7000:11 Set counter value UINT (16 bits)
	0x1602: ENC Control Channel 2
	0x7010:03 Set counter BOOL		0x7010:03 Control__Set counter BOOL
	0x7010:11 Set counter value UDINT (32 bits)
	0x1603: ENC Control compact Channel 2
	0x7010:03 Set counter BOOL		0x7010:03 Control__Set counter BOOL
	0x7010:11 Set counter value UINT (16 bits)