EtherCAT ESI Data for LinuxCNC

Beckhoff ELX5151-0090

Type:
ELX5151-0090
Description:
ELX5151-0090 1Ch. Inc. Encoder NAMUR, Ex i, TwinSAFE SC
Vendor
Beckhoff Automation GmbH & Co. KG
Documentation
http://www.beckhoff.com/ELX5151-0090

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
ELX5151-0090 1Ch. Inc. Encoder NAMUR, Ex i, TwinSAFE SC
PID
0x970c3ff9
Revision Code
0x0010005a
Equivalant Devices
TX PDOs
0x1a00: ENC Status
  0x6000:03  Status__Set counter done        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
  0x6000:0e  Status__Sync error              BOOL
  0x6000:0f  Status__TxPDO State             BOOL
  0x6000:10  Status__TxPDO Toggle            BOOL
  0x6000:11  Counter value                   UDINT (32 bits)
0x1a01: ENC Status compact
  0x6000:03  Status__Set counter done        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
  0x6000:0e  Status__Sync error              BOOL
  0x6000:0f  Status__TxPDO State             BOOL
  0x6000:10  Status__TxPDO Toggle            BOOL
  0x6000:11  Counter value                   UINT (16 bits)
0x1a02: ENC Period
  0x6000:14  Period value                    UDINT (32 bits)
0x1a03: ENC Frequency
  0x6000:13  Frequency value                 UDINT (32 bits)
0x1a04: ENC Timest.
  0x6000:16  Timestamp                       ULINT (64 bits)
0x1a05: ENC Timest. compact
  0x6000:16  Timestamp                       UDINT (32 bits)
RX PDOs
0x1600: ENC Control
  0x7000:03  Control__Set counter            BOOL
  0x7000:11  Set counter value               UDINT (32 bits)
0x1601: ENC Control compact
  0x7000:03  Control__Set counter            BOOL
  0x7000:11  Set counter value               UINT (16 bits)