Beckhoff EP5101-0011

Type:: EP5101-0011
Description:: EP5101-0011 1Ch. Inc. Encoder 5V, D-SUB15
Vendor: Beckhoff Automation GmbH & Co. KG
Documentation: https://www.beckhoff.com/EP5101-0011

Revisions and PDOs

The ESI data ingested by github.com/linuxcnc-ethercat/esi-data describes 4 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
Name	EP5101-0011 1Ch. Inc. Encoder 5V, D-SUB15
PID	0x13ed4052
Revision Code	0x0010000b	0x0011000b	0x0012000b	0x0013000b
Equivalant Devices	EP5151-0002 r18 EPP5151-0002 r16 EPP5151-0002 r17 ER5151-0002 r18			EPP5101-0011 r16 EPP5101-0011 r17
TX PDOs	0x1a00: ENC Status compact
	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
	0x6000:0d Status__Status of extern latch BOOL
	0x6000:11 Counter value UINT (16 bits)
	0x6000:12 Latch value UINT (16 bits)
	0x1a01: ENC Status
	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
	0x6000:0d Status__Status of extern latch BOOL
	0x6000:11 Counter value UDINT (32 bits)
	0x6000:12 Latch value UDINT (32 bits)
	0x1a02: ENC Frequency
	0x6000:13 Frequency value UDINT (32 bits)
	0x1a03: ENC Period
	0x6000:14 Period value UDINT (32 bits)
	0x1a04: ENC Timest.
	0x6000:16 Timestamp ULINT (64 bits)
	0x1a05: ENC Timest. compact
	0x6000:16 Timestamp DWORD (32 bits)			0x6000:16 Timestamp UDINT (32 bits)
RX PDOs	0x1600: ENC Control compact
	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
	0x7000:11 Set counter value UINT (16 bits)
	0x1601: ENC Control
	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
	0x7000:11 Set counter value UDINT (32 bits)