Beckhoff EL5021 1Ch. Sin/Cos Encoder
Please read the appropriate documentation for this terminal which will
help in configuring it.
There are 2 input ports from PDO #x1600:
- PDO Entry #x7000:1,3 Type bool[2] (Enable latch C,
Set counter)
- PDO Entry #x7000:17 Type uint32 (Set counter value)
There are 3 output ports from PDO #x1a00:
- PDO Entry #x6000:1,3 #x6001:4,5 #x6000:11 Type bool[5]
(Latch C valid, Set counter done, Frequency error, Amplitude
error, Status of input C)
- PDO Entry #x6000:17 Type uint32 (Counter value)
- PDO Entry #x6000:18 Type uint32 (Latch value)
The error counters in CoE #xA000 can only be read out using the
ethercat command.
Common Slave Options