Beckhoff EL5101 Incremental Encoder interface terminal
Warning: This slave is very complex, so read the documentation.
This contains information how to configure and use the slave, which
PDO's to choose and the correspondig CoE objects to configure.
Depending on your choice of PDO's the terminal will operate in Normal
or Enhanced mode.
Configure the slave by choosing the appropriate PDO's in the
Main tab as well as setting the correct CoE objects in the
respective tabs.
The ports are added sequencially for every PDO that is enabled.
One port is added for every PDO Entry, with the exception are boolean
PDO Entries which are grouped into a boolean vector per PDO.
PDO |
Port |
Data Type |
#x1601 | #x7000:1 | uint8 |
| #x7000:2 | uint16 |
#x1602 | #x7010:1..4 | bool[4] |
| #x7010:17 | uint16 |
#x1603 | #x7010:1..4 | bool[4] |
| #x7010:17 | uint32 |
#x1a01 | #x6000:1 | uint8 |
| #x6000:2 | uint16 |
| #x6000:3 | uint16 |
#x1a02 | #x6000:4 | uint32 |
| #x6000:5 | uint16 |
| #x6000:6 | uint16 |
#x1a03 | #x6010:1..13 | bool[13] |
| #x6010:17 | uint16 |
| #x6010:18 | uint16 |
#x1a04 | #x6010:1..13 | bool[13] |
| #x6010:17 | uint32 |
| #x6010:18 | uint32 |
#x1a05 | #x6010:19 | uint32 |
#x1a06 | #x6010:20 | uint32 |
#x1a08 | #x6010:22 | uint32 |
Common Slave Options