Beckhoff EL51xx 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.
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.
For the EL5101:
PDO |
Port |
Data Type |
#x1600 | #x7000:1..4 | bool[4] |
| #x7000:17 | uint32 |
#x1601 | #x7000:1..4 | bool[4] |
| #x7000:17 | uint16 |
#x1a00 | #x6000:1..3,8..11,13 | bool[9] |
| #x6000:17 | uint32 |
| #x6000:18 | uint32 |
#x1a01 | #x6000:1..3,8..11,13 | bool[9] |
| #x6000:17 | uint16 |
| #x6000:18 | uint16 |
#x1a02 | #x6000:20 | uint32 |
#x1a03 | #x6000:19 | uint32 |
#x1a05 | #x6000:19 | uint32 |
For the EL5151:
PDO |
Port |
Data Type |
#x1600 | #x7000:1..4 | bool[4] |
| #x7000:17 | uint32 |
#x1601 | #x7000:1..4 | bool[4] |
| #x7000:17 | uint16 |
#x1a00 | #x6000:1..3,8..11,13 | bool[9] |
| #x6000:17 | uint32 |
| #x6000:18 | uint32 |
#x1a01 | #x6000:1..3,8..11,13 | bool[9] |
| #x6000:17 | uint16 |
| #x6000:18 | uint16 |
#x1a02 | #x6000:20 | uint32 |
#x1a03 | #x6000:19 | uint32 |
#x1a05 | #x6000:19 | uint32 |
For the EL5152:
PDO |
Port |
Data Type |
#x1600 | #x7000:3 | bool |
| #x7000:17 | uint32 |
#x1601 | #x7000:3 | bool |
| #x7000:17 | uint16 |
#x1602 | #x7010:3 | bool |
| #x7010:17 | uint32 |
#x1603 | #x7010:3 | bool |
| #x7010:17 | uint16 |
#x1a00 | #x6000:3,8..10 | bool[4] |
| #x6000:17 | uint32 |
#x1a01 | #x6000:3,8..10 | bool[4] |
| #x6000:17 | uint16 |
#x1a02 | #x6000:20 | uint32 |
#x1a03 | #x6000:19 | uint32 |
#x1a04 | #x6010:3,8..10 | bool[4] |
| #x6010:17 | uint32 |
#x1a05 | #x6010:3,8..10 | bool[4] |
| #x6010:17 | uint16 |
#x1a06 | #x6010:20 | uint32 |
#x1a07 | #x6010:19 | uint32 |
Common Slave Options