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..4bool[4]
#x7000:17uint32
#x1601#x7000:1..4bool[4]
#x7000:17uint16
#x1a00#x6000:1..3,8..11,13bool[9]
#x6000:17uint32
#x6000:18uint32
#x1a01#x6000:1..3,8..11,13bool[9]
#x6000:17uint16
#x6000:18uint16
#x1a02#x6000:20uint32
#x1a03#x6000:19uint32
#x1a05#x6000:19uint32

For the EL5151:

PDO Port Data Type
#x1600#x7000:1..4bool[4]
#x7000:17uint32
#x1601#x7000:1..4bool[4]
#x7000:17uint16
#x1a00#x6000:1..3,8..11,13bool[9]
#x6000:17uint32
#x6000:18uint32
#x1a01#x6000:1..3,8..11,13bool[9]
#x6000:17uint16
#x6000:18uint16
#x1a02#x6000:20uint32
#x1a03#x6000:19uint32
#x1a05#x6000:19uint32

For the EL5152:

PDO Port Data Type
#x1600#x7000:3bool
#x7000:17uint32
#x1601#x7000:3bool
#x7000:17uint16
#x1602#x7010:3bool
#x7010:17uint32
#x1603#x7010:3bool
#x7010:17uint16
#x1a00#x6000:3,8..10bool[4]
#x6000:17uint32
#x1a01#x6000:3,8..10bool[4]
#x6000:17uint16
#x1a02#x6000:20uint32
#x1a03#x6000:19uint32
#x1a04#x6010:3,8..10bool[4]
#x6010:17uint32
#x1a05#x6010:3,8..10bool[4]
#x6010:17uint16
#x1a06#x6010:20uint32
#x1a07#x6010:19uint32

Common Slave Options