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:

  1. PDO Entry #x7000:1,3 Type bool[2] (Enable latch C, Set counter)
  2. PDO Entry #x7000:17 Type uint32 (Set counter value)

There are 3 output ports from PDO #x1a00:

  1. 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)
  2. PDO Entry #x6000:17 Type uint32 (Counter value)
  3. 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