Beckhoff EL5101-0011 vs plain EL5101

I bought several used Beckhoff encoder modules from eBay, under the assumption that they were all plain EL5101's.  Three of them turned out to be, and they work just fine under linuxcnc.  I have them connected to linear scales.

The fourth one is a EL5101-0011 model, which is capable of higher encoder rates and oversampling.  Unfortunately it's not quite compatible with the standard EL5101 driver in lcec, as it never gets out of PREOP despite being configured properly.  A quick glance through the Beckhoff technical documentation does seem to show there are differences at the PDO level.

I could expand the existing EL5101 driver or create a new one for this device, but I figured I'd see if anyone else has already done this before I bother.  I didn't turn up anything in a forum search, so I'm guessing not.

 

There is another way and that is to use the "generic" driver instead of the built-in one and specify the sdos and pdos you need in the config xml file
"lcec_configgen -generic_pdos" will give you a nice starting point.

Thanks, Hakan. That's how I have my servo drives set up. Maybe I'll do that as a first step just to get it going for now.