EL2502 and EL2535 PWM Ethercat BECKHOFF Modules

Hi everyone, I've started to experiment with Ethercat and Beckhoff modules along with LinuxCNC. I have to say that it was easy to use the generic driver and get up and running. I've used some input/output modules, encoders, and analog outputs, for example the 2809, 1809, 5151, and 4032.
I was thinking about using modules with PWM outputs, and to my surprise, I saw that they are not included in the drivers (correct me if I'm wrong). I could try coding a specific driver, for example, for the 2502 and 2535 modules. Although if someone has already done it, perhaps it could save me some time.
The truth is that being able to use Beckhoff industrial modules with LinuxCNC has great hardware advantages, as interfacing with servo amplifiers, encoders, etc. is very simple. I've done some things with Remora and the RT1052 firmware, in which I've developed some encoder and PWM modules, but I always run into interface problems, especially with industrial modules. Obviously, compared to Beckhoff, this solution is much more economical.
Well, I hope for some answers, guys, about the EL2502 and EL2535 PWM modules. If anyone has developed something and wants to share it, I'd appreciate it in advance. Best regards.

What's the application of EtherCAT PWM output? ie, where would you use that rather than analogue output?

Hi Andy, I have machines with Axor MicroSpeed ​​MCS-60-10/20 and HDT Colibri CB060 10/20 servo drives, among others, that have analog and PWM interfaces. According to the datasheets, they explain that they have some solder jumpers that can be connected to switch between interfaces, since they have PWM and analog. I've actually tried everything but I can't change the interface.
These servo drives operate up to 60V VDC, and the VDC motor machines for this voltage also have power supplies based on transformers, rectifiers, and fairly expensive capacitors that I could use and wouldn't have to change.
If you have any information on how to change these interfaces on the driver itself, that would be great. The datasheets for both brands specify that there is a solder jumper (example: K# nomenclature) to make this change, but when you look at the PCB, you find all the jumpers except that K#. Hahaha, the components come without identification, for a change, etc. It's also always fun to write a driver for a new module, in case it doesn't exist of course, thanks for the ideas and greetings

@rbobey1989
"EDIT"  My bad, I jumped the gun and didn't pay attention that it was PWM... I saw the EL25"" models and responded too quiickly, yeah I am supprised there isn't any either...

Yes, there are pulse train terminals in the code already and have been for years.  Look for EL2521 models.  I have these and they work.

If you bought some other terminal, then here is the code to the 2521 so you can have something to work from.
scott laird link
linuxcnc-ethercat/src/devices/lcec_el2521.c at master · linuxcnc-ethercat/linuxcnc-ethercat · GitHub
sittner link
linuxcnc-ethercat/src/lcec_el2521.c at master · sittner/linuxcnc-ethercat · GitHub
Beckhoff link
EL2521 | EtherCAT Terminal, 1-channel pulse train output, incr. enc. simulation, RS422, 50 mA | Beckhoff USA


Also, those EL4032's are 12bit, the 4132's are 16 for when you are looking in the future.  The 4134 is also in the code for the last few years if you need to maximize terminal space... 
 

I have a EL2502 here but have not tried to install it yet. 
I think if you use ethercat sdos and ethercat pdos you will have all the info you need to create a generic profile.
I have written a couple of drivers for unnamed Chinese IO modules this way

As always, great starting points. I'm waiting for my EL2502, although the EL2521 seems to work just fine. Thanks, Corbett and Rodw.