diff -r cab9cc6a2721 -r 56964b20c15d include/EtherCAT_si.h
--- a/include/EtherCAT_si.h	Mon Feb 13 14:11:33 2006 +0000
+++ b/include/EtherCAT_si.h	Tue Feb 14 14:40:47 2006 +0000
@@ -17,12 +17,6 @@
 
 /*****************************************************************************/
 
-#define EC_READ_EL31XX(SLAVE, CHANNEL) \
-    ((short int) ((EC_PROC_DATA(SLAVE)[(CHANNEL) * 3 + 2] << 8) | \
-                   EC_PROC_DATA(SLAVE)[(CHANNEL) * 3 + 1]))
-
-/*****************************************************************************/
-
 #define EC_WRITE_EL20XX(SLAVE, CHANNEL, VALUE) \
     do { \
         if (VALUE) EC_PROC_DATA(SLAVE)[0] |=  (1 << (CHANNEL)); \
@@ -31,6 +25,12 @@
 
 /*****************************************************************************/
 
+#define EC_READ_EL31XX(SLAVE, CHANNEL) \
+    ((short int) ((EC_PROC_DATA(SLAVE)[(CHANNEL) * 3 + 2] << 8) | \
+                   EC_PROC_DATA(SLAVE)[(CHANNEL) * 3 + 1]))
+
+/*****************************************************************************/
+
 #define EC_WRITE_EL41XX(SLAVE, CHANNEL, VALUE) \
     do { \
         EC_PROC_DATA(SLAVE)[(CHANNEL) * 3 + 1] = ((VALUE) & 0xFF00) >> 8; \
@@ -39,15 +39,30 @@
 
 /*****************************************************************************/
 
-#define EC_READ_EL5001(SLAVE) \
+#define EC_CONF_EL5001_BAUD (0x4067)
+
+#define EC_READ_EL5001_STATE(SLAVE) \
+    ((unsigned char) EC_PROC_DATA(SLAVE)[0])
+
+#define EC_READ_EL5001_VALUE(SLAVE) \
     ((unsigned int) (EC_PROC_DATA(SLAVE)[1] | \
                      (EC_PROC_DATA(SLAVE)[2] << 8) | \
                      (EC_PROC_DATA(SLAVE)[3] << 16) | \
                      (EC_PROC_DATA(SLAVE)[4] << 24)))
 
-#define EC_READ_EL5001_STATE(SLAVE) \
+/*****************************************************************************/
+
+#define EC_READ_EL5101_STATE(SLAVE) \
     ((unsigned char) EC_PROC_DATA(SLAVE)[0])
 
+#define EC_READ_EL5101_VALUE(SLAVE) \
+    ((unsigned int) (EC_PROC_DATA(SLAVE)[1] | \
+                     (EC_PROC_DATA(SLAVE)[2] << 8)))
+
+#define EC_READ_EL5101_LATCH(SLAVE) \
+    ((unsigned int) (EC_PROC_DATA(SLAVE)[3] | \
+                     (EC_PROC_DATA(SLAVE)[4] << 8)))
+
 /*****************************************************************************/
 
 /* Emacs-Konfiguration