A PE51 form won't work with EDTIN or EDPDF. SAP has provided standard HR forms which you need to copy to your requirement. you need to go to feature HRFOR and provide the form name.
This form should be active in hrforms transaction. this is the only option you have and its very easy. SAP provides out of box form which is very descriptive.
You can do this without much abap knowledge as HRFORMS transaction is a logical nested loop of condition. Go to the layout of the copied form and customize as you want.