Commissioning
EL5101, EL5101-0010, EL5101-0011
120
Version: 4.2
Note
Distributed Clocks in normal operating mode
In normal operating mode no DC functions are available.
Main PDO
Selection of basic process data:
Fig. 149: “Process data” tab
A: Selection of data direction: input or output
B: Selection of (optional) PDOs (process data objects)
C: Explanatory notes for PDOs
• Byte/word alignment: By default the EL5101 is operated in normal operation mode with byte alignment
and therefore efficiently few process data. In cases where an EtherCAT master requires the process
data in word alignment (filled to 16 bit), PDO
0x1A01 [
}
126]
and
0x1601 [
}
126]
should be used.
Optional PDOs
Optional PDOs, in addition to the main PDO:
• PDO 1 (
0x1A02 [
}
126]
):
- The
frequency
is determined over 10 ms (fixed) as a number of increments.
- The
period
(time interval between 2 positive edges of input A) is determined as often as possible in
the unit 500 ns/digit. If no increment event occurs for approx.1.6 seconds, the frequency/period is set to
0.
-
Window
: A user-defined time window can be parameterized via CoE object
0x8001:02 [
}
124]
with
the unit 16 µs/digit. During this window time the encoder increments are counted and output in the
process record
window
.
Features CoE
Depending on the main PDO/optional PDOs further settings can be selected in the CoE (CAN over
EtherCAT list).
Summary of Contents for EL5101
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