Basics communication
EL5101, EL5101-0010, EL5101-0011
29
Version: 4.2
Fig. 18:
Online list
Channel-based order
The CoE list is available in EtherCAT devices that usually feature several functionally equivalent channels.
For example, a 4-channel analog 0..10 V input terminal also has 4 logical channels and therefore 4 identical
sets of parameter data for the channels. In order to avoid having to list each channel in the documentation,
the placeholder "n" tends to be used for the individual channel numbers.
In the CoE system 16 indices, each with 255 subindices, are generally sufficient for representing all channel
parameters. The channel-based order is therefore arranged in 16
dec
/10
hex
steps. The parameter range
0x8000 exemplifies this:
• Channel 0: parameter range 0x8000:00 ... 0x800F:255
• Channel 1: parameter range 0x8010:00 ... 0x801F:255
• Channel 2: parameter range 0x8020:00 ... 0x802F:255
• ...
This is generally written as 0x80n0.
Detailed information on the CoE interface can be found in the
EtherCAT system documentation
on the
Beckhoff website.
4.6
DC settings
Distributed Clocks (DC)
Note
EtherCAT and Distributed Clocks
A basic introduction into EtherCAT and distributed clocks is available for download from the
Beckhoff website: the “
Distributed clocks system description
”.
The incremental encoder terminals support the distributed clocks function (EL5101: from Hardware 09 /
Firmware 14; EL5151 from Hardware 01 / Firmware 05). In order for the EL51xx to be able to make the
current counter value available in the designated process data in time before the arrival of the querying
EtherCAT datagram, a suitable signal must be generated cyclically within the terminal. This signal can be
triggered in the EL51xx through two events: the SyncManager (SM) and the distributed clock (DC). Under
operation mode selection the following options are available (see Fig. 1)
Summary of Contents for EL5101
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