Beckhoff EL5101, Documentation

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Table of contents
EL5101, EL5101-0010, EL5101-0011 3 Version: 4.2
Table of contents
1 Overview Incremental Encoder Interface ................................................................................................ 5
2 Foreword .................................................................................................................................................... 6
2.1 Notes on the documentation........................................................................................................... 6
2.2 Safety instructions .......................................................................................................................... 7
2.3 Documentation issue status............................................................................................................ 8
2.4 Version identification of EtherCAT devices..................................................................................... 8
3 Product overview..................................................................................................................................... 13
3.1 Introduction ................................................................................................................................... 13
3.2 Technology ................................................................................................................................... 15
3.3 Technical data .............................................................................................................................. 18
3.4 Start .............................................................................................................................................. 18
4 Basics communication ........................................................................................................................... 20
4.1 EtherCAT basics ........................................................................................................................... 20
4.2 EtherCAT cabling – wire-bound.................................................................................................... 20
4.3 General notes for setting the watchdog ........................................................................................ 21
4.4 EtherCAT State Machine .............................................................................................................. 23
4.5 CoE Interface ................................................................................................................................ 25
4.6 DC settings ................................................................................................................................... 29
5 Mounting and wiring ............................................................................................................................... 34
5.1 Installation on mounting rails ........................................................................................................ 34
5.2 Installation instructions for enhanced mechanical load capacity .................................................. 36
5.3 Connection.................................................................................................................................... 37
5.3.1
Connection system........................................................................................................... 37
5.3.2 Wiring ............................................................................................................................... 39
5.3.3 Shielding .......................................................................................................................... 40
5.4 Installation positions ..................................................................................................................... 40
5.5 Mounting of Passive Terminals..................................................................................................... 42
5.6 UL notice....................................................................................................................................... 43
5.7 ATEX - Special conditions (extended temperature range) ........................................................... 45
5.8 ATEX Documentation ................................................................................................................... 46
5.9 LEDs and connection.................................................................................................................... 46
5.9.1
EL5101-00x0.................................................................................................................... 46
5.9.2 EL5101-0011 ................................................................................................................... 48
6 Commissioning........................................................................................................................................ 50
6.1 TwinCAT Quick Start .................................................................................................................... 50
6.1.1
TwinCAT 2 ....................................................................................................................... 52
6.1.2 TwinCAT 3 ....................................................................................................................... 62
6.2 TwinCAT Development Environment............................................................................................ 74
6.2.1
Installation of the TwinCAT real-time driver ..................................................................... 74
6.2.2 Notes regarding ESI device description ........................................................................... 80
6.2.3 TwinCAT ESI Updater...................................................................................................... 84
6.2.4 Distinction between Online and Offline ............................................................................ 84
6.2.5 OFFLINE configuration creation ...................................................................................... 85
6.2.6 ONLINE configuration creation ........................................................................................ 90
6.2.7 EtherCAT subscriber configuration .................................................................................. 98
6.2.8 NC configuration ............................................................................................................ 108