Commissioning
EL5101, EL5101-0010, EL5101-0011
135
Version: 4.2
The highly constant query cycles (accuracy: 100 ns) of the distributed clocks systems enable the
EL5101-0000 to interpolate axis positions between the counted encoder increments from a certain speed.
The interpolation resolution is 8 bit, corresponding to 256 values. A standard encoder with 1,024 bars with 4-
way evaluation and micro-increments thus becomes a high-resolution axis encoder with 4096 * 256 =
1,048,567 bars.
Underrunning of the minimum velocity is indicated by the object
0x60n0:08 [
}
142]
(extrapolation stall) in the
process data.
Process data description
Fig. 158: Process data description
The process data are generated from CoE objects 0x60n0 (inputs) and 0x70n0 (outputs) and are described
in section
Object description and parameterization [
}
135]
6.4.2.2
Object description and parameterization - enhanced operation mode
Note
EtherCAT XML Device Description
The display matches that of the CoE objects from the EtherCAT XML Device Description.
We recommend downloading the latest XML file from the download area of the
Beckhoff
website
and installing it according to installation instructions.
