Settings via the CoE directory

Latch, reset, reverse direction of rotation, TxPDO state, TxPDO toggle

Notice

Parameterization via the CoE list (CAN over EtherCAT)

The EtherCAT device is parameterized via the CoE - Online tab (with a double click on the respective object) or via the Process Data tab (assignment of PDOs). A detailed description can be found in the EtherCAT System-Documentation in chapter “EtherCAT subscriber configuration”

Please note the general CoE notes in the EtherCAT System Documentation in chapter “CoE-interface” when using/manipulating the CoE parameters:
- Keep a startup list if components have to be replaced
- Differentiation between online/offline dictionary,
- existence of current XML description
- use "CoE reload" for resetting changes

All settings for the EL5021 are made via the CoE directory.

Settings via the CoE directory 2: — CoE directory using the EL5021 as an example

If the terminal is online, i.e. connected to the TwinCAT EtherCAT master and in error-free RUN state (WorkingCounter = 0), the online data can be accessed (A).
In the entries Index 0x8000 (B) and Index 0x8001 (C) the entries can be changed online, please also observe the notes on the StartUp list.

Frequency and amplitude errors are counted in the EL5021 and can be read at index 0xA000 - the display is updated continuously in TwinCAT if (D1) has been enabled.

Latch and/or Reset can be activated on the C-signal in the CoE. It is not recommended to activate both functions at the same time.

Latch C input ("C")
Enable and store ("latch") the counter value

1. Enable the latch C input via the process data "Enable latch C" (Index 0x7000:01) = TRUE

At the first external latch pulse (positive edge at input "C") after set bit (TRUE) in index 0x7000:01 the count value is stored in "Latch value" (index 0x6000:12).
The following pulses at the other inputs have no influence on the latch value in index 0x6000:12 if the bit is set.

	"Latch C valid" bit A new counter value at the latch input can only be written once the value of the "Latch C valid" bit (index 0x6000:01) is FALSE.

Reset

Counter reset (Index 0x8000:01): The bit in index 0x8000:01 must be set for the counter reset via input C.

Reversal of direction of rotation

The option to reverse the direction of rotation is enabled by setting the bit in index 0x8000:0E.

TxPDO State

Index 0x6000:0F, TRUE if frequency, amplitude or general error

TxPDO Toggle

Index 0x6000:10, toggles with each new value.