Quick start

Proceed as follows for standard commissioning of the EL5031-0011 with EnDat 2.2 encoders.

1. Install the EL5031-0011 in the E-bus terminal segment on an EtherCAT Coupler, e.g. EK1100 or EK1501.
2. Connect the EnDat 2.2 encoder according to the connection diagram (Data(+/-), Clock(+/-) and supply voltage).
The encoder must support EnDat 2.2 and a clock frequency >= 8 MHz.
3. Set up a correct EtherCAT configuration with the terminal.
Since the device is present and electrically accessible, the easiest way to do this is to scan the devices.
4. Activate the EtherCAT master and start the terminal in the OP state
The EL5031-0011 must supply State=8 and WC=0 in the input variables.

Notice

Quick start 1:

No transition to OP state if DC synchronization is faulty

Oversampling requires a clock in the EtherCAT devices that triggers the individual output patterns. The local clock in the EtherCAT device, known as the "Distributed Clock" (DC), is used for this purpose.
DC-capable slaves cannot be switched to the OP state if their local clock is not set or they fall out of the OP state again if the control fails ("Sync lost").

  • Observe the descriptions and Notes on distributed clocks in the EtherCAT system documentation.
  • If the number of process data does not match the oversampling factor n, the EtherCAT devices will reach the OP state but will not generate any process data!
5. Parameterization of the EnDat 2.2 encoder in the CoE settings of the EL5031-0011 is rarely necessary, as the EnDat 2.2 encoder is identified by an electronic nameplate.
6. An encoder voltage of 5 V (default setting) or 9 V can be set in object 0x8008:13.
7. The desired oversampling factor and the size of the position data (standard = 64 bits, compact = 32 bits) can be chosen in the "DC" tab under "Operation Mode".

The data can now be read via the process data.

Quick start 2:

Parameters are only updated in "PreOP"

in addition to the position values of the encoder, various parameters stored in the device ("electronic nameplate") can also be read via the EnDAT 2.2 interface.
To ensure efficient data transmission, the additional information and parameters are only retrieved in the "PreOP" state. They can be read in the following objects:

  • 0x9008 „FB EnDat Info data“ and
  • 0xA008 „FB EnDat Diag data“.