Introduction

Introduction 1:Fig.1: EL5101

EtherCAT Terminal, 1-channel encoder interface, incremental, 5 V DC (DIFF RS422, TTL), 1 MHz

The EL5101 EtherCAT Terminal is an interface for the direct connection of incremental encoders with differential inputs (RS422) or TTL single-ended signals. Input frequencies up to 1 MHz can be evaluated. It is possible to measure a period or frequency with a resolution of 100 ns. The EL5101 can also be used as bidirectional counter on channel A; channel B specifies the count direction.

Two additional 24 V digital inputs are available for saving, locking, and setting the counter value. The gate input allows the locking of the counter, alternatively with a high or low level. The latch input is similarly configurable and evaluates high or low levels.

The alarm output of an encoder can be connected to the negative-triggered status input. The encoders can be supplied with 5 V or 24 V directly via the connection points of the terminal.

In “normal operation mode,” a 16 bit counter and a 16 bit latch for a zero pulse can be read, set, or enabled.

The extended operating mode is available as a result of further development of the EL5101 starting with firmware 14 / hardware 09. This can be configured in the TwinCAT System Manager depending on the hardware available. Older EL5101 devices do not support this enhanced operation mode (see table)!

Operation modes of the EL5101

from FW/HW

ESI

Functional description

normal operation mode

03/05

from EL5101-0000-0000

all basic functions as described above

enhanced operation mode

14/09

from EL5101-0000-1018

changes to the normal operation mode

  • distributed clocks support
  • microincrements
  • wire break detection
  • connection of single-ended signals possible

In “extended operation mode,” a switchable 16/32 bit counter and a 32 bit latch for a zero pulse can be read, set, or enabled.

The EL5101 supports distributed clocks in the enhanced operation mode, i.e. the input data can be recorded synchronously with other data that are also linked to distributed clocks slaves. The accuracy across the system is < 100 ns.

The two operating modes are described separately in the chapter “EL5101 - Commissioning”. During commissioning, you must decide which operation mode to use.

Quick links