Operation modes

In EL5101 “Normal operation mode” the following modes are available:

Mode	DC	Main PDO	Comment	Optional PDO 1	Comment	Features CoE	Comment
1	FreeRun	0x1A00 + 0x1600	16 bit Value/Latch Byte alignment	0x1A02	Frequency: 32-bit Period: 16-bit Window: 16-bit CoE object 0x8001:02: window	0x8000:01 + 0x8001:02	Register reload + Reload value
2	"	"	"	"	"	0x8000:02	Index reset
3	"	"	"	"	"	0x8000:03, :04, :05	FWD Cnt + pos/neg gate
4	FreeRun	0x1A01 + 0x1601	16 bit Value/Latch Word alignment	0x1A02	Frequency: 32-bit Period: 16-bit Window: 16-bit CoE object 0x8001:02: window	0x8000:01 + 0x8001:02	Register reload + Reload value
5	"	"	"	"	"	0x8000:02	Index reset
6	"	"	"	"	"	0x8000:03, :04, :05	FWD Cnt + pos/neg gate

Settings other than those listed above may result in irregular process data and error messages in the TwinCAT System Manager logger window.

	EL5101 parameterization To clear any previous settings, if necessary, perform a CoE reset (see the EtherCAT system manual, chapter “Restoring factory settings”). To activate the new operation mode, reload the EtherCAT slaves (button in the System Manager)

DC (Distributed Clocks)

Describes whether the terminal is operated with distributed clocks support:

Operation modes 3:

	Distributed Clocks in normal operating mode In normal operating mode no DC functions are available.