Operation modes

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

Mode	DC	Main PDO	Comment	Optional PDO 1	Comment	Optional PDO 2	Comment	Features CoE	Comment
7	FreeRun	0x1A04 + 0x1603	Count/Latch in 32 bit	0x1A05 or 0x1A06	Frequency (32 Bit) or Period (32 Bit)	--		0x8010:nn	CoE combinations 0x8010:nn
8	"	0x1A03 + 0x1602	compact: 16 bit count/latch	"	"	--		"	"
9	DC/DCi	0x1A04 + 0x1603	Count/Latch in 32 bit	"	"	0x1A07 or 0x1A08	64-bit timestamp 32-bit timestamp (compact)	"	"
10	"	0x1A03 + 0x1602	compact: 16 bit count/latch	"	"	"	"	"	"

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)

Describes whether the terminal is operated with distributed clocks support:

FreeRun: the terminal operates frame-triggered. Cyclic operation is started via the SyncManagers of the EtherCAT frame processing.
DC-Synchron: cyclic operation in the terminal is started by the local distributed clock at exact intervals. The start time is chosen such that it coincides with other output slaves in the EtherCAT system.
DC-Synchron (input based): as DC-Synchron mode, with the cyclic start time chosen such that it coincides with other input slaves in the EtherCAT system.