Introduction

Fig.2: EL5101-0010

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

The EL5101-0010 EtherCAT Terminal is an interface for direct connection of incremental encoders with differential inputs (RS422). With a maximum input frequency of up to 5 MHz, it is particularly well-suited for dynamic applications.

The EL5101-0010, with a resolution of 20 million increments per second at 5 MHz and 4-fold evaluation, can only be used in extended operation mode. The microincrement mode is not available for the EL5101-0010.

A switchable 16/32 bit counter with a quadrature decoder and a 32 bit latch for the zero pulse can be read, set or enabled. A period measurement and frequency measurement with a resolution of 100 ns is possible.

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 and evaluated via the negative-triggered status input. The encoders can be supplied with 5 V or 24 V directly via the connection points of the terminal.

The EL5101-0010 supports distributed clocks, i.e. the input data can be synchronously acquired with other data that, similarly distributed, are connected to distributed clocks slaves. The accuracy across the system is < 100 ns.

In addition, a timestamp is available for the last registered incremental edge. The use of encoder profiles allows the process data to be linked to the motion control application quickly and easily.