"Legacy EL5101" mode
The process image of the terminal is based on the MDP511 profile. This profile has been extended for improved functionality in terms of status bits. The terminal provides various status information in the respective "Predefined PDO Assignments". A process image compatible with the EL5101 is provided via "Legacy EL5101" mode. The process image of the terminal outside "Legacy EL5101" mode differs by the following status bits in the PDO assignment:
EL5101 | EL5102, EL5112 | ||||
|---|---|---|---|---|---|
"Standard / Line Motion" mode | "Legacy EL5101" mode | "n.Ch. Standard / Compact / counter"-Mode (Ch.1 n=0, Ch.2 n=1) | |||
0x6010:0D | Status_Status of extern Latch | 0x60n0:0D | Status_Status of extern Latch | 0x60n2:0D | Status_Status Diag |
0x6010:0E | Status_Sync error | 0x60n0:0E | Status_Sync error | 0x60n2:0E | Status_Status TxPDO State |
0x6010:0F | Status_Status TxPDO State | 0x60n0:0F | Status_Status TxPDO State | 0x60n2:0F | Status_Status Input cycle counter |
0x6010:10 | Status_Status TxPDO Toggle | 0x60n0:10 | Status_Status TxPDO Toggle | 0x60n2:10 | - |
- | - | - | - | 0x60n2:14 | Status_Status of extern Latch |
"Legacy EL5101" mode enables the use of existing function blocks based on the modified status bits.
 | EL5102 and EL5112 in conjunction with older TwinCAT versions From TwinCAT version 3.1 Build 4024 and higher, all predefined PDOs of the EL5102 and EL5112 can be automatically linked to the NC. For older TwinCAT versions the "Legacy EL5101" mode must be used. Note the associated functionality restrictions. |
| Functional compatibility with EL5101 The EL5102 and EL5112 do not offer functional compatibility with the EL5101. Internal calculation methods and timings may differ. Compatibility with existing projects must be checked on a case-by-case basis. |
Limitations of "Legacy EL5101" mode
The following table provides an overview of the functions available in "Legacy EL5101" mode:
Function | "Legacy" mode | |
|---|---|---|
Set counter value via | PLC variable | YES |
zero pulse C | No | |
Latch input | No | |
Reset counter value via | zero pulse C | YES |
Latch input | YES | |
Save counter value via | zero pulse C | YES |
Latch input | YES | |
Gate input / Latch extern 2 | No | |
Lock counter value via | PLC variable | No |
Gate input / Latch extern 2 | YES | |
Detect counting direction | No | |
Detect reversion of rotation | No | |
Frequency calculation | No | |
Period duration calculation | No | |
Duty cycle evaluation | No | |
Micro-increments | No | |
Timestamp function | No | |
Filter function | YES | |
Plausibility check | YES | |