Operating modes

Permissible operating modes for the EL5151

The following modes are available for the EL5151. They apply both for the encoder analysis and counter terminal mode.

The combinations of DC, PDO and CoE settings listed below are permissible per mode. Other settings can lead to irregular process data and error messages in the TwinCAT System Manager Logger window.

Mode	DC	Main PDO	Optional PDO 1	Optional PDO 2	Features CoE
1	FreeRun	Predefined PDO Assignment: Standard 32-bit (MDP 511): 0x1A00 + 0x1600 + 0x1A02			CoE combinations 0x8000:nn
1	FreeRun	0x1A00 Inputs: 16 Bit Status, 32 Bit Counter Value, 32 Bit Latch Value + 0x1600 Outputs: 16 Bit Control, 32 Bit Set Counter Value	0x1A02 32 Bit Period or 0x1A03 32 Bit Frequency	--	CoE combinations 0x8000:nn
2	FreeRun	Predefined PDO Assignment: Standard 16-bit (MDP 511): 0x1A01 + 0x1601 + 0x1A02			CoE combinations 0x8000:nn
2	FreeRun	0x1A01 Inputs: 16 Bit Status, 16 Bit Counter Value, 16 Bit Latch Value + 0x1601 Outputs: 16 Bit Control 16 Bit Set Counter Value	0x1A02 32 Bit Period or 0x1A03 32 Bit Frequency	-	CoE combinations 0x8000:nn
3	DC/DCi	Predefined PDO Assignment: Standard 32 Bit with 64 Bit Timestamp (MDP 511): 0x1A00 + 0x1600 + 0x1A02 + 0x1A04			CoE combinations 0x8000:nn
3	DC/DCi	0x1A00 Inputs: 16 Bit Status, 32 Bit Counter Value, 32 Bit Latch Value + 0x1600 Outputs: 16 Bit Control, 32 Bit Set Counter Value	0x1A02 32 Bit Period or 0x1A03 32 Bit Frequency	0x1A04 64 Bit Timestamp or 0x1A05 32 Bit Timestamp (compact)	CoE combinations 0x8000:nn
4	DC/DCi	Predefined PDO Assignment: Standard 16 Bit with 32 Bit Timestamp (MDP 511): 0x1A01 + 0x1601 + 0x1A02 + 0x1A05			CoE combinations 0x8000:nn
4	DC/DCi	0x1A01 Inputs: 16 Bit Status, 16 Bit Counter Value, 16 Bit Latch Value + 0x1601 Outputs: 16 Bit Control, 16 Bit Set Counter Value	0x1A02 32 Bit Period or 0x1A03 32 Bit Frequency	0x1A04 64 Bit Timestamp or 0x1A05 32 Bit Timestamp (compact)	CoE combinations 0x8000:nn

Permissible operating modes for the EL5152

The following modes are available for the EL5152. They apply both for the encoder analysis and counter terminal mode.

The combinations of DC, PDO and CoE settings listed below are permissible per mode. Other settings can lead to irregular process data and error messages in the TwinCAT System Manager Logger window.

Mode	DC	Main PDO	Optional PDO 1	Features CoE
1	FreeRun	Predefined PDO Assignment: Standard 32-bit (MDP 511): Channel 1 (0x1A00 + 0x1600 + 0x1A02) + Channel 2 (0x1A04 + 0x1602 + 0x1A06)		CoE combinations 0x80n0:nn
1	FreeRun	Channel1 / Channel 2 0x1A00 / 0x1A04 Status: 16 Bit Status, 32 Bit Counter Value + 0x1600 / 0x1602Control: 16 Bit Control 32 Bit Set Counter Value	Channel 1: 0x1A02 32 Bit Period or 0x1A03 32 Bit Frequency Channel 2: 0x1A06 32 Bit Period or 0x1A07 32 Bit Frequency	CoE combinations 0x80n0:nn
2	FreeRun	Predefined PDO Assignment: Standard 16 Bit (MDP 511): Channel 1(0x1A01 + 0x1601 + 0x1A02) + Channel 2 (0x1A05 + 0x1603 + 0x1A06)		CoE combinations 0x80n0:nn
2	FreeRun	Channel 1/ Channel2 0x1A01 / 0x1A05 Status compact: 16 Bit Status, 16 Bit Counter Value + 0x1601 / 0x1603 Control compact: 16 Bit Control 16 Bit Set Counter Value	Channel 1: 0x1A02 32 Bit Period or 0x1A03 32 Bit Frequency Channel 2: 0x1A06 32 Bit Period or 0x1A07 32 Bit Frequency	CoE combinations 0x80n0:nn
3	DC/DCi	Predefined PDO Assignment: Standard 32 Bit (MDP 511): Channel 1 (0x1A00 + 0x1600 + 0x1A02) + Channel 2 (0x1A04 + 0x1602 + 0x1A06)		CoE combinations 0x80n0:nn
3	DC/DCi	Channel1 / Channel 2 0x1A00 / 0x1A04 Status: 16 Bit Status, 32 Bit Counter Value + 0x1600 / 0x1602Control: 16 Bit Control 32 Bit Set Counter Value	Channel 1: 0x1A02 32 Bit Period or 0x1A03 32 Bit Frequency Channel 2: 0x1A06 32 Bit Period or 0x1A07 32 Bit Frequency	CoE combinations 0x80n0:nn
4	DC/DCi	Predefined PDO Assignment: Standard 16 Bit (MDP 511): Channel 1(0x1A01 + 0x1601 + 0x1A02) + Channel 2 (0x1A05 + 0x1603 + 0x1A06)		CoE combinations 0x80n0:nn
4	DC/DCi	Channel 1/ Channel2 0x1A01 / 0x1A05 Status compact: 16 Bit Status, 16 Bit Counter Value + 0x1601 / 0x1603 Control compact: 16 Bit Control 16 Bit Set Counter Value	Channel 1: 0x1A02 32 Bit Period or 0x1A03 32 Bit Frequency Channel 2: 0x1A06 32 Bit Period or 0x1A07 32 Bit Frequency	CoE combinations 0x80n0:nn

	Parameterization of the EL515x Use a CoE reset in order to deactivate any previous settings In order to activate the new operating mode, reload the EtherCAT slaves ( button)