Beckhoff EL5101 Documentation

Documentation

EL5101, EL5101-0010, EL5101-0011

Incremental Encoder Interface

4.2

2017-07-31

Version:

Date:

Table of contents

EL5101, EL5101-0010, EL5101-0011 3Version: 4.2

Table of contents

1 Overview Incremental Encoder Interface ................................................................................................5

2 Foreword ....................................................................................................................................................6

2.1 Notes on the documentation........................................................................................................... 6

2.2 Safety instructions .......................................................................................................................... 7

2.3 Documentation issue status............................................................................................................ 8

2.4 Version identification of EtherCAT devices..................................................................................... 8

3 Product overview.....................................................................................................................................13

3.1 Introduction ................................................................................................................................... 13

3.2 Technology ................................................................................................................................... 15

3.3 Technical data .............................................................................................................................. 18

3.4 Start .............................................................................................................................................. 18

4 Basics communication ...........................................................................................................................20

4.1 EtherCAT basics........................................................................................................................... 20

4.2 EtherCAT cabling – wire-bound.................................................................................................... 20

4.3 General notes for setting the watchdog ........................................................................................ 21

4.4 EtherCAT State Machine .............................................................................................................. 23

4.5 CoE Interface................................................................................................................................ 25

4.6 DC settings ................................................................................................................................... 29

5 Mounting and wiring ...............................................................................................................................34

5.1 Installation on mounting rails ........................................................................................................ 34

5.2 Installation instructions for enhanced mechanical load capacity .................................................. 36

5.3 Connection.................................................................................................................................... 37

5.3.1 Connection system...........................................................................................................37

5.3.2 Wiring...............................................................................................................................39

5.3.3 Shielding ..........................................................................................................................40

5.4 Installation positions ..................................................................................................................... 40

5.5 Mounting of Passive Terminals..................................................................................................... 42

5.6 UL notice....................................................................................................................................... 43

5.7 ATEX - Special conditions (extended temperature range) ........................................................... 45

5.8 ATEX Documentation ................................................................................................................... 46

5.9 LEDs and connection.................................................................................................................... 46

5.9.1 EL5101-00x0....................................................................................................................46

5.9.2 EL5101-0011 ...................................................................................................................48

6 Commissioning........................................................................................................................................50

6.1 TwinCAT Quick Start .................................................................................................................... 50

6.1.1 TwinCAT2 .......................................................................................................................52

6.1.2 TwinCAT 3 .......................................................................................................................62

6.2 TwinCAT Development Environment............................................................................................ 74

6.2.1 Installation of the TwinCAT real-time driver .....................................................................74

6.2.2 Notes regarding ESI device description...........................................................................80

6.2.3 TwinCAT ESI Updater......................................................................................................84

6.2.4 Distinction between Online and Offline ............................................................................84

6.2.5 OFFLINE configuration creation ......................................................................................85

6.2.6 ONLINE configuration creation ........................................................................................90

6.2.7 EtherCAT subscriber configuration ..................................................................................98

6.2.8 NC configuration ............................................................................................................108

Table of contents

EL5101, EL5101-0010, EL5101-00114 Version: 4.2

6.3 General Notes - EtherCAT Slave Application ............................................................................. 111

6.4 EL5101-00x0 .............................................................................................................................. 119

6.4.1 Normal operation mode .................................................................................................119

6.4.2 Enhanced operation mode.............................................................................................129

6.5 EL5101-0011 .............................................................................................................................. 157

6.5.1 Principles of the oversampling function .........................................................................157

6.5.2 Process data and configuration .....................................................................................159

6.5.3 Object description and parameterization - enhanced operation mode ..........................162

7 Appendix ................................................................................................................................................176

7.1 EtherCAT AL Status Codes ........................................................................................................ 176

7.2 Firmware compatibility ................................................................................................................ 176

7.3 Firmware Update EL/ES/EM/EPxxxx.......................................................................................... 177

7.4 Restoring the delivery state ........................................................................................................ 187

7.5 Support and Service ................................................................................................................... 188

Overview Incremental Encoder Interface

EL5101, EL5101-0010, EL5101-0011 5Version: 4.2

1 Overview Incremental Encoder Interface

EL5101-0000 [}13] (Incremental Encoder Interface)

EL5101-0010 [}13] (Incremental Encoder Interface, 20 Mio. increments/s)

EL5101-0011 [}14] (Incremental Encoder Interface, with oversampling)

Foreword

EL5101, EL5101-0010, EL5101-00116 Version: 4.2

2 Foreword

2.1 Notes on the documentation

Intended audience

This description is only intended for the use of trained specialists in control and automation engineering who

are familiar with the applicable national standards.

It is essential that the documentation and the following notes and explanations are followed when installing

and commissioning these components.

It is the duty of the technical personnel to use the documentation published at the respective time of each

installation and commissioning.

The responsible staff must ensure that the application or use of the products described satisfy all the

requirements for safety, including all the relevant laws, regulations, guidelines and standards.

Disclaimer

The documentation has been prepared with care. The products described are, however, constantly under

development.

We reserve the right to revise and change the documentation at any time and without prior announcement.

No claims for the modification of products that have already been supplied may be made on the basis of the

data, diagrams and descriptions in this documentation.

Trademarks

Beckhoff

®

, TwinCAT

®

, EtherCAT

®

, Safety over EtherCAT

®

, TwinSAFE

®

, XFC

®

and XTS

®

are registered

trademarks of and licensed by Beckhoff Automation GmbH.

Other designations used in this publication may be trademarks whose use by third parties for their own

purposes could violate the rights of the owners.

Patent Pending

The EtherCAT Technology is covered, including but not limited to the following patent applications and

patents: EP1590927, EP1789857, DE102004044764, DE102007017835 with corresponding applications or

registrations in various other countries.

The TwinCAT Technology is covered, including but not limited to the following patent applications and

patents: EP0851348, US6167425 with corresponding applications or registrations in various other countries.

EtherCAT

®

is registered trademark and patented technology, licensed by Beckhoff Automation GmbH,

Germany

Copyright

The reproduction, distribution and utilization of this document as well as the communication of its contents to

others without express authorization are prohibited.

patent, utility model or design.

Foreword

EL5101, EL5101-0010, EL5101-0011 7Version: 4.2

2.2 Safety instructions

Safety regulations

Please note the following safety instructions and explanations!

Product-specific safety instructions can be found on following pages or in the areas mounting, wiring,

commissioning etc.

Exclusion of liability

All the components are supplied in particular hardware and software configurations appropriate for the

application. Modifications to hardware or software configurations other than those described in the

documentation are not permitted, and nullify the liability of Beckhoff Automation GmbH & Co. KG.

Personnel qualification

This description is only intended for trained specialists in control, automation and drive engineering who are

familiar with the applicable national standards.

Description of symbols

In this documentation the following symbols are used with an accompanying safety instruction or note. The

safety instructions must be read carefully and followed without fail!

DANGER

Serious risk of injury!

Failure to follow the safety instructions associated with this symbol directly endangers the

life and health of persons.

WARNING

Risk of injury!

Failure to follow the safety instructions associated with this symbol endangers the life and

health of persons.

CAUTION

Personal injuries!

Failure to follow the safety instructions associated with this symbol can lead to injuries to

persons.

Attention

Damage to the environment or devices

Failure to follow the instructions associated with this symbol can lead to damage to the en-

vironment or equipment.

Note

Tip or pointer

This symbol indicates information that contributes to better understanding.

Foreword

EL5101, EL5101-0010, EL5101-00118 Version: 4.2

2.3 Documentation issue status

Version Comment

4.2 - Update chapter “Technology”

- Update structure

- Update revision status

4.1 - Addenda EL5101-00111

- Update structure

- Update revision status

4.0 - Migration in ST4

- Update structure

- Update revision status

3.7 - Update chapter "Technical data"

- Addenda chapter "Installation instructions for enhanced mechanical load capacity"

- Update structure

- Update revision status

3.6 - Update chapter "Technical data"

- Update structure

- Update revision status

3.5 - Addenda in the chapter "Process data"

3.4 - Addenda in the chapter "Process data"

3.3 - Addenda for EL5101-0010

3.2 - Note on single-ended connection added

3.1 - Note on period/frequency measurement added

3.0 - Object description and further notes added

2.9 - EL5101-0010 added

2.8 - New safety instructions added

2.7 - Technical data added

2.6 - Object description and Technical notes added

2.5 - Note for compatibility added

2.4 - Object description added

2.3 - Division of operating modes

2.2 - Technical data added, object description added

2.1 - Technical data added

2.0 - Technical data added, object description added

1.1.1 - Technical data corrected

1.1 - Correction of the note "Non-Volatile Settings"

1.0 - Extended description for status LEDs added

0.1 - First provisional documentation for EL5101

2.4 Version identification of EtherCAT devices

Designation

A Beckhoff EtherCAT device has a 14-digit designation, made up of

• family key

• type

• version

• revision

Foreword

EL5101, EL5101-0010, EL5101-0011 9Version: 4.2

Example Family Type Version Revision

EL3314-0000-0016 EL terminal

(12 mm, non-

pluggable connection

level)

3314 (4-channel thermocouple

terminal)

0000 (basic type) 0016

ES3602-0010-0017 ES terminal

(12 mm, pluggable

connection level)

3602 (2-channel voltage

measurement)

0010 (high-

precision version)

0017

CU2008-0000-0000 CU device 2008 (8-port fast ethernet switch) 0000 (basic type) 0000

Notes

• The elements mentioned above result in the technical designation. EL3314-0000-0016 is used in the

example below.

• EL3314-0000 is the order identifier, in the case of “-0000” usually abbreviated to EL3314. “-0016” is the

EtherCAT revision.

• The order identifier is made up of

- family key (EL, EP, CU, ES, KL, CX, etc.)

- type (3314)

- version (-0000)

• The revision -0016 shows the technical progress, such as the extension of features with regard to the

EtherCAT communication, and is managed by Beckhoff.

In principle, a device with a higher revision can replace a device with a lower revision, unless specified

otherwise, e.g. in the documentation.

Associated and synonymous with each revision there is usually a description (ESI, EtherCAT Slave

Information) in the form of an XML file, which is available for download from the Beckhoff web site.

From 2014/01 the revision is shown on the outside of the IP20 terminals, see Fig. “EL5021 EL terminal,

standard IP20 IO device with batch number and revision ID (since 2014/01)”.

• The type, version and revision are read as decimal numbers, even if they are technically saved in

hexadecimal.

Identification number

Beckhoff EtherCAT devices from the different lines have different kinds of identification numbers:

Production lot/batch number/serial number/date code/D number

The serial number for Beckhoff IO devices is usually the 8-digit number printed on the device or on a sticker.

The serial number indicates the configuration in delivery state and therefore refers to a whole production

batch, without distinguishing the individual modules of a batch.

Structure of the serial number: KKYYFFHH

KK - week of production (CW, calendar week)

YY - year of production

FF - firmware version

HH - hardware version

Example with

Ser. no.: 12063A02: 12 - production week 12 06 - production year 2006 3A - firmware version 3A 02 -

hardware version 02

Exceptions can occur in the IP67 area, where the following syntax can be used (see respective device

documentation):

Syntax: D ww yy x y z u

D - prefix designation

ww - calendar week

yy - year

x - firmware version of the bus PCB

Foreword

EL5101, EL5101-0010, EL5101-001110 Version: 4.2

y - hardware version of the bus PCB

z - firmware version of the I/O PCB

u - hardware version of the I/O PCB

Example: D.22081501 calendar week 22 of the year 2008 firmware version of bus PCB: 1 hardware version

of bus PCB: 5 firmware version of I/O PCB: 0 (no firmware necessary for this PCB) hardware version of I/O

PCB: 1

Unique serial number/ID, ID number

In addition, in some series each individual module has its own unique serial number.

See also the further documentation in the area

• IP67: EtherCAT Box

• Safety: TwinSafe

• Terminals with factory calibration certificate and other measuring terminals

Examples of markings

Fig.1: EL5021 EL terminal, standard IP20 IO device with batch number and revision ID (since 2014/01)

Fig.2: EK1100 EtherCAT coupler, standard IP20 IO device with batch number

Foreword

EL5101, EL5101-0010, EL5101-0011 11Version: 4.2

Fig.3: CU2016 switch with batch number

Fig.4: EL3202-0020 with batch numbers 26131006 and unique ID-number 204418

Fig.5: EP1258-00001 IP67 EtherCAT Box with batch number 22090101 and unique serial number 158102

Fig.6: EP1908-0002 IP67 EtherCAT Safety Box with batch number 071201FF and unique serial number

00346070

Foreword

EL5101, EL5101-0010, EL5101-001112 Version: 4.2

Fig.7: EL2904 IP20 safety terminal with batch number/date code 50110302 and unique serial number

00331701

Fig.8: ELM3604-0002 terminal with ID number (QR code) 100001051 and unique serial number 44160201

Product overview

EL5101, EL5101-0010, EL5101-0011 13Version: 4.2

3 Product overview

3.1 Introduction

Interface terminal for incremental encoder

EL5101-00x0

Fig.9: EL5101

The EL5101-00x0 EtherCAT Terminal is an interface for direct connection of incremental encoders with

differential inputs (RS422). A 16-bit counter (in normal operating mode) or a switchable 16/32-bit counter (in

enhanced operating mode) with a quadrature decoder and a 16-bit latch (in normal operating mode) or 32-bit

latch (in enhanced operating mode) for the zero pulse can be read, set or enabled. Incremental encoders

with alarm output can be connected at the negative switching status input of the interface. The measurement

of period and frequency is possible. 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 EL5101-0000 can

also be used as bidirectional counter on channel A; channel B specifies the count direction.

Through the further development of the EL5101-0000 an enhanced operating mode is available (from

firmware 14 / hardware 09 [}176]), which can be parameterized in the TwinCAT System Manager,

depending on the hardware used.

Older EL5101-0000 devices do not support this enhanced operating mode (see Table 1)!

Version from FW/HW ESI Functional description

normal operating mode

EL5101-0000

03/05 from EL5101-0000-0000 All basic functions as described above

enhanced operating mode

EL5101-0000

14/09 from EL5101-0000-1018 Changes to the normal operating mode

- Distributed clock support

- Micro-increments

- Open circuit detection

- Connection of SingleEnded signals possible

Table 1: Operating modes EL5101-0000

Product overview

EL5101, EL5101-0010, EL5101-001114 Version: 4.2

The EL5101-0010 with a resolution of 20 mio. increments/s at 5 MHz and 4-fold evaluation is only applicable

for the enhanced operating mode. The inputs can process differential signals according to RS485. The

microincrement mode is not available for the EL5101-0010.

The EL5101-00x0 supports distributed clocks in the enhanced operating mode, i.e. the input data can be

recorded synchronously with other data that are also linked to Distributed Clock slaves. The accuracy across

the system is < 100 ns.

The documentation is divided in the chapter "Commissioning [}50]" into the handling of the two operating

modes, for which reason the decision must be made during commissioning as to which operating mode is to

be used.

EL5101-0011

Fig.10: EL5101-0011

The EL5101-0011 EtherCAT Terminal is also an interface for the direct connection of incremental encoders

with differential inputs (RS422). A 32-bit counter with quadrature decoder can be read and set. The

EL5101-0011 supports the oversampling principle. Using this method the resolution of the position value can

be increased to n times the bus cycle time. The current counter value is thereby read at several configurable

and equidistant times between two fieldbus communication cycles with an adjustable whole number multiple

(oversampling factor: n) of the bus cycle time. The transfer of a packet of n position values of 32 bits each to

the higher-level controller takes place in the next fieldbus communication cycle. The minimum sampling time

here is 10 µs (100 kSps). Areas of application of the EL5101-0011 lie in particular in the area of high-

resolution position detection.

The EL5101-0011 supports distributed clocks, i.e. the input data can be synchronously acquired with other

data that, similarly distributed, are connected to distributed slave clocks. The system accuracy is around <

100ns.

Quick links

• Basics communication [}20]

• Creation of the TwinCAT configuration [}90]

• EL5101-00x0 – process data, modes, object description [}119]

• EL5101-0011 – process data, modes, object description [}157]

• LEDs and connection [}46]

Product overview

EL5101, EL5101-0010, EL5101-0011 15Version: 4.2

3.2 Technology

The EL5101-00x0 incremental encoder interface terminal enables connection of incremental encoders with

A/B/C track to the Bus Coupler and the PLC. A 16-bit counter (in normal operating mode) or a switchable

16/32-bit counter (in enhanced operating mode) with a quadrature decoder and a 16-bit latch (in normal

operating mode) or 32-bit latch (in enhanced operating mode) can be read, set or enabled. Differential

signals based on RS485 are provided as encoder connection. From hardware09 [}176] single-ended 5 V

signals are possible for the EL5101-0000 based on pull-up resistors.

In addition to the encoder inputs A, B and C, an additional latch input G1 (24 V) and a gate input G2 (24 V)

for locking the counter during operation are available.

The terminal is supplied as a 4-fold quadrature decoder with complementary analysis of the sensor signals

A, B, C. If the incremental encoder has an alarm output it can be connected to the INPUT 1 status input of

the EL5101-00x0. The EL5101-0000 can optionally be operated as a bidirectional counter terminal on

channel A.

Through the further development of the EL5101-0000 an enhanced operating mode is available (from

firmware 14 / hardware 09 [}176]), which can be parameterized in the TwinCAT System Manager,

depending on the hardware used.

Older EL5101-0000 devices do not support this extended operating mode (see Table 1)!

Version from FW/

HW

ESI Functional description

normal operating mode

EL5101-0000

03/05 from

EL5101-0000-0000

All basic functions as described above

enhanced operating

mode

EL5101-0000

14/09 from

EL5101-0000-1018

Changes to the normal operating mode

- Distributed clock support

- Micro-increments

- Broken wire detection

- Connection of SingleEnded signals

possible

Table 1: Operating modes EL5101-0000

The EL5101-0010 with a resolution of 20 mio. increments/s at 5 MHz and 4-fold evaluation is only applicable

for the enhanced operating mode. The inputs can process differential signals according to RS485. The

microincrement mode is not available for the EL5101-0010.

Note

Compatibility in the case of service

An EL5101-0000 designed for and used in enhanced operating mode cannot be replaced

with an EL5101-0000 with older hardware version (< 09)! An EL5101-0010 only supports

the enhanced operating mode and is not exchange-compatible with an EL5101-0000 (hard-

ware version < 09)!

Irrespective of the hardware/firmware version, after integration into a system an EL5101-0000 reports in

normal operating mode.

During commissioning the user has to decide with what functionality, i.e. in what operating mode, the

EL5101-0000 is to be used. This depends on the required functions and, of course, the hardware version.

Hardware older then firmware 14/hardware 09 [}176], for example, will not support enhanced operating

mode functions.

Combination of functions from different operating modes is not possible.

Specific settings are described in the following two sections.

Product overview

EL5101, EL5101-0010, EL5101-001116 Version: 4.2

Note

Process data monitoring

• WcState: if ≠ 0, this EtherCAT device does not take part in the process data traffic

• State: if ≠ 8, the EtherCAT device is not in OP (operational) status

• TxPDO state, SyncError: if ≠ 0, then no valid process data are available, e.g. caused

by broken wire

• TxPDO Toggle: if this bit is toggling, a new set of process data is available

EtherCAT cycle time

For the EL5101 a minimum EtherCAT cycle time of >100 µs is recommended. If a faster cycle time is used,

the toggling process record TxPDO Toggle should be used to monitor when new process data are supplied

by the EL5101.

EL5101 input impedance

The signal source must be able to operate the input impedance of the EL5101 (typically 220Ω, subject to

modification) with adequate voltage levels according to RS485.

Gate/latch input

For gate and latch inputs (24 V) a max. input frequency of 1 MHz is permitted. Subject to modification.

Level on interface

In differential mode the EL5101-00xx expects the signal levels after RS422. The data are transferred without

ground reference as voltage difference between two cables (signal A and inverted signal /A). The terminal

analyses signal levels in the range -200 mV < Vid < +200 mV as valid signals. The differential signal must be

in the common mode range (<+13.2 V and >-10 V, with respect to GND) (cf. diagram). Signal levels outside

this range can lead to destruction.

Product overview

EL5101, EL5101-0010, EL5101-0011 17Version: 4.2

Fig.11: Level interface

In differential mode only the voltage difference is evaluated, so that common-mode interference on the

transmission link does not lead to corruption of the wanted signal, since any interference affects both cables

simultaneously.

If the EL5101 is only operated in single-ended mode, a nominal level voltage between 3.5V and 5.5V is

expected.

The EL5101-0010 and EL5101-0011 do not support single-ended mode.

In the EL5101-0010 and EL5101-0011 versions, open circuit detection (Index 0x80n0:0B, 0x80n0:0C,

0x880n0:0C) is typically activated in the range -0.475V > Vid >+0.475V. For the EL5101, it is typically

activated for the range -1.5V > Vid > +1.5V (subject to change).

Product overview

EL5101, EL5101-0010, EL5101-001118 Version: 4.2

3.3 Technical data

Technical data EL5101-0000 EL5101-0010 EL5101-0011

Sensor connection A, ¬A, B, ¬B, C, ¬C (RS422 dif-

ferential inputs)

from hardware 09 [}176]: also

single-ended connection (5V

±20%) possible

A, ¬A, B, ¬B, C, ¬C (RS422 differential inputs)

Additional inputs gate, latch (24V

DC

, both max. 1 MHz permitted),

status input (max. 5V

DC

, potential-free, switching to negative poten-

tial)

-

Sensor supply 5 V

DC

Sensor output current 0.5A

Counter 16bit, 16/32bit switchable

(from firmware 14 / hardware 09

[}176])

16bit, 16/32bit switchable 32 bit

Zero pulse latch 16bit, 16/32bit switchable

(from firmware 14 / hardware 09

[}176])

16bit, 16/32bit switchable -

Limit frequency 1 MHz

(equals 4million increments with

4-fold evaluation)

5 MHz

(equals 20million increments with 4-fold evaluation)

Quadrature decoder 4-fold evaluation

Distributed Clocks in enhanced operating mode

(from firmware 14 / hardware 09

[}176])

yes

Broken wire detection to sen-

sor

in enhanced operating mode

(from firmware 14 / hardware 09

[}176])

yes

Commands read, set, enable read, set

Oversampling factor - n = 1..100, adjustable

Cycle time min. 100 µs min. 500 µs

Conversion time - 10 µs / 100 kSps

Current consumption via E-

bus

typ. 130 mA

Current consumption from the

power contacts

0.1A (excluding sensor load current)

Electrical isolation 500 V (E-bus/field voltage)

Bit width in process image up to 6bytes outputs, 22bytes inputs, depends on parameterization

Configuration

via TwinCAT System Manager [}98]

Weight approx. 100 g

Permissible ambient tempera-

ture range during operation

-25 °C ... +60 °C (extended temperature range)

Permissible ambient tempera-

ture range during storage

-40 °C ... +85 °C

Permissible relative humidity 95%, no condensation

Dimensions (W x H x D) approx. 27 mm x 100 mm x 70 mm (width aligned: 24 mm)

Mounting [}34]

on 35 mm mounting rail conforms to EN 60715

Vibration/shock resistance conforms to EN 60068-2-6 / EN 60068-2-27,

see also installation instructions [}36] for enhanced mechanical load capacity

EMC immunity/emission conforms to EN 61000-6-2 / EN 61000-6-4

Protection class IP20

Installation position variable

Approval CE

ATEX [}45]

cULus [}43]

3.4 Start

For commissioning:

• mount the EL5101 as described in the chapter Mounting and wiring [}34]

Product overview

EL5101, EL5101-0010, EL5101-0011 19Version: 4.2

• configure the EL5101 in TwinCAT as described in the chapter Commissioning [}50].

Basics communication

EL5101, EL5101-0010, EL5101-001120 Version: 4.2

4 Basics communication

4.1 EtherCAT basics

Please refer to the chapter EtherCAT System Documentation for the EtherCAT fieldbus basics.

4.2 EtherCAT cabling – wire-bound

The cable length between two EtherCAT devices must not exceed 100 m. This results from the FastEthernet

technology, which, above all for reasons of signal attenuation over the length of the cable, allows a maximum

link length of 5 + 90 + 5 m if cables with appropriate properties are used. See also the Design

recommendations for the infrastructure for EtherCAT/Ethernet.

Cables and connectors

For connecting EtherCAT devices only Ethernet connections (cables + plugs) that meet the requirements of

at least category 5 (CAt5) according to EN 50173 or ISO/IEC 11801 should be used. EtherCAT uses 4 wires

for signal transfer.

EtherCAT uses RJ45 plug connectors, for example. The pin assignment is compatible with the Ethernet

standard (ISO/IEC 8802-3).

Pin Color of conductor Signal Description

1 yellow TD + Transmission Data +

2 orange TD - Transmission Data -

3 white RD + Receiver Data +

6 blue RD - Receiver Data -

Due to automatic cable detection (auto-crossing) symmetric (1:1) or cross-over cables can be used between

EtherCAT devices from Beckhoff.

Note

Recommended cables

Suitable cables for the connection of EtherCAT devices can be found on the Beckhoff web-

site!

E-Bus supply

A bus coupler can supply the EL terminals added to it with the E-bus system voltage of 5V; a coupler is

thereby loadable up to 2A as a rule (see details in respective device documentation).

Information on how much current each EL terminal requires from the E-bus supply is available online and in

the catalogue. If the added terminals require more current than the coupler can supply, then power feed

terminals (e.g. EL9410) must be inserted at appropriate places in the terminal strand.

The pre-calculated theoretical maximum E-Bus current is displayed in the TwinCAT System Manager. A

shortfall is marked by a negative total amount and an exclamation mark; a power feed terminal is to be

placed before such a position.

Page is loading ...

Beckhoff EL5101 Documentation

This manual is also suitable for

Beckhoff EL5101 Documentation

Related papers

Other documents