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The EL5102 is an interface for the direct connection of two incremental encoders with differential or single-ended signals, parameterizable per channel. It supports the measurement of position, frequency, period and duty cycle with high resolution and accuracy. It also has features such as microincrements, timestamp, latch input and counter.
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The EL5102 EtherCAT Terminal is an interface for the direct connection of two incremental encoders with differential inputs (RS422) or single-ended inputs (TTL and Open Collector), parameterizable per channel. The encoders can be supplied with power directly from the terminal. The EL5102 offers two separate encoder supply voltages, which can be ...
- Intended audience
- Disclaimer
- Copyright
- Safety regulations
- Exclusion of liability
- Personnel qualification
- Description of instructions
- Damage to environment/equipment or data loss
- BTN
- Fast digital inputs – interference from interfering devices
- Exceeding of Common Mode range
- Open circuit detection
- 5.1 EtherCAT basics
- SM watchdog (SyncManager Watchdog)
- PDI watchdog (Process Data Watchdog)
- 5.4 EtherCAT State Machine
- Pre-Operational (Pre-Op)
- Safe-Operational (Safe-Op)
- Operational (Op)
- Boot
- Data management and function “NoCoeStorage”
- Online/offline list
- 6.2 Installation on mounting rails
- Connections within a bus terminal block
- 6.3 Installation instructions for enhanced mechanical load capacity
- Additional checks
- 6.4.1 Connection system
- Overview
- Ultrasonically “bonded” conductors
- 6.4.2 Wiring
- Terminals for standard wiring ELxxxx/KLxxxx and for pluggable wiring ESxxxx/KSxxxx
- High Density Terminals (HD Terminals [} 44]) with 16 terminal points
- 6.4.3 Shielding
- Constraints regarding installation position and operating temperature range
- Optimum installation position (standard)
- 6.6 Positioning of passive Terminals
- Connection instructions
- Connection instructions
- Connection instructions
- 7.1 TwinCAT Quick Start
- Activation of the configuration
- Activation of the configuration
- 7.2.4 Distinction between Online and Offline
- For preparation of a configuration:
- Device selection based on revision, compatibility
- device revision in the system = device revision in the configuration
- Device selection based on revision, compatibility
- device revision in the system = device revision in the configuration
- Name Id Type Comment Disabled Create symbols
- Advanced Settings
- “Process Data” tab
- Manual modification of the process data
- Offline - via EDS File
- Current State Requested State
- DLL Status
- Download Upload
- Advanced Settings...
- PDO Assignment
- PDO list
- PDO Content
- Download
- PDO Configuration
- 7.3 General Notes - EtherCAT Slave Application
- Diagnosis in real time: WorkingCounter, EtherCAT State and Status
- Diagnostic information
- EtherCAT State: automatic default behaviour of the TwinCAT System Manager and manual operation
- 8.2.4 Synchronicity mode
- Basic priciples.
- Counter limits with defined value range
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...
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 descri...
Beckhoff Automation GmbH & Co. KG, Germany. The reproduction, distribution and utilization of this document as well as the communication of its contents to others without express authorization are prohibited. Offenders will be held liable for the payment of damages. All rights reserved in the event of the grant of a patent, utility model or design.
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.
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.
This description is only intended for trained specialists in control, automation and drive engineering who are familiar with the applicable national standards.
In this documentation the following instructions are used. These instructions must be read carefully and followed without fail! DANGER Serious risk of injury! Failure to follow this safety instruction directly endangers the life and health of persons. WARNING Risk of injury! Failure to follow this safety instruction endangers the life and health of...
Failure to follow this instruction can lead to environmental damage, equipment damage or data loss. Tip or pointer This symbol indicates information that contributes to better understanding.
An important component of the BIC is the Beckhoff Traceability Number (BTN, item no. 2). The BTN is a unique serial number consisting of eight characters that will replace all other serial number systems at Beckhoff in the long term (e.g. batch designations on IO components, previous serial number range for safety products, etc.). The BTN will als...
Please note that the input wiring has very little filtering. It has been optimized for fast signal transmission from the input to the evaluation unit. In other words, rapid level changes/pulses in the μs range and/or high-frequency interference signals from devices (e.g. proportional valves, stepper motor or DC motor output stages) arrive at the ev...
Exceeding the Common Mode voltage range can lead to destruction of the device.
Open circuit detection inherently does not work with single-ended lines: TTL and Open Collector encoders and counters/pulse generators. NOTE
Please refer to the EtherCAT System Documentation for the EtherCAT fieldbus basics.
The SyncManager watchdog is reset after each successful EtherCAT process data communication with the terminal. If no EtherCAT process data communication takes place with the terminal for longer than the set and activated SM watchdog time, e.g. in the event of a line interruption, the watchdog is triggered and the outputs are set to FALSE. The OP st...
If no PDI communication with the EtherCAT slave controller (ESC) takes place for longer than the set and activated PDI watchdog time, this watchdog is triggered. PDI (Process Data Interface) is the internal interface between the ESC and local processors in the EtherCAT slave, for example. The PDI watchdog can be used to monitor this communication f...
The state of the EtherCAT slave is controlled via the EtherCAT State Machine (ESM). Depending upon the state, different functions are accessible or executable in the EtherCAT slave. Specific commands must be sent by the EtherCAT master to the device in each state, particularly during the bootup of the slave. distinction is made between the followin...
During the transition between Init and Pre-Op the EtherCAT slave checks whether the mailbox was initialized correctly. In Pre-Op state mailbox communication is possible, but not process data communication. The EtherCAT master initializes the sync manager channels for process data (from sync manager channel 2), the FMMU channels and, if the slave su...
During transition between Pre-Op and Safe-Op the EtherCAT slave checks whether the sync manager channels for process data communication and, if required, the distributed clocks settings are correct. Before it acknowledges the change of state, the EtherCAT slave copies current input data into the associated DP-RAM areas of the EtherCAT slave control...
Before the EtherCAT master switches the EtherCAT slave from Safe-Op to Op it must transfer valid output data. In the Op state the slave copies the output data of the masters to its outputs. Process data and mailbox communication is possible.
In the Boot state the slave firmware can be updated. The Boot state can only be reached via the Init state. In the Boot state mailbox communication via the file access over EtherCAT (FoE) protocol is possible, but no other mailbox communication and no process data communication.
Some parameters, particularly the setting parameters of the slave, are configurable and writeable. This can be done in write or read mode via the System Manager (Fig. “CoE Online” tab) by clicking This is useful for commissioning of the system/slaves. Click on the row of the index to be parameterized and enter a value in the “SetValue” dialog. from...
While working with the TwinCAT System Manager, a distinction has to be made whether the EtherCAT device is “available”, i.e. switched on and linked via EtherCAT and therefore online, or whether a configuration is created offline without connected slaves. In both cases a CoE list as shown in Fig. “CoE online tab” is displayed. The connectivity is sh...
WARNING Risk of electric shock and damage of device! Bring the bus terminal system into a safe, powered down state before starting installation, disassembly or wiring of the bus terminals!
The electric connections between the Bus Coupler and the Bus Terminals are automatically realized by joining the components: The six spring contacts of the K-Bus/E-Bus deal with the transfer of the data and the supply of the Bus Terminal electronics. The power contacts deal with the supply for the field electronics and thus represent a supply rail ...
WARNING Risk of injury through electric shock and damage to the device! Bring the Bus Terminal system into a safe, de-energized state before starting mounting, disassembly or wiring of the Bus Terminals!
The terminals have undergone the following additional tests:
If counting is only to take place in a defined value range, the counter limits can be adjusted.
If counting is only to take place in a defined value range, the counter limits can be adjusted.
If counting is only to take place in a defined value range, the counter limits can be adjusted.
If counting is only to take place in a defined value range, the counter limits can be adjusted.
If counting is only to take place in a defined value range, the counter limits can be adjusted.
If counting is only to take place in a defined value range, the counter limits can be adjusted.
If counting is only to take place in a defined value range, the counter limits can be adjusted.
If counting is only to take place in a defined value range, the counter limits can be adjusted.
If counting is only to take place in a defined value range, the counter limits can be adjusted.
If counting is only to take place in a defined value range, the counter limits can be adjusted.
If counting is only to take place in a defined value range, the counter limits can be adjusted.
If counting is only to take place in a defined value range, the counter limits can be adjusted.
If counting is only to take place in a defined value range, the counter limits can be adjusted.
If counting is only to take place in a defined value range, the counter limits can be adjusted.
If counting is only to take place in a defined value range, the counter limits can be adjusted.
If counting is only to take place in a defined value range, the counter limits can be adjusted.
If counting is only to take place in a defined value range, the counter limits can be adjusted.
If counting is only to take place in a defined value range, the counter limits can be adjusted.
If counting is only to take place in a defined value range, the counter limits can be adjusted.
If counting is only to take place in a defined value range, the counter limits can be adjusted.
If counting is only to take place in a defined value range, the counter limits can be adjusted.
If counting is only to take place in a defined value range, the counter limits can be adjusted.
If counting is only to take place in a defined value range, the counter limits can be adjusted.
If counting is only to take place in a defined value range, the counter limits can be adjusted.
If counting is only to take place in a defined value range, the counter limits can be adjusted.
If counting is only to take place in a defined value range, the counter limits can be adjusted.
If counting is only to take place in a defined value range, the counter limits can be adjusted.
If counting is only to take place in a defined value range, the counter limits can be adjusted.
If counting is only to take place in a defined value range, the counter limits can be adjusted.
If counting is only to take place in a defined value range, the counter limits can be adjusted.
If counting is only to take place in a defined value range, the counter limits can be adjusted.
If counting is only to take place in a defined value range, the counter limits can be adjusted.
If counting is only to take place in a defined value range, the counter limits can be adjusted.
If counting is only to take place in a defined value range, the counter limits can be adjusted.
If counting is only to take place in a defined value range, the counter limits can be adjusted.
If counting is only to take place in a defined value range, the counter limits can be adjusted.
If counting is only to take place in a defined value range, the counter limits can be adjusted.
If counting is only to take place in a defined value range, the counter limits can be adjusted.
If counting is only to take place in a defined value range, the counter limits can be adjusted.
If counting is only to take place in a defined value range, the counter limits can be adjusted.
If counting is only to take place in a defined value range, the counter limits can be adjusted.
If counting is only to take place in a defined value range, the counter limits can be adjusted.
If counting is only to take place in a defined value range, the counter limits can be adjusted.
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The EL5102 EtherCAT Terminal is an interface for the direct connection of two incremental encoders with differential signals (RS422) or single ended signals (TTL and open collector), parameterizable per channel. Input frequencies up to 5 MHz can be processed.
- Hülshorstweg 20, Verl, 33415
- info@beckhoff.com
- 05246 9630
Feb 23, 2024 · Documentation EL5102 | Incremental Encoder Interface, 5V, (RS422, TTL, Open Collector) Applicable for the following products EL5102. 2024-02-23 | Version 1.3
Encoder operating voltage. 5 VDC (preset), 12 VDC, 24 VDC switchable, 0.3 A per channel (generated from the 24 VDCpower contacts) Counter. 32 bit (default) or 16 bit switchable. Cut-off frequency. RS422 mode: 20 million increments/s with 4-fold evaluation, corresponds to 5 MHz.
EL5102 - Commissioning; Overview of EL5102 functions; Overview of EL5102 functions. The EL5102 offers a wide range of functions. The following table provides an overview of the available functions. A detailed description can be found in the individual chapters.
