Commissioning
EL500x 115Version: 3.6
Referencing an SSI signal
An SSI encoder is an absolute encoder, which means, that the position value is available without referencing
immediately after switching on.
Many SSI encoders offer the option of referencing or zeroing the position value via an additional digital input.
Depending on the signal voltage of the digital input on the encoder, this can be set, for example via a digital
output terminal EL2xxx.
EL500x functionality
Technical development enables expansion of the EL5001 functionality. The following extensions are
available, depending on the hardware/firmware version:
EL5001 up to firmware (FW) 10 (up to EL5001-0000-0001)
• The master terminal starts the SSI communication only with the EtherCAT cycle, in so-called
synchronous mode.
• The CoE settings (baud rate, frame length, ..) are implemented in the object directory in objects 0x4060
[}124]ff.
• The process data interface consists of status (1 byte) and value (4 byte).
EL5001 from firmware (FW) 11 (from EL5001-0000-1017) and EL5002 (from EL5002-0000-0016)
• These versions feature additional distributed clock functionality and are able to poll the SSI slave
precisely synchronized with other distributed clock devices. This eliminates communication-related
jitter, resulting in a significant reduction of the time uncertainty.
• The CoE settings (baud rate, frame length, ..) are predominately implemented in the object library in
object 0x8010 [}127] (EL5001) or 0x8000 [}126] / 0x8010 [}127] (EL5002) with its subindices.
The settings will also continue to be managed in indices 0x4060 [}124]ff. Any modified settings are
copied into the corresponding other section.
• By default the EL500x is recognized in the known process image (status [1 byte] and value [4 byte]).
In addition an extended process image featuring 2 status bytes and 4 value bytes can be selected.
From TwinCAT 2.11 the bits from the status variable can also be linked individually.
Firmware update
Older EL5001 devices with firmware version 10 cannot be updated with later firmware!
EL5002 from firmware (FW) 03 (from EL5002-0000-0020)
The firmware of EL5002 has been extended by the following functions:
• Improved jitter, max. ± 100 ns
• Implementation of multiple transmission mode
Improved Jitter
In the DC Synchronous mode the process data handling in the slave is triggered by the hardware SYNC
events, generated in the slave, based on the DC system time. The local clock in each slave is synchronized
by the master to the DC system time during initialization phase. Based on DC system time, hardware SYNC
events are generated within each slave.
The EL5002 trigger with the SYNC0 / SYNC1 event the SSI Clock output to the SSI slave. The triggered
event has a device specific time jitter. This time jitter is optimized in the EL5002 to the value: max. ± 100 ns.
The jitter compensation can be enabled for each channel individually with via object 0x80n0:0C [}126].
Index Name Meaning
80n0:0C
[}126]
Enable SSI clock jitter
compensation
0: SSI clock jitter compensation is disabled (default)
1: SSI clock jitter compensation is enabled
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