Commissioning
EL500x 117Version: 3.6
Bit Name Bedeutung
SB.7 TxPDO Toggle 0/1
bin
The TxPDO toggle is toggled by the slave when the data of the associated
TxPDO is updated.
SB.6 TxPDO State 0/1
bin
Validity of the data of the associated TxPDO
0 = valid
1 = invalid
SB.5 Sync error 0/1
bin
The Sync error bit is only required for DC mode. It indicates whether a
synchronization error has occurred during the previous cycle.
This means a SYNC signal was triggered in the EL500x, although no new
process data were available
0 = OK
1 = not OK
SB. 4 - 0
bin
reserved
SB.3 Data mismatch 0/1
bin
A value error (tbd) bit is only displayed, if it was previously activated
through index 0x80n0:xx (tbd): multiple transmission with n clock bursts.
0 = The multiple transmitted and received data values are same
1 = The multiple transmitted and received data values are different
SB.2 Power failure 0/1
bin
An encoder-specific error is displayed, if it was activated beforehand by
index 0x80n0:02.
0 = no encoder-specific error
1 = encoder-specific error occurred
SB.1 Frame error 0/1
bin
The data frame is wrong, i.e. the data frame was not terminated with zero
(perhaps wire breakage on clock cables).
0 = no frame error
1 = frame error occurred
SB.0 Data error 0/1
bin
SSI input error:
- power supply for the encoder is missing
- broken wire at SSI data inputs D+ or D-
- Data cables interchanged
If no data communication takes place, the SSI input of the terminal is on
LOW level
5.4.2 Commissioning instructions
EtherCAT cycle time
If the EL500x is operated faster than the time required for SSI communication and processing, the start of
the next SSI communication is no longer synchronous with the EtherCAT bus cycle and the local DC signal,
but is delayed until the next free signal or until processing is completed.
The minimum meaningful cycle time depends on the firmware version. Typical data can be found in Table 1,
although they may have to be verified for specific applications depending on the frame length and inhibit
time.
Model Typical minimum recommended cycle time
EL5001 up to FW10 400µs
EL5002, EL5001 from FW11 200µs
Table 1: Typical minimum recommended EtherCAT cycle time
TxPdoToggle from the extended status word can be used to determined the actual update frequency in the
application.
Commissioning
Default setting: 25 bit, Gray coding, 500 kbaud, no PowerFail bit.
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