Commissioning
EL500x 121Version: 3.6
Data error
(Index 60x0:01)
Frame error
(Index 60x0:02)
Possible error type
TRUE FALSE SSI input error:
- SSI without power supply
- Broken wire at SSI data inputs D+ or D-
If no data communication takes place the SSI input of the terminal is on low
level.
FALSE TRUE There is an incorrect data frame, the data frame was not concluded with zero,
or possibly
- Wire breakage in the clock lines
- Incorrect parameterization in the CoE
TRUE TRUE - Broken wire at SSI data inputs D+ or D-
- Data cables interchanged
FALSE FALSE If bits are shifted in the counter value despite correct CoE parameterization,
this may be to do with the clock lines being swapped.
Velocity calculation from the position data
If a velocity or acceleration value is to be determined from the returned position value, it is recom-
mended to use the DC mode for time synchronization.
Distributed Clocks (DC)
In distributed clock mode the SSI communication is not started with the arrival of the EtherCAT frame, but
through the slave's SYNC signal, which is synchronized via all DC-capable devices in the EtherCAT system.
In this way a DC synchronization accuracy of 100 ns between devices can be achieved. Through further
processing in the EL500x the actual start of the SSI communication achieves an accuracy of < ±500 ns
relative to the ideal synchronous time.
Further information on the DC system can be found in the Basic EtherCAT documentation.
The minimum EtherCAT cycle time recommendations also apply in DC mode. If the EL500x is operated
faster than the time required for SSI communication and processing, this is indicated through the SyncError
status bit.
The DC mode is set under the DC tab and becomes active after a TwinCAT restart or reload.
Optimized jitter from firmware 03 (EL5002-000-0020)
The device-specific time jitter of the EL5002 has been optimized to a maximum value of ± 100 ns.
See chapter "Functional principles and notes [}115]".
Fig.141: DC mode settings
Process data
For each channel the EL500x offers the position value (4 bytes) and status information (1 or 2 bytes). A
differentiation should be made:
• EL5001 up to FW10 only support the simple process image consisting of value and 1 status byte
• EL5001 from FW11 and EL5002 optionally support value and 2 status bytes. The first 8 bit references
are retained, although they are complemented by further information in the high byte.
In the following example are three EL5001 devices are configured in order to illustrate the differences.
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