Operation modes

In EL5101-0010 “enhanced operation mode” the following modes are available:

Mode	DC	Main PDO	Comment	Optional PDO 1	Comment	Optional PDO 2	Comment	Features CoE	Comment
7	FreeRun	0x1A00 + 0x1600	Count/Latch in 32 bit	0x1A03 or 0x1A02	Frequency (32 bit) or Period (32 bit)	--		0x8000:nn	CoE combinations 0x8000:nn
8	"	0x1A01 + 0x1601	compact: Count/Latch in 16 bit	"	"	--		"	"
9	DC/DCi	0x1A00 + 0x1600	Count/Latch in 32 bit	"	"	0x1A04 or 0x1A05	Timestamp 64 bit Timestamp 32 bit (compact)	"	"
10	"	0x1A01 + 0x1601	compact: Count/Latch in 16 bit	"	"	"	"	"	"

Other settings may result in irregular process data and lead to error messages in the TwinCAT System Manager logger window.

Parameterization

Use a CoE reset in order to deactivate any previous settings
In order to activate the new operating mode, reload the EtherCAT slaves ( button)

Describes whether the terminal is operated with distributed clocks support:

FreeRun: the terminal operates frame-triggered. Cyclic operation is started via the SyncManagers of the EtherCAT frame processing.
DC-Synchron: cyclic operation in the terminal is started by the local distributed clock at exact intervals. The start time is chosen such that it coincides with other output slaves in the EtherCAT system.
DC-Synchron (input based): as DC-Synchron mode, with the cyclic start time chosen such that it coincides with other input slaves in the EtherCAT system.