1 5 Position measurement EL5101 Incremental encoder | RS422, 24 V DC EtherCAT Terminal 186 As opposed to absolute value encoders, incremental encoders do not provide a direct position, but rather two changing/pulsed signals that are phase-shifted by 90°, which can be used to calculate back to a position. To this end, digital position encoders subdivide a 360° rotation of the encoder axis into individual steps (increments). A full revolution of the encoder axis is indicated by a special marker/zero pulse. The number of increments determines both the resolution of an encoder and the accuracy of the position. The EL51xx terminals support micro-increment mode: By interpolating the signal voltages, the resolution is increased 256-fold and can be used for refining the positioning. The EL5101-0011 XFC incremental encoder interface processes signals according to the oversampling principle in order to achieve a higher resolution of position values. The resolution of position values can be increased to n times the bus cycle time. Conventional incremental encoder terminals detect a counter value with each bus cycle and forwards this value to the higherlevel control system during the subsequent fieldbus cycle. The EL5101-0011 in contrast repeatedly samples current counter values in the interval between two fieldbus communication cycles with an adjustable integer multiple (oversampling factor: n) of the bus cycle time in a configurable and time-equidistant manner, and transfers a package of n position values to the higher-level control system with the next fieldbus communication cycle. The minimum sampling time is 10 μs (100 ksps). The EL5101-0011 terminal is ideal for use in applications where high-resolution position detection is critical. A B 4-fold C A 4-fold evaluation of the signals A and B (quadrature encoder) produces a fine positional resolution and enables detection of the direction. Technical data 1-channel incremental encoder interface, differential input (RS422) EL5101 | ES5101 Technology incremental encoder interface RS422 Number of channels 1 2 6 3 7 4 8 1’ 5’ 2’ 6’ 3’ 7’ 4’ 8’ The EL5101 is an interface for the direct connection of incremental encoders with differential (RS422) or singleended inputs. It supplies 5 V for the encoder supply. Encoder connection A, A (inv), B, B (inv), C,C (inv), differential inputs (RS422); status input 5 V DC; gate/latch input 24 V DC Nominal voltage 24 V DC at power contact Current consum. pow. cont. typ. 100 mA + load Current consumption E-bus typ. 130 mA Distributed clocks yes Oversampling factor – Input signal difference signal (RS422), single-ended possible Encoder operating voltage 5 V DC/max. 0.5 A Input frequency max. 4 million increments/s (with 4-fold evaluation) Conversion time – Resolution 1/256 bit microincrements Counter 1 x 16/32 bit switchable Special features wire breakage detection, latch and gate function, period duration and frequency measurement, microincrements, timestamping of edges, filters Operating temperature -25…+60 °C Approvals CE, UL, Ex Weight approx. 100 g Further information www.beckhoff.com/EL5101 Special terminals EL5101-0010 EL5101-0090 Distinguishing features 20 million increments/s (with 4-fold evaluation), no single-ended operation TwinSAFE SC 84 +60 °C -25 °C We reserve the right to make technical changes.
2 EL5101, EL515x Position measurement 1-channel incremental encoder interface (RS422), oversampling 1-channel incremental encoder interface, single-ended, 24 V DC 2-channel incremental encoder interface, single-ended, 24 V DC EL5101-0011 EL5151 | ES5151 EL5152 | ES5152 incremental encoder interface 24 V DC 2 EtherCAT Terminal 187 +60 °C -25 °C +60 °C -25 °C +60 °C -25 °C 1 5 1’ 5’ 1 5 1 5 2 6 2’ 6’ 2 6 2 6 3 7 3’ 7’ 3 7 3 7 4 8 4’ 8’ 4 8 4 8 The EL5101-0011 is an interface for the direct connection of incremental encoders with differential inputs (RS422), which processes signals according to the oversampling principle in order to achieve a higher resolution of position signals. The EL5151 and EL5152 are interfaces with 24 V inputs for the direct connection of incremental encoders. For each channel a 32-bit counter with quadrature decoder can be read and set. In addition, the EL5151 offers a 32-bit latch for the zero pulse. Alternatively, both terminals can be used as forward/backward counters. Due to their support of distributed clocks, the EL515x terminals can detect the axis positions together with other slaves synchronously and with high temporal accuracy. A, A (inv), B, B (inv), C,C (inv), differential inputs (RS422) A, B, C, gate/latch input 24 V DC, EN 61131-2, type 1, “0“: < 5 V DC, “1“: > 15 V DC, typ. 5 mA A1, B1, A2, B2, EN 61131-2, type 1, “0“: < 5 V DC, “1“: > 15 V DC, typ. 5 mA 24 V DC at power contact 24 V DC at power contact typ. 100 mA + load typ. 100 mA + load typ. 130 mA typ. 130 mA yes yes n = 1…100 selectable – difference signal (RS422) 24 V DC 5 V DC/max. 0.5 A 24 V DC max. 20 million increments/s (with 4-fold evaluation) max. 400,000 increments/s (with 4-fold evaluation) 10 µs/100 ksps – – 1/256 bit microincrements 1 x 32 bit 1 x 16/32 bit switchable 2 x 32 bit oversampling, wire breakage detection gate or latch function, microincrements, timestamping of edges, period duration and microincrements, period duration and frequency measurement, up/down counters frequency measurement, up/down counters -25…+60 °C -25…+60 °C CE, UL, Ex CE, UL, Ex CE, UL, Ex, IECEx approx. 100 g approx. 50 g www.beckhoff.com/EL5101-0011 www.beckhoff.com/EL5151 www.beckhoff.com/EL5152 EL5151-0021 with parameterisable 24 V DC output and workpiece measurement We reserve the right to make technical changes.