EL5101 encoder interface

Hi at all.

I wanted to ask if anyone has ever tried to use an el5101 encoder card to do spindle orientation and read the position value. In the documentation I read that there is a PDO where to read the position, but I did not understand how to reset the counter when the zero mark of the encoder is hit. Can you help me ?

Thanks
 

this is handled like homing on index.

for sensor on the external latch input
set the "enc-index-ext-pos-enable" or "enc-index-ext-neg-enable" pin

for sensor on the C Line from the encoder
set the "enc-index-c-enable" pin

if the zero event ocoured the card sets its internal counter to zero or to the pos
you told with the set_raw_count_val pin and clears the enc-index-xxx pin.

Thanks for support.
please have the xml file for pdo config example for el5101 ?

More thanks

i am talking about the native el5101 driver.

Module name is "EL5101"

Ok thanks, about scaling the position value , use some component or another pin the el5101 driver ?

Exist some hal example for pin connection ?

Again more thanks

enc-pos-scale is the scale pin. (increment per machine unit)

github.com/sittner/linuxcnc-ethercat/blo...er/src/lcec_el5101.c

there all pins are listed. line 75-95

OK thanks for help and good day.

Hello.
I use module EL5101 in my system. I have a suspicion that the module has programmed parameters inside that are different from the default ones. I read here on the forum a way to reset this module to factory settings using the SDO/PDO commands, but I can’t find this message.
Please tell me a method to reset this module.

Generally, Beckhoff lists this in their docs, which you can get to via beckhoff.com/EL5101 -> documentation. For the EL5101, this covered on download.beckhoff.com/download/Document/...l5101en.pdf#page=273. You *should* be able to factory reset it via `ethercat download -p XX 0x1011 1 1684107116`, where XX is your EL5101's slave ID.

Having said that, using TwinCat on Windows to reset things tends to work better than using `ethercat` on the command line.