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Ethercat update issue with beckhoff EL5021


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Hi all

I have a problem in configuring the ethercat network with a Power Brick LV.

 

My configuration is:

- Master: Power Brick LV (IO only)

- EK1100: ethercat coupler

- 3x EL5032: endat 2.2 acquisition modules

- 1x EL5021: sin/cos 1Vpp encoder acqusition module

 

I tested the system with only the EL5032 endat modules and I can configure the network.

 

Now I added to the network another terminal to acquire the sin/cos 1Vpp encoder.

There is no configuration to be done on the terminal, so it should be plug and play.

 

However, I cannot see the upgrading of the value in real time, but the updating of counter is done only once when activating the ethercat. So, basically, I switch the system on with Ecat[0].enable = 1 and I got a value, and that value is not upgrading when I move the encoder.

Then, I switch off with ecat[0].enable = 0, move the encoder in another position, issue ecat[0].enable = 1 and the variable is changed to the value indicating the new position.

 

Is there some synchronization issue to setup?

The beckhoff terminal is this one:

https://download.beckhoff.com/download/document/io/ethercat-terminals/el5021en.pdf

 

It can work in FreeRun mode and DCIN. The other terminals are configured in FreeRun. The EK1100 is the reference clock for the network.

 

Do you have any hint on this problem?

 

Thanks a lot

Gigi

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