Beckhoff EL7037 User Manual download pdf (Page 123)

Commissioning

5.4 Operating modes

5.4.1 Overview

The modes Velocity direct, Position controller, Ext. Velocity mode, Ext. Position mode and Velocity

sensorless are supported. The operating mode is set in the CoE list in index 8012:01 [}181] (Operating

Mode). In the respective process data the user can additionally select the respective Predefined PDO

Assignment [}103]. All required variables are then in the process data.

The Predefined PDO Assignments Positioning interface and the compact Positioning interface can be used

to realise an additional path control based on the positioning controller.

Automatic

Automatic mode is the default setting for the EL70x7. This operating mode is selected, the EL70x7

recognizes the set predefined PDO assignment and automatically selects between Velocity direct and

Position controller so that the interplay between predefined PDO assignment and the matching mode is

automatically guaranteed. If the user switches, for example, from Predefined PDO Assignment Velocity

control auf Position control, the EL70x7 recognizes this and automatically switches from operating mode

Velocity direct to Position controller.

The extended modes are not implemented in Automatic mode.

If the extended modes are not required, is the recommended to use Automatic mode.

Velocity direct

In Velocity direct mode, the EL70x7 operates in the cyclic velocity interface. A defined velocity can be set via

the STM Velocity variable.

Position controller

In Position controller mode, the EL70x7 operates in the cyclical position interface. A defined position can be

set via the STM Position variable.

Extended Velocity mode

In the Extended Velocity mode, the EL70x7 operates in the cyclic velocity interface with a field-oriented

control. A defined velocity can be set via the STM Velocity variable.

Extended Position mode

In Extended Position controller mode, the EL70x7 operates in the cyclic velocity interface with a field-

oriented control. A defined position can be set via the STM Position variable.

Velocity sensorless

In Velocity sensorless mode, the EL70x7 operates in the cyclic velocity interface. In this mode, above a

minimum speed the motor current without encoder is controlled load-dependent. A defined velocity can be

set via the STM Velocity variable.

Positioning interface

The position control loop is usually closed with the aid of TwinCAT NC. The Positioning interface can be

used to transfer travel commands via the PLC directly to the terminal. The position control loop is closed by

the terminal. This can be advantageous in simple, price-sensitive applications, since no TwinCAT NC licence

is required. Only a very short TC cycle time is required, so that the controller load is reduced. However, the

accuracy and the possibility of synchronization to other drive terminals and modules in the system is

severely restricted.

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Beckhoff EL7037 User Manual Page 123