Beckhoff EL7037 User Manual download pdf (Page 131)

Commissioning

Fig.147: Entering the position

5.4.4 Extended Velocity mode

In Extended Velocity mode the EL70x7 operates in the cyclic velocity interface with field-oriented control. A

defined velocity can be set via the STM Velocity variable.

Notes

• This operating mode can be only be used when an encoder with sufficiently high resolution (min. 4000

[INC/360°]) is connected.

• Only stepper motors from Beckhoff Automation GmbH (AS10xx) are supported.

• TwinCAT NC is required.

• When this mode is enabled commutation determination is required, since the shaft requires a degree of

clearance. To this end the shaft moves a few degrees right and left.

Step by Step

• Add the terminal to the configuration as described in the section TwinCAT configuration settings –

manual [}66] or – Online scan [}72].

• Link the terminal with the NC as described in section Integration into the NC configuration [}104] (if

TwinCAT NC is used).

• Configure the EL70x7

◦ automatically - import the XML motor file into the startup directory as described in section Set-

tings in the CoE - automatic [}105].

◦ manually - configure the parameters as described in section Settings in the CoE - manual

[}105].

• Set the operating mode in the CoE directory to Extended Velocity mode [}181], Fig. "Extended

Velocity mode".

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Beckhoff EL7037 User Manual Page 131