Fig. 137 Dead Time Compensation Parameter; Fig. 138 Output Scaling - Beckhoff EL72 1 Series Documentation

Dead time compensation
The dead time compensation can be adjusted on the Time Compensation tab of Axis1_ENC.
It should theoretically be 3 cycles of the NC cycle time, although in practice 4 cycles are preferable.
Therefore, the settings of the parameters Time Compensation Mode Encoder should be ‚ON (with velocity) )'
and Encoder Delay in Cycles '4'.
Fig. 137: Dead time compensation parameter
Scaling output
Enter the value 32 in the Parameter tab for the drive settings under Output Scaling (Velocity).
Fig. 138: Output scaling
Position lag monitoring
The position lag monitoring function checks whether the current position lag of an axis has exceeded the
limit value. The position lag is the difference between the set value (control value) and the actual value
reported back. If the terminal parameters are set inadequately, the position lag monitoring function may
report an error when the axis is moved. During commissioning it may therefore be advisable to increase the
limits of the Position lag monitoring slightly.
Damage to equipment, machines and peripheral components possible!
Setting the position lag monitoring parameters too high may result in damage to equipment,
machines and peripheral components.
Attention
EL72x1 Version: 3.3
Commissioning
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