Csv - Beckhoff EL72 1 Series Documentation

Commissioning
CSV [} 114] - cyclic synchronous velocity (velocity control)
In CSV mode the EL72x1-xxxx operates with the cyclic velocity interface. A defined velocity can be set via
the Target velocity variable.
CST [} 118] - cyclic synchronous torque (torque control)
In CST mode the EL72x1-xxxx operates in the cyclic torque interface. A defined torque can be set via the
Target torque variable.
CSTCA [} 121] - cyclic synchronous torque with commutation angle (torque control with
commutation angle)
This operating mode is also intended for use with the cyclic torque interface. In addition the user can specify
the commutation angle. The variable Commutation angle can be used to set an angle which is to be
maintained with a defined torque set in variable Target torque.
CSP [} 125] - cyclic synchronous position (position control)
In the CSP operating mode the EL72x1-xxxx operates in the cyclic position interface. A defined position can
be set via the Target position variable.
For further information on the three operating modes described above please refer to section
"Commissioning without NC".
6.3.2

CSV

CSV - cyclic synchronous velocity (velocity control)
In CSV mode the EL72x1-xxxx operates with the cyclic velocity interface. A defined velocity can be set via
the Target velocity variable.
Step-by-Step
• Add the terminal to the configuration as described in the chapter TwinCAT configuration settings [} 62]
- manual or - Online scan [} 67].
• Link the terminal with the NC as described in the chapter Integration in the NC configuration [} 85].
• Import the motor XML file into the Startup directory as described in the chapter Settings in the CoE
[} 92].
• Set the mode of operation in the CoE directory to Cyclic synchronous velocity mode (CSV), Fig.
Selection of the mode of operation.
114 Version: 3.3 EL72x1