Fig. 152 Set Enables; Fig. 153 Specification Of Torque And Commutation Angle - Beckhoff EL72 1 Series Documentation

Commissioning
Fig. 152: Set enables
◦ If you don't use the TwinCAT NC.
In this case you must run through the State Machine manually. To do this, follow the
instructions in the chapter Commissioning without the NC [} 101].
• You can specify a defined torque via the cyclic variable Target torque. The value is specified in 1000ths
of the rated current and the torque is calculated according to the following equation, where the rated
current refers to the value in the index 0x8011:12 (rated current).
You can specify a defined angle via the cyclic variable Commutation angle. The value is specified in 360°/2
Fig. 153: Specification of torque and commutation angle
124 Version: 3.3
16
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EL72x1