Beckhoff EL72 1 Series Documentation page 195

Fig. 86 Correction dialog with modifications ...........................................................................................
Fig. 87 Dialog "Change to Compatible Type..." (left: TwinCAT 2; right: TwinCAT 3) ..............................
Fig. 88 TwinCAT 2 Dialog Change to Alternative Type ...........................................................................
Fig. 89 Branch element as terminal EL3751............................................................................................
Fig. 90 "General" tab................................................................................................................................
Fig. 91 „EtherCAT" tab.............................................................................................................................
Fig. 92 "Process Data" tab.......................................................................................................................
Fig. 93 Configuring the process data.......................................................................................................
Fig. 94 „Startup" tab.................................................................................................................................
Fig. 95 "CoE – Online" tab .......................................................................................................................
Fig. 96 Dialog "Advanced settings"..........................................................................................................
Fig. 97 „Online" tab ..................................................................................................................................
Fig. 98 "DC" tab (Distributed Clocks).......................................................................................................
Fig. 99 Download revision in Start-up list ................................................................................................
Fig. 100 Axis detected ...............................................................................................................................
Fig. 101 Adding a new task .......................................................................................................................
Fig. 102 Adding a new axis........................................................................................................................
Fig. 103 Selecting and confirming the axis type ........................................................................................
Fig. 104 Linking the axis with the terminal.................................................................................................
Fig. 105 Selecting the right terminal ..........................................................................................................
Fig. 106 Automatic linking of all main variables ........................................................................................
Fig. 107 Selecting the connected voltage..................................................................................................
Fig. 108 Selecting the connected motor ....................................................................................................
Fig. 109 List of available motors ................................................................................................................
Fig. 110 Confirmation of the automatic NC settings parameters ...............................................................
Fig. 111 Adapting the scaling ....................................................................................................................
Fig. 112 Adapting Tn .................................................................................................................................
Fig. 113 Adapting Kp .................................................................................................................................
Fig. 114 Importing the motor XML file........................................................................................................
Fig. 115 Selecting the correct motor XML file............................................................................................
Fig. 116 CoE parameters of the motor XML file ........................................................................................
Fig. 117 Multi-turn / single-turn bits ...........................................................................................................
Fig. 118 Resolver gain adjustment ............................................................................................................
Fig. 119 Selection of the target platform....................................................................................................
Fig. 120 Selecting the MAC address .........................................................................................................
Fig. 121 Changing the PLC path ...............................................................................................................
Fig. 122 Required libraries.........................................................................................................................
Fig. 123 Global variables ...........................................................................................................................
Fig. 124 Local variables.............................................................................................................................
Fig. 125 Program code .............................................................................................................................. 100
Fig. 126 Visualization................................................................................................................................. 101
Fig. 127 DS402 State Machine.................................................................................................................. 103
Fig. 128 Online homing in the NC.............................................................................................................. 105
Fig. 129 Configuration of the MC_Home block.......................................................................................... 106
Fig. 130 Extraction from the functional description for MC_Home ............................................................ 106
Fig. 131 Selection of the reference modes in the NC ................................................................................ 107
EL72x1 Version: 3.3
Table of figures
74
74
74
75
75
76
77
78
79
80
81
81
83
83
85
86
86
87
87
87
88
89
89
90
90
91
92
92
93
94
94
95
95
97
97
98
98
98
99
195