Beckhoff EL72 1 Series Documentation page 196

Table of figures
Fig. 132 Setting the reference velocity ...................................................................................................... 107
Fig. 133 Definition of the unit ..................................................................................................................... 108
Fig. 134 Adjusting the reference velocity................................................................................................... 109
Fig. 135 Setting the encoder mask ............................................................................................................ 110
Fig. 136 Setting the Scaling Factor............................................................................................................ 110
Fig. 137 Dead time compensation parameter ........................................................................................... 111
Fig. 138 Output scaling.............................................................................................................................. 111
Fig. 139 Lag monitoring ............................................................................................................................. 112
Fig. 140 Enabling an axis .......................................................................................................................... 112
Fig. 141 Reversing Sequence ................................................................................................................... 113
Fig. 142 Selection of the mode of operation .............................................................................................. 115
Fig. 143 Selecting a predefined PDO assignment..................................................................................... 116
Fig. 144 Set enables.................................................................................................................................. 117
Fig. 145 Torque specification..................................................................................................................... 117
Fig. 146 Selection of the mode of operation .............................................................................................. 118
Fig. 147 Selecting a predefined PDO assignment..................................................................................... 119
Fig. 148 Set enables.................................................................................................................................. 120
Fig. 149 Torque specification..................................................................................................................... 121
Fig. 150 Selection of the mode of operation .............................................................................................. 122
Fig. 151 Selecting a predefined PDO assignment..................................................................................... 123
Fig. 152 Set enables.................................................................................................................................. 124
Fig. 153 Specification of torque and commutation angle........................................................................... 124
Fig. 154 Selection of the mode of operation .............................................................................................. 125
Fig. 155 Selecting a predefined PDO assignment..................................................................................... 126
Fig. 156 Set enables.................................................................................................................................. 127
Fig. 157 Position specification ................................................................................................................... 128
Fig. 158 Following error window ................................................................................................................ 128
Fig. 159 Following error over time ............................................................................................................. 129
Fig. 160 Process Data tab SM2, EL72x1 (default) .................................................................................... 130
Fig. 161 Process Data tab SM3, EL72x1 (default) .................................................................................... 131
Fig. 162 Process data tab Predefined PDO Assignment, EL72x1............................................................. 132
Fig. 163 Process Data tab SM2, EL72x1 (default) .................................................................................... 133
Fig. 164 Process Data tab SM3, EL72x1 (default) .................................................................................... 134
Fig. 165 Process data tab Predefined PDO Assignment, EL72x1............................................................. 135
Fig. 166 DiagMessages in the CoE ........................................................................................................... 168
Fig. 167 Implementation of the DiagMessage system in the TwinCAT System Manager ......................... 169
Fig. 168 Device identifier consisting of name EL3204-0000 and revision -0016 ...................................... 181
Fig. 169 Scan the subordinate field by right-clicking on the EtherCAT device .......................................... 181
Fig. 170 Configuration is identical ............................................................................................................. 182
Fig. 171 Change dialog ............................................................................................................................. 182
Fig. 172 EEPROM Update ........................................................................................................................ 183
Fig. 173 Selecting the new ESI.................................................................................................................. 183
Fig. 174 Display of EL3204 firmware version ............................................................................................ 184
Fig. 175 Firmware Update ......................................................................................................................... 185
Fig. 176 FPGA firmware version definition ............................................................................................... 187
Fig. 177 Context menu Properties ............................................................................................................ 187
196 Version: 3.3 EL72x1