Settings In The Coe Register - Beckhoff EL72 1 Series Documentation

Commissioning
Fig. 112: Adapting Tn
Proportional velocity controller component Kp
• Increase the value, until the motor starts to oscillate slightly. Then reduce the value by 80%.
Fig. 113: Adapting Kp
6.2.3

Settings in the CoE register

(Master TwinCAT 2.11 R3)
The data provided in this section as an example refer to an AM3121-0200-0001 servomotor from Beckhoff
Automation. For other motors the values may vary, depending on the application.
92 Version: 3.3 EL72x1