Beckhoff EL72 1-901 Series Manual page 129

Commissioning
Selecting the maximum velocity
The maximum permitted velocity is calculated based on the maximum motor speed (name plate) and the
distance, in this case in relation to 360° per second.
Fig. 160: Adjusting the reference velocity
The reference velocity matches the maximum permitted velocity.
Below that separate values for the maximum and minimum velocity for manual NC mode can be set.
Dead time compensation
The dead time compensation can be adjusted on the Time Compensation tab of Axis1_ENC.
It should theoretically be 3 cycles of the NC cycle time, although in practice 4 cycles are preferable.
Therefore, the settings of the parameters Time Compensation Mode Encoder should be ‚ON (with velocity) )'
and Encoder Delay in Cycles '4'.
Fig. 161: Dead time compensation parameter
EL72x1-901x Version: 1.9 129