Operation Modes; Overview; Csv - Beckhoff EL72 1-901 Series Manual

Commissioning
• With TP1 Continuous you can decide whether the position is to be saved only at the first event (TP1
Continuous = false) or whether this should take place at every event (TP1 Continuous = true).
For example, if TP1 Continous and TP1 Enablepos edge are set, the position is saved on each positive
edge at input 1 of the terminal.
If TP1 Enable neg edge is set and TP1 Continuous is not set, the position will only be saved on the first
negative edge at input 1 of the terminal. If you wish to repeat this procedure, you must first deactivate
TP1 Enable and then activate it again. Then the position is saved again on the first negative edge.
• TP1 Trigger mode has no function in the case of the EL72x1-xxxx.
• The saved position of the positive edge can be read in the inputs of the process data under TP1 Pos
position, that of the negative edge under TP1 Neg position.
• The variables under Touch probe status are for the diagnosis.
• The Touch Probe inputs must be addressed with a 1-wire +24 V signal.
5.4

Operation modes

5.4.1

Overview

Operating modes CST, CSTCA, CSV and CSP are supported. The operating mode is set in the CoE list in
index 0x7010:03 [} 198] Modes of operation (MDP) or index 0x6060:0 [} 219] Modes of operation (DS402). In
the respective process data the user can additionally select the respective Predefined PDO Assignment. All
required variables are then in the process data.
CSV [} 152] - cyclic synchronous velocity (velocity control)
In CSV mode the EL72x1-xxxx operates with the cyclic velocity interface. A defined velocity can be set via
the Target velocity variable.
CST [} 156] - cyclic synchronous torque (torque control)
In CST mode the EL72x1-xxxx operates in the cyclic torque interface. A defined torque can be set via the
Target torque variable.
CSTCA [} 159] - cyclic synchronous torque with commutation angle (torque control with commutation
angle)
This operating mode is also intended for use with the cyclic torque interface. In addition the user can specify
the commutation angle. The variable Commutation angle can be used to set an angle which is to be
maintained with a defined torque set in variable Target torque.
CSP [} 163] - cyclic synchronous position (position control)
In the CSP operating mode the EL72x1-xxxx operates in the cyclic position interface. A defined position can
be set via the Target position variable.
For further information on the three operating modes described above please refer to section
"Commissioning without NC".
5.4.2

CSV

CSV - cyclic synchronous velocity (velocity control)
In CSV mode the EL72x1-xxxx operates with the cyclic velocity interface. A defined velocity can be set via
the Target velocity variable.
152 Version: 1.9 EL72x1-901x