Beckhoff EL72 1-901 Series Manual page 261

Table of figures
Fig. 132 "Process Data" tab....................................................................................................................... 108
Fig. 133 Configuring the process data....................................................................................................... 109
Fig. 134 „Startup" tab................................................................................................................................. 110
Fig. 135 "CoE – Online" tab ....................................................................................................................... 111
Fig. 136 Dialog "Advanced settings".......................................................................................................... 112
Fig. 137 „Online" tab .................................................................................................................................. 112
Fig. 138 "DC" tab (Distributed Clocks)....................................................................................................... 113
Fig. 139 Download revision in Start-up list ................................................................................................ 114
Fig. 140 Axis detected ............................................................................................................................... 116
Fig. 141 Adding a new task ....................................................................................................................... 117
Fig. 142 Adding a new axis........................................................................................................................ 117
Fig. 143 Selecting and confirming the axis type ........................................................................................ 117
Fig. 144 Linking the axis with the terminal................................................................................................. 118
Fig. 145 Selecting the right terminal .......................................................................................................... 118
Fig. 146 Automatic linking of all main variables ........................................................................................ 119
Fig. 147 Selecting the connected voltage.................................................................................................. 120
Fig. 148 Automatic scanning of the connected motor................................................................................ 121
Fig. 149 Selecting the connected motor .................................................................................................... 121
Fig. 150 List of available motors ................................................................................................................ 122
Fig. 151 Confirmation of the automatic NC settings parameters ............................................................... 122
Fig. 152 Adapting the scaling .................................................................................................................... 123
Fig. 153 Adapting Tn ................................................................................................................................. 124
Fig. 154 Adapting Kp ................................................................................................................................. 124
Fig. 155 Importing the motor XML file........................................................................................................ 125
Fig. 156 Selecting the correct motor XML file............................................................................................ 126
Fig. 157 CoE parameters of the motor XML file ........................................................................................ 126
Fig. 158 Multi-turn / single-turn bits: .......................................................................................................... 127
Fig. 159 Definition of the unit ..................................................................................................................... 128
Fig. 160 Adjusting the reference velocity................................................................................................... 129
Fig. 161 Dead time compensation parameter ........................................................................................... 129
Fig. 162 Setting the encoder mask ............................................................................................................ 130
Fig. 163 Setting the Scaling Factor............................................................................................................ 131
Fig. 164 Output scaling.............................................................................................................................. 131
Fig. 165 Lag monitoring ............................................................................................................................. 132
Fig. 166 Enabling an axis .......................................................................................................................... 133
Fig. 167 Reversing Sequence ................................................................................................................... 134
Fig. 168 Selection of the target platform.................................................................................................... 135
Fig. 169 Selecting the MAC address ......................................................................................................... 135
Fig. 170 Changing the PLC path ............................................................................................................... 136
Fig. 171 Required libraries......................................................................................................................... 136
Fig. 172 Global variables ........................................................................................................................... 137
Fig. 173 Local variables............................................................................................................................. 137
Fig. 174 Program code .............................................................................................................................. 138
Fig. 175 Visualization................................................................................................................................. 139
Fig. 176 DS402 State Machine.................................................................................................................. 141
Fig. 177 Flow chart for the automatic configuration................................................................................... 144
EL72x1-901x Version: 1.9 261