Beckhoff EL72 1-901 Series Manual page 262

Table of figures
Fig. 178 Pull-down menu for activating end position monitoring .............................................................. 145
Fig. 179 Online homing in the NC.............................................................................................................. 146
Fig. 180 Configuration of the MC_Home block.......................................................................................... 147
Fig. 181 Extraction from the functional description for MC_Home ............................................................ 147
Fig. 182 Selection of the reference modes in the NC ................................................................................ 148
Fig. 183 Setting the reference velocity ...................................................................................................... 148
Fig. 184 Touch Probe inputs...................................................................................................................... 150
Fig. 185 Touch Probe outputs ................................................................................................................... 151
Fig. 186 Selection of the mode of operation .............................................................................................. 153
Fig. 187 Selecting a predefined PDO assignment..................................................................................... 154
Fig. 188 Set enables.................................................................................................................................. 155
Fig. 189 Torque specification..................................................................................................................... 155
Fig. 190 Selection of the mode of operation .............................................................................................. 156
Fig. 191 Selecting a predefined PDO assignment..................................................................................... 157
Fig. 192 Set enables.................................................................................................................................. 158
Fig. 193 Torque specification..................................................................................................................... 159
Fig. 194 Selection of the mode of operation .............................................................................................. 160
Fig. 195 Selecting a predefined PDO assignment..................................................................................... 161
Fig. 196 Set enables.................................................................................................................................. 162
Fig. 197 Specification of torque and commutation angle........................................................................... 162
Fig. 198 Selection of the mode of operation .............................................................................................. 163
Fig. 199 Selecting a predefined PDO assignment..................................................................................... 164
Fig. 200 Set enables.................................................................................................................................. 165
Fig. 201 Position specification ................................................................................................................... 166
Fig. 202 Following error window ................................................................................................................ 166
Fig. 203 Following error over time ............................................................................................................. 167
Fig. 204 Process Data tab SM2, EL72x1-0010 (default) ........................................................................... 168
Fig. 205 Process Data tab SM3, EL72x1-0010 (default) ........................................................................... 169
Fig. 206 Process data tab - Predefined PDO Assignment, EL72x1-0010 ................................................. 171
Fig. 207 Process Data tab SM2, EL72x1-0010 (default) ........................................................................... 172
Fig. 208 Process Data tab SM3, EL72x1-0010 (default) ........................................................................... 173
Fig. 209 Process data tab - Predefined PDO Assignment, EL72x1-0010 ................................................. 175
Fig. 210 Dimensions of the EL7201-xxxx .................................................................................................. 177
Fig. 211 Dimensions of the EL7211-xxxx .................................................................................................. 178
Fig. 212 Typical reaction time.................................................................................................................... 178
Fig. 213 Worst-case reaction time ............................................................................................................. 179
Fig. 214 Connection example for EL72x1_9014 with STO........................................................................ 181
Fig. 215 EL72x1_9014_block_diagram ..................................................................................................... 182
Fig. 216 Unique serial number of a TwinSAFE terminal............................................................................ 187
Fig. 217 DiagMessages in the CoE ........................................................................................................... 233
Fig. 218 Implementation of the DiagMessage system in the TwinCAT System Manager ......................... 234
Fig. 219 Device identifier consisting of name EL3204-0000 and revision -0016 ...................................... 245
Fig. 220 Scan the subordinate field by right-clicking on the EtherCAT device .......................................... 246
Fig. 221 Configuration is identical ............................................................................................................. 246
Fig. 222 Change dialog ............................................................................................................................. 246
Fig. 223 EEPROM Update ........................................................................................................................ 247
262 Version: 1.9 EL72x1-901x