Beckhoff EL72 1 Series - Csp; Fig. 154 Selection of the Mode of Operation

Commissioning
EL72x1 125Version: 3.3
6.3.5 CSP
CSP - 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.
Note
Minimum cycle time
The cycle times in CSP mode with 2^n * 125 µs (for n =1 to 8) are:
250 µs, 500 µs, 1 ms, 2 ms, 4 ms, 8 ms, 16 ms or 32 ms.
Step-by-Step
• Add the terminal to the configuration as described in the chapter TwinCAT configuration settings [}62]
- manual or - Online scan [}67].
• Link the terminal with the NC as described in the chapter Integration in the NC configuration [}85].
• Configure the motor with the help of the automatic configuration (only OCT types), using the Drive
Manager [}88] or import the motor XML file into the Start-up directory as described in the chapter
Settings in the CoE [}92].
• Set the mode of operation in the CoE directory to Cyclic synchronous position mode (CSP), Fig.
Selection of the mode of operation.
Fig.154: Selection of the mode of operation
• Under Predefined PDO assignment, also select Cyclic synchronous position mode (CSP), Fig.
Selecting a predefined PDO assignment.