Beckhoff EL72 1 Series - Page 195

Table of figures
EL72x1 195Version: 3.3
Fig. 86 Correction dialog with modifications ........................................................................................... 74
Fig. 87 Dialog “Change to Compatible Type…” (left: TwinCAT2; right: TwinCAT3) .............................. 74
Fig. 88 TwinCAT2 Dialog Change to Alternative Type ........................................................................... 74
Fig. 89 Branch element as terminal EL3751............................................................................................ 75
Fig. 90 “General” tab................................................................................................................................ 75
Fig. 91 „EtherCAT“ tab............................................................................................................................. 76
Fig. 92 “Process Data” tab....................................................................................................................... 77
Fig. 93 Configuring the process data....................................................................................................... 78
Fig. 94 „Startup“ tab................................................................................................................................. 79
Fig. 95 “CoE – Online” tab ....................................................................................................................... 80
Fig. 96 Dialog “Advanced settings”.......................................................................................................... 81
Fig. 97 „Online“ tab .................................................................................................................................. 81
Fig. 98 "DC" tab (Distributed Clocks)....................................................................................................... 83
Fig. 99 Download revision in Start-up list ................................................................................................ 83
Fig. 100 Axis detected ............................................................................................................................... 85
Fig. 101 Adding a new task ....................................................................................................................... 86
Fig. 102 Adding a new axis........................................................................................................................ 86
Fig. 103 Selecting and confirming the axis type ........................................................................................ 87
Fig. 104 Linking the axis with the terminal................................................................................................. 87
Fig. 105 Selecting the right terminal .......................................................................................................... 87
Fig. 106 Automatic linking of all main variables ........................................................................................ 88
Fig. 107 Selecting the connected voltage.................................................................................................. 89
Fig. 108 Selecting the connected motor .................................................................................................... 89
Fig. 109 List of available motors................................................................................................................ 90
Fig. 110 Confirmation of the automatic NC settings parameters............................................................... 90
Fig. 111 Adapting the scaling .................................................................................................................... 91
Fig. 112 Adapting Tn ................................................................................................................................. 92
Fig. 113 Adapting Kp ................................................................................................................................. 92
Fig. 114 Importing the motor XML file........................................................................................................ 93
Fig. 115 Selecting the correct motor XML file............................................................................................ 94
Fig. 116 CoE parameters of the motor XML file ........................................................................................ 94
Fig. 117 Multi-turn / single-turn bits ........................................................................................................... 95
Fig. 118 Resolver gain adjustment ............................................................................................................ 95
Fig. 119 Selection of the target platform.................................................................................................... 97
Fig. 120 Selecting the MAC address ......................................................................................................... 97
Fig. 121 Changing the PLC path ............................................................................................................... 98
Fig. 122 Required libraries......................................................................................................................... 98
Fig. 123 Global variables........................................................................................................................... 98
Fig. 124 Local variables............................................................................................................................. 99
Fig. 125 Program code .............................................................................................................................. 100
Fig. 126 Visualization................................................................................................................................. 101
Fig. 127 DS402 State Machine.................................................................................................................. 103
Fig. 128 Online homing in the NC.............................................................................................................. 105
Fig. 129 Configuration of the MC_Home block.......................................................................................... 106
Fig. 130 Extraction from the functional description for MC_Home ............................................................ 106
Fig. 131 Selection of the reference modes in the NC................................................................................ 107