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Table of figures

EL72x1196 Version: 3.3

Fig. 132 Setting the reference velocity ...................................................................................................... 107

Fig. 133 Definition of the unit..................................................................................................................... 108

Fig. 134 Adjusting the reference velocity................................................................................................... 109

Fig. 135 Setting the encoder mask............................................................................................................ 110

Fig. 136 Setting the Scaling Factor............................................................................................................ 110

Fig. 137 Dead time compensation parameter ........................................................................................... 111

Fig. 138 Output scaling.............................................................................................................................. 111

Fig. 139 Lag monitoring............................................................................................................................. 112

Fig. 140 Enabling an axis .......................................................................................................................... 112

Fig. 141 Reversing Sequence ................................................................................................................... 113

Fig. 142 Selection of the mode of operation.............................................................................................. 115

Fig. 143 Selecting a predefined PDO assignment..................................................................................... 116

Fig. 144 Set enables.................................................................................................................................. 117

Fig. 145 Torque specification..................................................................................................................... 117

Fig. 146 Selection of the mode of operation.............................................................................................. 118

Fig. 147 Selecting a predefined PDO assignment..................................................................................... 119

Fig. 148 Set enables.................................................................................................................................. 120

Fig. 149 Torque specification..................................................................................................................... 121

Fig. 150 Selection of the mode of operation.............................................................................................. 122

Fig. 151 Selecting a predefined PDO assignment..................................................................................... 123

Fig. 152 Set enables.................................................................................................................................. 124

Fig. 153 Specification of torque and commutation angle........................................................................... 124

Fig. 154 Selection of the mode of operation.............................................................................................. 125

Fig. 155 Selecting a predefined PDO assignment..................................................................................... 126

Fig. 156 Set enables.................................................................................................................................. 127

Fig. 157 Position specification ................................................................................................................... 128

Fig. 158 Following error window................................................................................................................ 128

Fig. 159 Following error over time ............................................................................................................. 129

Fig. 160 Process Data tab SM2, EL72x1 (default) .................................................................................... 130

Fig. 161 Process Data tab SM3, EL72x1 (default) .................................................................................... 131

Fig. 162 Process data tab Predefined PDO Assignment, EL72x1............................................................. 132

Fig. 163 Process Data tab SM2, EL72x1 (default) .................................................................................... 133

Fig. 164 Process Data tab SM3, EL72x1 (default) .................................................................................... 134

Fig. 165 Process data tab Predefined PDO Assignment, EL72x1............................................................. 135

Fig. 166 DiagMessages in the CoE ........................................................................................................... 168

Fig. 167 Implementation of the DiagMessage system in the TwinCAT System Manager......................... 169

Fig. 168 Device identifier consisting of name EL3204-0000 and revision -0016 ...................................... 181

Fig. 169 Scan the subordinate field by right-clicking on the EtherCAT device .......................................... 181

Fig. 170 Configuration is identical ............................................................................................................. 182

Fig. 171 Change dialog ............................................................................................................................. 182

Fig. 172 EEPROM Update ........................................................................................................................ 183

Fig. 173 Selecting the new ESI.................................................................................................................. 183

Fig. 174 Display of EL3204 firmware version ............................................................................................ 184

Fig. 175 Firmware Update ......................................................................................................................... 185

Fig. 176 FPGA firmware version definition ............................................................................................... 187

Fig. 177 Context menu Properties ............................................................................................................ 187