Commissioning
EL72x196 Version: 3.3
The EL72x1 automatically corrects this small difference in the resolver amplitudes, if the function "Automatic
gain control" is active. The correction takes some time, approx. 100 revolutions. The means that the
precision during this time is slightly lower than after the correction.
To avoid this small initial inaccuracy, during the commissioning phase, after approx. 100 revolutions, the
user can read the "Automatic resolver gain value" determined by the terminal (MDP742: 0x9008:12 [}145] /
DS402: Index 0x2058:12 [}162]) and transfer it to "Resolver gain adjustment" (MDP742: Index 0x8008:12
[}137] / DS402: Index 0x2018:12 [}162]). The value entered there is the starting point for the correction.
Please note that the value varies from motor to motor. If the motor is replaced, the process must be
repeated.
The function "Automatic gain control" can activated or deactivated with "Enable automatic gain
control" (MDP742: Index 0x8008:02 [}137] / DS402: Index 0x2018:02 [}156]).
Torque limitation (MDP742: Index 0x7010:0B [
}
144] / DS402: Index 0x6072:0 [
}
159])
Limits the current / torque to this value. The value is specified in 1000th of the rated current.
Integral velocity controller component Tn (MDP742: Index 0x8010:14 [
}
137] / DS402: Index
0x2002:14 [
}
154])
The values specified here are exemplary, although in most cases they have led to excellent results.
Depending on the application, other values may yield better results.
• Reduce the value, until the motor starts to oscillate slightly. Then increase the value by 10%.
Proportional velocity controller component Kp (MDP742: Index 0x8010:15 [
}
137] / DS402: Index
0x2002:15 [
}
154])
The values specified here are exemplary, although in most cases they have led to excellent results.
Depending on the application, other values may yield better results.
• Increase the value, until the motor starts to oscillate slightly. Then reduce the value by 80%.
6.2.4 Application example
Note
EtherCAT XML Device Description
The display matches that of the CoE objects from the EtherCAT XML Device Description.
We recommend downloading the latest XML file from the download area of the Beckhoff
website and installing it according to installation instructions.
Motor control with visualization
Download (https://infosys.beckhoff.com/content/1033/el72x1/Resources/zip/1958948107.zip):
Used Master: TwinCAT 2.11 (for older versions the control loop has to be programmed manually; in this case
it is already implemented in the NC).
This application example demonstrates movement of a motor to any position or in continuous mode with the
aid of visualization. The velocity, the starting acceleration and the deceleration can be specified.
The sample program consists of 2 files (PLC file and System Manager file).
First open the PLC file and compile it so that you have the *.tpy file available that is required for the System
Manager.
Please note that you may have to adjust the target platform in the PLC program (default: PC or CX 8x86). If
required, you can select the target platform under Resources -> Controller configuration.
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