Beckhoff EL7201-0010 - Csp; Fig. 161 Specification of Torque and Commutation Angle

Commissioning
Fig.161: Specification of torque and commutation angle
6.3.5 CSP
CSP - cyclic synchronous position (position control)
In the CSP operating mode the EL72x1-0010 operates in the cyclic position interface. A defined position can
be set via the Target position variable.
Note
Minimum cycle time
The cycle time in CSP mode should be at least 250 µs.
Step-by-Step
• Add the terminal to the configuration as described in the chapter TwinCAT configuration settings [}52]
- manual or - Online scan [}58].
• 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 [}112] 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
[}93].
• Set the mode of operation in the CoE directory to Cyclic synchronous position mode (CSP), Fig.
Selection of the mode of operation.
EL72x1-0010132 Version: 2.0