Beckhoff EL7201-0010

List of illustration
Fig. 134 Changing the PLC path ............................................................................................................. 106
Fig. 135 Required libraries....................................................................................................................... 106
Fig. 136 Global variables ......................................................................................................................... 107
Fig. 137 Local variables........................................................................................................................... 107
Fig. 138 Program code ............................................................................................................................ 108
Fig. 139 Visualization............................................................................................................................... 109
Fig. 140 DS402 State Machine................................................................................................................ 110
Fig. 141 Flow chart for the automatic configuration................................................................................. 113
Fig. 142 Pull-down menu for activating end position monitoring ............................................................ 114
Fig. 143 Online homing in the NC............................................................................................................ 115
Fig. 144 Configuration of the MC_Home block........................................................................................ 116
Fig. 145 Extraction from the functional description for MC_Home .......................................................... 116
Fig. 146 Selection of the reference modes in the NC .............................................................................. 117
Fig. 147 Setting the reference velocity .................................................................................................... 117
Fig. 148 Touch Probe inputs.................................................................................................................... 119
Fig. 149 Touch Probe outputs ................................................................................................................. 120
Fig. 150 Selection of the mode of operation ............................................................................................ 122
Fig. 151 Selecting a predefined PDO assignment................................................................................... 123
Fig. 152 Set enables................................................................................................................................ 124
Fig. 153 Torque specification................................................................................................................... 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 Torque specification................................................................................................................... 128
Fig. 158 Selection of the mode of operation ............................................................................................ 129
Fig. 159 Selecting a predefined PDO assignment................................................................................... 130
Fig. 160 Set enables................................................................................................................................ 131
Fig. 161 Specification of torque and commutation angle......................................................................... 132
Fig. 162 Selection of the mode of operation ............................................................................................ 133
Fig. 163 Selecting a predefined PDO assignment................................................................................... 134
Fig. 164 Set enables................................................................................................................................ 135
Fig. 165 Position specification ................................................................................................................. 136
Fig. 166 Following error window .............................................................................................................. 136
Fig. 167 Following error over time ........................................................................................................... 137
Fig. 168 Process Data tab SM2, EL72x1-0010 (default) ......................................................................... 138
Fig. 169 Process Data tab SM3, EL72x1-0010 (default) ......................................................................... 139
Fig. 170 Process data tab - Predefined PDO Assignment, EL72x1-0010 ............................................... 141
Fig. 171 Process Data tab SM2, EL72x1-0010 (default) ......................................................................... 142
Fig. 172 Process Data tab SM3, EL72x1-0010 (default) ......................................................................... 143
Fig. 173 Process data tab - Predefined PDO Assignment, EL72x1-0010 ............................................... 145
Fig. 174 DiagMessages in the CoE ......................................................................................................... 187
Fig. 175 Implementation of the DiagMessage system in the TwinCAT System Manager ....................... 187
Fig. 176 Device identifier consisting of name EL3204-0000 and revision -0016 ..................................... 193
Fig. 177 Scan the subordinate field by right-clicking on the EtherCAT device in Config/FreeRun mode 193
Fig. 178 Configuration is identical............................................................................................................ 194
Fig. 179 Change dialog............................................................................................................................ 194
EL72x1-0010 207Version: 2.0