BECKHOFF EL7037 - Manual (Page 123)

Commissioning
5.4 Operating modes
5.4.1 Overview
The modes Velocity direct, Position controller, Ext. Velocity mode, Ext. Position mode and Velocity
sensorless are supported. The operating mode is set in the CoE list in index 8012:01 [
} 181] (Operating
Mode). In the respective process data the user can additionally select the respective Predefined PDO
Assignment [
} 103]. All required variables are then in the process data.
The Predefined PDO Assignments Positioning interface and the compact Positioning interface can be used
to realise an additional path control based on the positioning controller.
Automatic
Automatic mode is the default setting for the EL70x7. This operating mode is selected, the EL70x7
recognizes the set predefined PDO assignment and automatically selects between Velocity direct and
Position controller so that the interplay between predefined PDO assignment and the matching mode is
automatically guaranteed. If the user switches, for example, from Predefined PDO Assignment Velocity
control auf Position control, the EL70x7 recognizes this and automatically switches from operating mode
Velocity direct to Position controller.
The extended modes are not implemented in Automatic mode.
If the extended modes are not required, is the recommended to use Automatic mode.
Velocity direct
In Velocity direct mode, the EL70x7 operates in the cyclic velocity interface. A defined velocity can be set via
the STM Velocity variable.
Position controller
In Position controller mode, the EL70x7 operates in the cyclical position interface. A defined position can be
set via the STM Position variable.
Extended Velocity mode
In the Extended Velocity mode, the EL70x7 operates in the cyclic velocity interface with a field-oriented
control. A defined velocity can be set via the STM Velocity variable.
Extended Position mode
In Extended Position controller mode, the EL70x7 operates in the cyclic velocity interface with a field-
oriented control. A defined position can be set via the STM Position variable.
Velocity sensorless
In Velocity sensorless mode, the EL70x7 operates in the cyclic velocity interface. In this mode, above a
minimum speed the motor current without encoder is controlled load-dependent. A defined velocity can be
set via the STM Velocity variable.
Positioning interface
The position control loop is usually closed with the aid of TwinCAT NC. The Positioning interface can be
used to transfer travel commands via the PLC directly to the terminal. The position control loop is closed by
the terminal. This can be advantageous in simple, price-sensitive applications, since no TwinCAT NC licence
is required. Only a very short TC cycle time is required, so that the controller load is reduced. However, the
accuracy and the possibility of synchronization to other drive terminals and modules in the system is
severely restricted.
EL70x7 123 Version 1.0