BECKHOFF EL7037 - Manual (Page 225)

Table of figures
Fig. 88 Correction dialog with modifications ......................................................................................... 80
Fig. 89 TwinCAT 2 Dialog ChangeToCompatibleDevice ...................................................................... 80
Fig. 90 TwinCAT 2 Dialog ChangeToCompatibleDevice ...................................................................... 81
Fig. 91 Configuring the process data .................................................................................................... 82
Fig. 92 Branch of EL5001 ...................................................................................................................... 82
Fig. 93 “General” tab.............................................................................................................................. 83
Fig. 94 „EtherCAT“ tab........................................................................................................................... 83
Fig. 95 “Process Data” tab..................................................................................................................... 84
Fig. 96 „Startup“ tab............................................................................................................................... 86
Fig. 97 “CoE – Online” tab ..................................................................................................................... 87
Fig. 98 Dialog “Advanced settings”........................................................................................................ 88
Fig. 99 „Online“ tab ................................................................................................................................ 89
Fig. 100 Selection of the diagnostic information of an EtherCAT Slave ................................................. 90
Fig. 101 Basic EtherCAT Slave Diagnosis in the PLC ............................................................................ 92
Fig. 102 EL3102, CoE directory .............................................................................................................. 94
Fig. 103 Example of commissioning aid for a EL3204 ............................................................................ 95
Fig. 104 Default behaviour of the System Manager ............................................................................... 96
Fig. 105 Default target state in the Slave ................................................................................................ 97
Fig. 106 PLC function blocks .................................................................................................................. 97
Fig. 107 Illegally exceeding the E-Bus current ....................................................................................... 98
Fig. 108 Warning message for exceeding E-Bus current ....................................................................... 98
Fig. 109 Process Data tab SM2, EL70xx (default)................................................................................... 99
Fig. 110 Process Data tab SM3, EL70xx (default)................................................................................... 100
Fig. 111 Process data tab - Predefined PDO Assignment, EL70x7 ........................................................ 104
Fig. 112 Axis detected ............................................................................................................................. 105
Fig. 113 Adding a new task ..................................................................................................................... 106
Fig. 114 Adding a new axis ..................................................................................................................... 106
Fig. 115 Selecting and confirming the axis type ...................................................................................... 107
Fig. 116 Linking the axis with the terminal .............................................................................................. 107
Fig. 117 Selecting the right terminal ........................................................................................................ 108
Fig. 118 Automatic linking of all main variables ...................................................................................... 109
Fig. 119 Adaptation of current and voltage ............................................................................................. 110
Fig. 120 Setting the base frequency ....................................................................................................... 111
Fig. 121 Selecting the feedback system ................................................................................................. 112
Fig. 122 Ex70x1_KONFIG_ref_velo ........................................................................................................ 113
Fig. 123 Dead time compensation parameter ......................................................................................... 113
Fig. 124 Setting the Scaling Factor ......................................................................................................... 114
Fig. 125 Position lag monitoring parameters .......................................................................................... 115
Fig. 126 Speed ramp with K factor limit values........................................................................................ 115
Fig. 127 Setting the proportional factor Kv .............................................................................................. 116
Fig. 128 Dead band for position errors ................................................................................................... 116
Fig. 129 Setting the acceleration time .................................................................................................... 117
Fig. 130 Selection of the target platform.................................................................................................. 118
Fig. 131 Selecting the MAC address ....................................................................................................... 118
Fig. 132 Changing the PLC path ............................................................................................................. 119
Fig. 133 Required libraries ...................................................................................................................... 119
EL70x7 225 Version 1.0