BECKHOFF EL7037 - Manual (Page 226)

Table of figures
Fig. 134 Global variables ........................................................................................................................ 119
Fig. 135 Local variables .......................................................................................................................... 120
Fig. 136 Program code ........................................................................................................................... 121
Fig. 137 Visualization .............................................................................................................................. 122
Fig. 138 Velocity direct mode ................................................................................................................. 126
Fig. 139 Predefined PDO Assignment: Velocity control compact ........................................................... 126
Fig. 140 Enabling the axis in the NC ...................................................................................................... 127
Fig. 141 Enabling the axis manually ....................................................................................................... 127
Fig. 142 Entering the velocity ................................................................................................................. 128
Fig. 143 Position controller mode ........................................................................................................... 129
Fig. 144 Predefined PDO Assignment: Position control ......................................................................... 129
Fig. 145 Enabling the axis in the NC ...................................................................................................... 130
Fig. 146 Enabling the axis manually ....................................................................................................... 130
Fig. 147 Entering the position ................................................................................................................. 131
Fig. 148 Extended Velocity mode ........................................................................................................... 132
Fig. 149 Predefined PDO Assignment: Velocity control compact ........................................................... 132
Fig. 150 Enabling the axis in the NC ...................................................................................................... 133
Fig. 151 Enabling the axis manually ....................................................................................................... 133
Fig. 152 Entering the velocity ................................................................................................................. 134
Fig. 153 Ext. Position mode .................................................................................................................... 135
Fig. 154 Predefined PDO Assignment: Position control ......................................................................... 135
Fig. 155 Enabling the axis in the NC ...................................................................................................... 136
Fig. 156 Enabling the axis manually ....................................................................................................... 136
Fig. 157 Entering the position ................................................................................................................. 137
Fig. 158 Velocity sensorless mode .......................................................................................................... 138
Fig. 159 Predefined PDO Assignment: Velocity control compact ........................................................... 138
Fig. 160 Enabling the axis in the NC ...................................................................................................... 139
Fig. 161 Enabling the axis manually ....................................................................................................... 139
Fig. 162 Entering the velocity ................................................................................................................. 140
Fig. 163 Predefined PDO Assignment .................................................................................................... 140
Fig. 164 Settings objects in the CoE ....................................................................................................... 141
Fig. 165 Diagnostic objects in the CoE ................................................................................................... 143
Fig. 166 Flow diagram for a travel command ......................................................................................... 145
Fig. 167 Absolute positioning .................................................................................................................. 147
Fig. 168 Relative positioning ................................................................................................................... 147
Fig. 169 Endless travel ........................................................................................................................... 147
Fig. 170 Additive positioning ................................................................................................................... 148
Fig. 171 Calibration with cam ................................................................................................................. 149
Fig. 172 Calibration with cam and C-track .............................................................................................. 149
Fig. 173 Effect of the modulo tolerance window - modulo target position 0° in positive direction .......... 150
Fig. 174 Scope recording of a travel command with a dynamic change of the target position, without
overrunning the target position (The axis scaling refers only to the positions, not to the speed
or the status bits) ....................................................................................................................... 153
Fig. 175 Scope recording of a travel command with a dynamic change of the target position, with
overrunning of the final target position (The axis scaling refers only to the positions, not to
the speed or the status bits) ...................................................................................................... 154
Fig. 176 DiagMessages in the CoE ........................................................................................................ 204
EL70x7 226 Version 1.0