BECKHOFF EL7037 - Manual (Page 4)

Table of contents
5.3.2 Integration into the NC configuration ................................................................................ 104
5.3.3 Configuring the main parameters - Settings in the CoE register....................................... 109
5.3.4 Configuring the main parameter - Selecting the reference velocity .................................. 112
5.3.5 Application example .......................................................................................................... 117
5.4 Operating modes .......................................................................................................................... 123
5.4.1
Overview ........................................................................................................................... 123
5.4.2 Velocity direct.................................................................................................................... 125
5.4.3 Position controller ............................................................................................................. 128
5.4.4 Extended Velocity mode ................................................................................................... 131
5.4.5 Extended Position mode ................................................................................................... 134
5.4.6 Velocity sensorless .......................................................................................................... 137
5.4.7 Basic principles: "Positioning interface" ............................................................................ 140
6 Configuration by means of the TwinCAT System Manager .............................................................. 155
6.1 EL7037 ......................................................................................................................................... 155
6.1.1
Object description and parameterization - Profile-specific objects ................................... 155
6.1.2 Object description and parameterization - standard objects............................................. 166
6.2 EL7047 ......................................................................................................................................... 179
6.2.1
Object description and parameterization - Profile-specific objects ................................... 179
6.2.2 Object description and parameterization - standard objects............................................. 190
7 Error correction ..................................................................................................................................... 203
7.1 Diagnosis - Diag Messages .......................................................................................................... 203
8 Appendix ................................................................................................................................................ 208
8.1 UL notice....................................................................................................................................... 208
8.2 EtherCAT AL Status Codes .......................................................................................................... 210
8.3 Firmware EL/ES/EM/EPxxxx ........................................................................................................ 210
8.4 Firmware compatibility .................................................................................................................. 220
8.5 Restoring the delivery state .......................................................................................................... 220
8.6 Support and Service ..................................................................................................................... 222
EL70x7 4 Version 1.0