BECKHOFF ET9300 - Manual (Page 67)

Application Note ET9300 65
Figure 24: Axis configuration
NOTE: This sample doesn’t provide a target value overflow control!
10.4 TwinCAT setup
This chapter describes the setup of motion control loop over EtherCAT. It is based on TwinCAT
Version V2.11 build 1539 (major differences to TwinCAT 3 are marked in the description). At least the
TwinCAT level NC is required. The position control is located on the EtherCAT master so in this case
only the “target velocity” and “actual position” need to be linked to the NC task.
The mode of operation shall be set to cyclic synchronous velocity mode (csv). For the corresponding
objects 0x6061 (Mode of operation display) and 0x6060 (Mode of operation) is no NC axis variable
reserved. So these drive variables should be mapped direct to the PLC application.
The ModeOfOperation process data is only available if an axis module with dynamic mode switching is
configured (as shown in Figure 24: Axis configuration). Otherwise it has to accessed via CoE.
For testing purposes 0x6060 (Mode of operation) could be set manually at each EtherCAT master
restart.