BECKHOFF EL7037 - Manual (Page 124)

Commissioning
Notes regarding the individual operating modes
The following matrix shows an overview of the limitations of individual operating modes.
It shows whether the operating mode supports third-party motors or only Beckhoff motors and whether or not
an encoder is required. It also shows which operating mode performs a commutation determination
operation after the axis is enabled.
The shaft moves minimally in both directions. This must be taken into account in the application.
Automatic Velocity di-
rect Position
controller Extended
Velocity
mode Extended
Position
mode Velocity
sensorless
Beckhoff
Motor
(AS10xx) x x x x x x
Third-party
motor x x x - - -
With encoder x x x x x -
Without
encoder x x x - - x
Commutation
determination
required - - - x x -
Overview of the limitations of individual operating modes
Advantages of the individual operating modes
The following matrix shows the advantages of the individual operating modes.
With Velocity sensorless the velocity controller cannot be set "too hard". This has a slight effect on travel
dynamics. The modes Velocity direct and Position controller offer very good travel dynamics for a stepper
motor. However, significantly better travel dynamics, approaching that of a servomotor, can be achieved with
the Extended modes, thanks to the field-oriented control.
Automatic Velocity di-
rect Position
controller Extended
Velocity
mode Extended
Position
mode Velocity sen-
sorless
Control
dynamics + + + ++ ++ o
Step loss
recognition x x x Step losses
are avoided
Step losses
are avoided
-
Load angle
recognition x x x always 90° always 90° -
Positioning
interface depending on
mode selec-
tion
- x - x -
Load-
dependent
current - - - x x yes, if
velo > velo
min
Energy
efficiency o o o ++ ++ o, +
Overview of the advantages of individual operating modes
Required parameter settings for the individual operating modes
The following matrix provides an overview of the parameters required for the individual operating modes.
Motor XML files are provided online for all supported Beckhoff motors. The corresponding file can be
inserted in the startup list. This file presets the parameters in an optimum manner. A little fine tuning may be
beneficial, depending on the application.
EL70x7 124 Version 1.0