BECKHOFF EL7037 - Manual (Page 131)

Commissioning
Fig. 147: Entering the position
5.4.4 Extended Velocity mode
In Extended Velocity mode the EL70x7 operates in the cyclic velocity interface with field-oriented control. A
defined velocity can be set via the STM Velocity variable.
Notes
• This operating mode can be only be used when an encoder with sufficiently high resolution (min. 4000
[INC/360°]) is connected.
• Only stepper motors from Beckhoff Automation GmbH (AS10xx) are supported.
• TwinCAT NC is required.
• When this mode is enabled commutation determination is required, since the shaft requires a degree of
clearance. To this end the shaft moves a few degrees right and left.
Step by Step
• Add the terminal to the configuration as described in the section TwinCAT configuration settings –
manual [ } 66] or – Online scan [ } 72].
• Link the terminal with the NC as described in section Integration into the NC configuration [ } 104] (if
TwinCAT NC is used).
• Configure the EL70x7
◦ automatically - import the XML motor file into the startup directory as described in section Set-
tings in the CoE - automatic [ } 105].
◦ manually - configure the parameters as described in section Settings in the CoE - manual
[ } 105].
• Set the operating mode in the CoE directory to Extended Velocity mode [ } 181], Fig. "Extended
Velocity mode".
EL70x7 131 Version 1.0