Beckhoff EL7031 Скачать руководство пользователя страница 254

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List of illustrations

EL70x1

254

Version: 4.4

Fig. 132 “General” tab................................................................................................................................ 116

Fig. 133 „EtherCAT“ tab............................................................................................................................. 117

Fig. 134 “Process Data” tab....................................................................................................................... 118

Fig. 135 Configuring the process data....................................................................................................... 119

Fig. 136 „Startup“ tab................................................................................................................................. 120

Fig. 137 “CoE – Online” tab ....................................................................................................................... 121

Fig. 138 Dialog “Advanced settings”.......................................................................................................... 122

Fig. 139 „Online“ tab .................................................................................................................................. 123

Fig. 140 "DC" tab (Distributed Clocks)....................................................................................................... 124

Fig. 141 Download revision in Start-up list ................................................................................................ 125

Fig. 142 Selection of the diagnostic information of an EtherCAT Slave ................................................... 127

Fig. 143 Basic EtherCAT Slave Diagnosis in the PLC............................................................................... 128

Fig. 144 EL3102, CoE directory ................................................................................................................ 130

Fig. 145 Example of commissioning aid for a EL3204 .............................................................................. 131

Fig. 146 Default behaviour of the System Manager .................................................................................. 132

Fig. 147 Default target state in the Slave .................................................................................................. 132

Fig. 148 PLC function blocks .................................................................................................................... 133

Fig. 149 Illegally exceeding the E-Bus current ......................................................................................... 134

Fig. 150 Warning message for exceeding E-Bus current ......................................................................... 134

Fig. 151 Adding a new task ....................................................................................................................... 135

Fig. 152 Adding a new axis........................................................................................................................ 135

Fig. 153 Selecting and confirming the axis type ........................................................................................ 136

Fig. 154 Linking the axis with the terminal................................................................................................. 136

Fig. 155 Selecting the right terminal .......................................................................................................... 136

Fig. 156 Automatic linking of all main variables ........................................................................................ 137

Fig. 157 Enabling an axis .......................................................................................................................... 138

Fig. 158 Axis control, "Functions" tab ........................................................................................................ 139

Fig. 159 Adaptation of current and voltage................................................................................................ 140

Fig. 160 Setting the base frequency ......................................................................................................... 140

Fig. 161 Selecting the feedback system ................................................................................................... 141

Fig. 162 Speed ramps ............................................................................................................................... 142

Fig. 163 Setting the KA factor.................................................................................................................... 142

Fig. 164 Reference velocity parameter ..................................................................................................... 143

Fig. 165 Dead time compensation parameter ........................................................................................... 143

Fig. 166 Setting the Scaling Factor............................................................................................................ 144

Fig. 167 Position lag monitoring parameters ............................................................................................. 144

Fig. 168 Speed ramp with KV factor limit values ....................................................................................... 145

Fig. 169 Setting the proportional factor KV................................................................................................ 145

Fig. 170 Dead band for position errors ...................................................................................................... 146

Fig. 171 Setting the acceleration time on the "Dynamics" tab ................................................................... 146

Fig. 172 Predefined PDO Assignment....................................................................................................... 147

Fig. 173 Settings objects in the CoE.......................................................................................................... 147

Fig. 174 Diagnostic objects in the CoE...................................................................................................... 149

Fig. 175 Flow diagram for a travel command ............................................................................................ 151

Fig. 176 Absolute positioning..................................................................................................................... 152

Fig. 177 Relative positioning...................................................................................................................... 153