Selection wizard
As a rule, the operating modes differ in whether the setpoint is a position or a speed.
Operating modes with position setpoint:
Operating modes with speed setpoint:
Requirements
| Velocity | Position | Ext. Velocity mode | Ext. Position mode |
|---|---|---|---|---|
Motor from Beckhoff required? | No | No | Yes | Yes |
Encoder required? | No | No | Yes | Yes |
Pros and cons
| Velocity | Position | Ext. Velocity mode | Ext. Position mode |
|---|---|---|---|---|
Commutation finding 1) | No | No | Yes | Yes |
Control dynamics | + | + | ++ | ++ |
Step loss detection | Yes | Yes | n/a 2) | n/a 2) |
Load angle detection | Yes | Yes | n/a 3) | n/a 3) |
Load-dependent current | No | No | Yes | Yes |
Energy efficiency | o | o | ++ | ++ |
Use of the Positioning Interface possible | No | Yes | No | Yes |
1) After the output stage is enabled, the rotor slightly moves in both directions.
During commutation determination the rotor shaft should not be subject to an external torque. See also
2) Step losses are avoided
3) The load angle is always 90°.