Example program #1: 2-channel control for a 24 VDC motor with PWM
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Example 1: 2-channel control for a 24 VDC motor with PWM
Download (sample file)
In this example two 24 VDC small-power motors (max. 2 A) are controlled independently via PWM. Each motor is controlled via one of the EL2262 channels. No position/speed feedback takes place. The EL2262 is used as actuator.
Data:
- 1 ms cycle time
- 1000x oversampling on both channels
- 1 MHz output cycle, 500 kHz max. PWM frequency
- In the example: axis 1 operates with 25 kHz, axis 2 with 15 kHz PWM frequency, duty factor configurable via visualization, 0..100%
Connection diagram:
Starting the example program
The application examples have been tested with a test configuration and are described accordingly.
Certain deviations when setting up actual applications are possible.
The following hardware and software were used for the test configuration:
- TwinCAT master PC with Windows XP Professional SP 3, TwinCAT version 2.10 (Build 1330) and INTEL PRO/100 VE Ethernet adapter
- Beckhoff EtherCAT Coupler EK1100, EL2262 and EL9010 Terminals
- Inductive proximity limit switch, switching to positive potential, with 3-wire connection, max. switching frequency: 3000 Hz
Procedure for starting the program
- After clicking the Download button, save the zip file locally on your hard disk, and unzip the *.TSM (configuration) and the *.PRO (PLC program) files into a temporary working folder.
- Run the *.TSM file and the *.PRO file; the TwinCAT System Manager and TwinCAT PLC will open.
- Connect the hardware in accordance with fig. Connection for sample program 1 and connect the Ethernet adapter of your PC to the EtherCAT coupler (further information on this can be found in the corresponding coupler manuals)
- Select the local Ethernet adapter (with real-time driver, if applicable) under System configuration, I/O configuration, I/O devices, Device (EtherCAT); then on the “Adapter” tab choose “Search...”, select the appropriate adapter and confirm (see Fig. Searching the Ethernet adapter + Selection and confirmation of the Ethernet adapter).
- Activation of the configuration (Fig. Activation of the configuration) and confirmation (Fig. Confirming the activation of the configuration)
- Confirm new variable mapping (Fig. Generating variable mapping), restart in RUN mode (Fig. Restarting TwinCAT in RUN mode)
- In TwinCAT PLC, under the “Project” menu, select “Rebuild all” to compile the project (Fig. Compile project)
- In TwinCAT PLC: log in with the “F11” button, confirm loading the program (Fig. Confirming program start), run the program with the “F5” button
