Integration into the NC configuration

(Master: TwinCAT 2.11)

EtherCAT XML Device Description The display matches that of the CoE objects from the EtherCAT XML Device Description. We recommend downloading the latest XML file from the download area of the Beckhoff website and installing it according to installation instructions.

Integration into the NC can be accomplished as follows:

• The terminal must already have been inserted manually under I/O devices or have been scanned in by the system (see section "Inserting the terminal in the EtherCAT Terminal network").
• First add a new task. Right-click on NC configuration and select "Append Task..." (see Fig. Adding a new task).
• Rename the task if required and confirm with OK.



• Right-click on Axes, then add a new axis (see Fig. Adding a new axis).



• Select Continuous Axis type and confirm with OK (see Fig. Selecting and confirming the axis type).



• Left-click your axis to select it. Under the Settings tab select "Link To..." (see Fig. Linking the axis with the terminal).



• Select the right terminal (Stepper Drive (MDP 703)) and confirm with OK.



• All main links between the NC configuration and the terminal are set automatically (see Fig. "Automatic linking of all main variables")



• Several parameters have to be set before the motor can be started up. The values can be found in section "Configuration of the main parameters". Please set these parameters before continuing with the motor commissioning procedure.

Commissioning the motor with the NC

• Once the parameters are set, the motor is basically ready for operation. Individual further parameters have to be adapted to the respective application.
• To commission the axis, activate the configuration (Ctrl+Shift+F4), select the axis, select tab Online and enable the axis under Set.
• Set all tick marks and set Override to 100 (see Fig. Enabling an axis). The axis can then be moved.

You can now move the axis with the function keys F1, F2 (Backward) or F3, F4 (Forward).

Alternatively you can control the axis via the Functions tab.

Example

• Select as Reversing Sequence as the start mode.
• Enter the required Target Position1, e.g. 5000°.
• Enter the required Target Velocity, e.g. 1200°/s.
• Enter the required Target Position2, e.g. 0°.
• Enter the required Idle Time, e.g. 1 s.
• Select Start.

The motor now travels to Position 1, remains there for 1 s and then returns to Position 2. This is repeated until you click Stop.