Overview

Automatic

Automatic mode is the default setting for the EL70x7. This operating mode is selected, the EL70x7 recognizes the set predefined PDO assignment and automatically selects between Velocity direct and Position controller so that the interplay between predefined PDO assignment and the matching mode is automatically guaranteed. If the user switches, for example, from Predefined PDO Assignment Velocity control auf Position control, the EL70x7 recognizes this and automatically switches from operating mode Velocity direct to Position controller.
The extended modes are not implemented in Automatic mode.
If the extended modes are not required, is the recommended to use Automatic mode.

Velocity direct

In Velocity direct mode, the EL70x7 operates in the cyclic velocity interface. A defined velocity can be set via the STM Velocity variable.

Position controller

In Position controller mode, the EL70x7 operates in the cyclical position interface. A defined position can be set via the STM Position variable.

Extended Velocity mode

In the Extended Velocity mode, the EL70x7 operates in the cyclic velocity interface with a field-oriented control. A defined velocity can be set via the STM Velocity variable.

Extended Position mode

In Extended Position controller mode, the EL70x7 operates in the cyclic velocity interface with a field-oriented control. A defined position can be set via the STM Position variable.

Velocity sensorless

In Velocity sensorless mode, the EL70x7 operates in the cyclic velocity interface. In this mode, above a minimum speed the motor current without encoder is controlled load-dependent. A defined velocity can be set via the STM Velocity variable.

Positioning interface

The position control loop is usually closed with the aid of TwinCAT NC. The Positioning interface can be used to transfer travel commands via the PLC directly to the terminal. The position control loop is closed by the terminal. This can be advantageous in simple, price-sensitive applications, since no TwinCAT NC license is required. Only a very short TC cycle time is required, so that the controller load is reduced. However, the accuracy and the possibility of synchronization to other drive terminals and modules in the system is severely restricted.

Notes regarding the individual operating modes

The following matrix shows an overview of the limitations of individual operating modes.
It shows whether the operating mode supports third-party motors or only Beckhoff motors and whether or not an encoder is required. It also shows which operating mode performs a commutation determination operation after the axis is enabled.
The shaft moves minimally in both directions. This must be taken into account in the application.

Overview of the limitations of individual operating modes

Advantages of the individual operating modes

The following matrix shows the advantages of the individual operating modes.
With Velocity sensorless the velocity controller cannot be set "too hard". This has a slight effect on travel dynamics. The modes Velocity direct and Position controller offer very good travel dynamics for a stepper motor. However, significantly better travel dynamics, approaching that of a servomotor, can be achieved with the Extended modes, thanks to the field-oriented control.

Overview of the advantages of individual operating modes

Required parameter settings for the individual operating modes

The following matrix provides an overview of the parameters required for the individual operating modes.
Motor XML files are provided online for all supported Beckhoff motors. The corresponding file can be inserted in the startup list. This file presets the parameters in an optimum manner. A little fine tuning may be beneficial, depending on the application.

Overview of parameter settings for individual operating modes