Installation manual

Application note Using TwinCAT with the MicroFlex e150 AN00203-001
ABB Motion control products 5
www.abbmotion.com
Now click on ‘Axis 1’ and select the
Parameter tab in the window on the right.
Under the Velocities section of the list you
can enter suitable speed values for the axis.
Reference velocity is used when performing
a position type move. The fast and slow
Manual Velocities are used to set the speed
for the fast and slow jog buttons (we will see
these later).
The Dynamics section allows you to set
accel and decel rates.
Cycle time
Cycle timeCycle time
Cycle time
The final setting we need to consider is the EtherCAT cycle time, this is set using two different parameters. The first parameter can
be set by expanding the SYSTEM – Configuration branch of the tree on the left and then highlighting Real-Time Settings.
250µs is the minimum cycle time for the MicroFlex e150 so selecting this value is a good choice of base time.
We can now go to the second setting used for the EtherCAT cycle time, expand NC – Configuration and highlight NC-Task 1 SAF in
the tree on the left. In the window on the right you should see a box allowing you to set Cycle ticks and next to this the cycle time. In
the screen shot below we have set Cycle ticks to 2 making our cycle time 500µs (250µs base time x 2 cycle ticks).