Voir la source de TB0371 Setup of Beckoff EP7041 Stepper Controller

{{Tuto Details
|Description=<translate>Tuning of EP7041 box is tricky, but following a step through telephone call with Etienne at Beckhoff, it was successful with the following steps</translate>
|Categories=Maintenance, Software
|Tags=TB0371, EP7041, Stepper, Beckhoff
}}
<translate>= EP7041 Setup =

==Set up Remote Box CoE Online Tab==
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{| class="wikitable" width="748" border="1" cellpadding="8" cellspacing="0" bordercolor="#4f81bd"
| width="68" bgcolor="#4f81bd" |'''Parameter'''
| width="169" bgcolor="#4f81bd" |'''Notes'''
| width="103" bgcolor="#4f81bd" |'''ZX5 SY'''
| width="103" bgcolor="#4f81bd" |'''AF2 SY'''
| width="103" bgcolor="#4f81bd" |'''AF2 GY'''
| width="103" bgcolor="#4f81bd" |'''AF2 GZ'''
|- valign="TOP"
| width="68" bgcolor="#dbe5f1" |'''8010 – 04'''
| width="169" bgcolor="#dbe5f1" |Motor Coil Resistance (Small Motor 28 [0.28Ohm])
| width="103" bgcolor="#dbe5f1" |28
| width="103" bgcolor="#dbe5f1" |36
| width="103" bgcolor="#dbe5f1" |36
| width="103" bgcolor="#dbe5f1" |36
|- valign="TOP"
| width="68" |'''8010 – 06'''
| width="169" |Motor FullSteps – always 200 for Beckhoff Steppers
| width="103" |200
| width="103" |200
| width="103" |200
| width="103" |200
|- valign="TOP"
| width="68" bgcolor="#dbe5f1" |'''8010 – 07'''
| width="169" bgcolor="#dbe5f1" |Encoder Increments – always 4096 for Beckhoff Steppers
| width="103" bgcolor="#dbe5f1" |4096
| width="103" bgcolor="#dbe5f1" |4096
| width="103" bgcolor="#dbe5f1" |4096
| width="103" bgcolor="#dbe5f1" |4096
|- valign="TOP"
| width="68" |'''8012 - 05'''
| width="169" |Speed range is max speed in motor steps, calculated from pitch, max speed etc.

'''Needs to tie up with Ref velocity in NC Parameters – see below'''
| width="103" |2000
| width="103" |1000
| width="103" |1000
| width="103" |1000
|- valign="TOP"
| width="68" bgcolor="#dbe5f1" |'''8012 - 08'''
| width="169" bgcolor="#dbe5f1" |Feedback type

Encoder feedback is best as it closes the loop. For open loop, use Internal, but this can loose steps / position
| width="103" bgcolor="#dbe5f1" |Encoder
| width="103" bgcolor="#dbe5f1" |Encoder
| width="103" bgcolor="#dbe5f1" |Encoder
| width="103" bgcolor="#dbe5f1" |Encoder
|}
{{Warning|...Following Any CoE change you need to do Online reset for EtherCAT master [Right click on Devicenn] NCAxis setup}}


== Axis Parameters (Under NC Task) ==
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{| class="wikitable" border="1" cellspacing="0" cellpadding="0"
| width="75" valign="top" |'''Parameter'''
| width="208" valign="top" |'''Notes'''
| width="58" valign="top" |'''ZX5 SY'''
| width="106" valign="top" |'''AF2 SY'''
| width="106" valign="top" |'''AF2 GY'''
| width="106" valign="top" |'''AF2 GZ'''
|-
| width="75" valign="top" |'''Ref velocity'''
| width="208" valign="top" |in  user units – has to match speed range   8012:05. 

2000  Steps/sec =50mm per sec 

on  10mm pitch, doubled for Centraliser with 200 steps/rev 

2000/200
| width="58" valign="top" |50
| width="106" valign="top" |50
| width="106" valign="top" |500
| width="106" valign="top" |500
|-
| width="75" valign="top" |'''Max Velocity'''
| width="208" valign="top" |Stuga Limit (less than Ref velocity)
| width="58" valign="top" |15
| width="106" valign="top" |25
| width="106" valign="top" |100
| width="106" valign="top" |100
|}

== Encoder Setup – Enc ==
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{| class="wikitable" border="1" cellspacing="0" cellpadding="0"
| width="92" valign="top" |'''Parameter'''
| width="145" valign="top" |'''Notes'''
| width="115" valign="top" |'''ZX5 SY'''
| width="102" valign="top" |'''AF2 SY'''
| width="102" valign="top" |'''AF2 GY'''
| width="102" valign="top" |'''AF2 GZ'''
|-
| width="92" valign="top" |'''Numerator'''
| width="145" valign="top" |Pitch of leadscrew
| width="115" valign="top" |10
| width="102" valign="top" |10
| width="102" valign="top" |100
| width="102" valign="top" |100
|-
| width="92" valign="top" |'''Denominator'''
| width="145" valign="top" |Encoder counts per rev (if feedback is Encoder)
| width="115" valign="top" |4096
| width="102" valign="top" |4096
| width="102" valign="top" |4096
| width="102" valign="top" |4096
|-
| width="92" valign="top" |'''Scale'''
| width="145" valign="top" |
| width="115" valign="top" |
| width="102" valign="top" |409.6
| width="102" valign="top" |45.86
| width="102" valign="top" |45.86
|-
| colspan="6" width="659" valign="top" |'''Note – the above two parameters  will be overwritten by the Scale factor from the front end each time the  front end is reset'''
|}
{{Warning|...Activate the configuration at the end}}<br /></translate>
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{{Tuto Status
|Complete=Draft
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