TB0371 Setup of Beckoff EP7041 Stepper Controller : Différence entre versions

[version en cours de rédaction][version en cours de rédaction]
(Page créée avec « {{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 fol... »)
 
 
(7 révisions intermédiaires par le même utilisateur non affichées)
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{{Tuto Details
 
{{Tuto Details
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|Main_Picture=EP7041_Stepper_Controller.jpg
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|Main_Picture_annotation={"version":"2.4.6","objects":[{"type":"image","version":"2.4.6","originX":"left","originY":"top","left":-21,"top":-2,"width":945,"height":673,"fill":"rgb(0,0,0)","stroke":null,"strokeWidth":0,"strokeDashArray":null,"strokeLineCap":"butt","strokeDashOffset":0,"strokeLineJoin":"miter","strokeMiterLimit":4,"scaleX":0.67,"scaleY":0.67,"angle":0,"flipX":false,"flipY":false,"opacity":1,"shadow":null,"visible":true,"clipTo":null,"backgroundColor":"","fillRule":"nonzero","paintFirst":"fill","globalCompositeOperation":"source-over","transformMatrix":null,"skewX":0,"skewY":0,"crossOrigin":"","cropX":0,"cropY":0,"src":"https://stuga.dokit.app/images/0/0c/EP7041_Stepper_Controller.jpg","filters":[]}],"height":450.1296456352636,"width":600}
 
|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>
 
|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>
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|Categories=Software
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|Categories=Maintenance, Software
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|Tags=TB0371, Beckoff
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|Tags=TB0371, EP7041, Stepper, Beckhoff
 
}}
 
}}
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<translate>== Solution ==
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<translate>=EP7041 Setup=
  
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=== Set up Remote box CoE Online Tab ===
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==Set up Remote Box CoE Online Tab==
 
{{#annotatedImageLight:Fichier:TB0371 Setup of Beckoff Image.png|0=1016px|hash=|jsondata=|mediaClass=Image|type=frameless|align=center|src=https://stuga.dokit.app/images/0/08/TB0371_Setup_of_Beckoff_Image.png|href=./Fichier:TB0371 Setup of Beckoff Image.png|resource=./Fichier:TB0371 Setup of Beckoff Image.png|caption=|size=1016px}}
 
{{#annotatedImageLight:Fichier:TB0371 Setup of Beckoff Image.png|0=1016px|hash=|jsondata=|mediaClass=Image|type=frameless|align=center|src=https://stuga.dokit.app/images/0/08/TB0371_Setup_of_Beckoff_Image.png|href=./Fichier:TB0371 Setup of Beckoff Image.png|resource=./Fichier:TB0371 Setup of Beckoff Image.png|caption=|size=1016px}}
  
  
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{| class="wikitable" width="748" border="1" bordercolor="#4f81bd" cellpadding="8" cellspacing="0"
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{| class="wikitable" width="748" cellspacing="0" cellpadding="8" border="1" bordercolor="#4f81bd"
 
| width="68" bgcolor="#4f81bd" |'''Parameter'''
 
| width="68" bgcolor="#4f81bd" |'''Parameter'''
 
| width="169" bgcolor="#4f81bd" |'''Notes'''
 
| width="169" bgcolor="#4f81bd" |'''Notes'''
 +
|'''ZX5 SY'''
 +
AS2023-H
 
| width="103" bgcolor="#4f81bd" |'''ZX5 SY'''
 
| width="103" bgcolor="#4f81bd" |'''ZX5 SY'''
 
| width="103" bgcolor="#4f81bd" |'''AF2 SY'''
 
| width="103" bgcolor="#4f81bd" |'''AF2 SY'''
Ligne 19 : Ligne 23 :
 
|- valign="TOP"
 
|- valign="TOP"
 
| width="68" bgcolor="#dbe5f1" |'''8010 – 04'''
 
| width="68" bgcolor="#dbe5f1" |'''8010 – 04'''
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| width="169" bgcolor="#dbe5f1" |Motor Coil Resistance (Small Motor 28 [0.28Ohm])
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| width="169" bgcolor="#dbe5f1" |Motor Coil Resistance (AS1050 28 [0.28Ohm])
 +
|32
 
| width="103" bgcolor="#dbe5f1" |28
 
| width="103" bgcolor="#dbe5f1" |28
 
| width="103" bgcolor="#dbe5f1" |36
 
| width="103" bgcolor="#dbe5f1" |36
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| width="68" |'''8010 – 06'''
 
| width="68" |'''8010 – 06'''
 
| width="169" |Motor FullSteps – always 200 for Beckhoff Steppers
 
| width="169" |Motor FullSteps – always 200 for Beckhoff Steppers
 +
|200
 
| width="103" |200
 
| width="103" |200
 
| width="103" |200
 
| width="103" |200
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| width="68" bgcolor="#dbe5f1" |'''8010 – 07'''
 
| width="68" bgcolor="#dbe5f1" |'''8010 – 07'''
 
| width="169" bgcolor="#dbe5f1" |Encoder Increments – always 4096 for Beckhoff Steppers
 
| width="169" bgcolor="#dbe5f1" |Encoder Increments – always 4096 for Beckhoff Steppers
 +
|4096
 
| width="103" bgcolor="#dbe5f1" |4096
 
| width="103" bgcolor="#dbe5f1" |4096
 
| width="103" bgcolor="#dbe5f1" |4096
 
| width="103" bgcolor="#dbe5f1" |4096
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'''Needs to tie up with Ref velocity in NC Parameters – see below'''
 
'''Needs to tie up with Ref velocity in NC Parameters – see below'''
 +
|2000
 +
 
| width="103" |2000
 
| width="103" |2000
 
| width="103" |1000
 
| width="103" |1000
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Encoder feedback is best as it closes the loop. For open loop, use Internal, but this can loose steps / position
 
Encoder feedback is best as it closes the loop. For open loop, use Internal, but this can loose steps / position
 +
|Encoder
 
| width="103" bgcolor="#dbe5f1" |Encoder
 
| width="103" bgcolor="#dbe5f1" |Encoder
 
| width="103" bgcolor="#dbe5f1" |Encoder
 
| width="103" bgcolor="#dbe5f1" |Encoder
 
| width="103" bgcolor="#dbe5f1" |Encoder
 
| width="103" bgcolor="#dbe5f1" |Encoder
 
| width="103" bgcolor="#dbe5f1" |Encoder
 
| width="103" bgcolor="#dbe5f1" |Encoder
 +
|-
 +
|8013:01
 +
|Kp Factor
 +
|500
 +
|
 +
|
 +
|
 +
|
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|}
 +
{{Warning|...Following Any CoE change you need to do Online reset for EtherCAT master [Right click on Devicenn] NCAxis setup}}
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 +
==Axis Parameters (Under NC Task)==
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{| class="wikitable" cellspacing="0" cellpadding="0" border="1"
 +
| width="75" valign="top" |'''Parameter'''
 +
| width="208" valign="top" |'''Notes'''
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|'''ZX5 SY'''
 +
'''AS2023-H'''
 +
| 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
 +
|50
 +
| 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)
 +
|15
 +
| width="58" valign="top" |15
 +
| width="106" valign="top" |25
 +
| width="106" valign="top" |100
 +
| width="106" valign="top" |100
 
|}
 
|}
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'''Following Any CoE change you need to do Online reset for EtherCAT master [Right click on Devicenn] NCAxis setup'''</translate>
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 +
==Encoder Setup – Enc==
 +
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{| class="wikitable" cellspacing="0" cellpadding="0" border="1"
 +
| width="92" valign="top" |'''Parameter'''
 +
| width="145" valign="top" |'''Notes'''
 +
|'''ZX5 SY'''
 +
'''AS2023-H'''
 +
| 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
 +
|10
 +
| 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)
 +
|4096
 +
| 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" |
 +
|819.2
 +
| width="115" valign="top" |*819.2
 +
| width="102" valign="top" |409.6
 +
| width="102" valign="top" |45.86
 +
| width="102" valign="top" |45.86
 +
|-
 +
| colspan="7" 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'''
 +
 
 +
 
 +
<nowiki>*</nowiki>Note the original value of 819.6 was incorrect. It should be 819.2 for 10mm pitch leadscrew
 +
|}
 +
{{Warning|...Activate the configuration at the end}}
 +
 
 +
='''Addendum For SANMOTION 103-H7126-6640'''=
 +
<br />{{#annotatedImageLight:Fichier:TB0371 Setup of Beckoff EP7041 Stepper Controller Sanmotion 103.jpg|0=500px|hash=|jsondata=|mediaClass=Image|type=frameless|align=left|src=https://stuga.dokit.app/images/9/97/TB0371_Setup_of_Beckoff_EP7041_Stepper_Controller_Sanmotion_103.jpg|href=./Fichier:TB0371 Setup of Beckoff EP7041 Stepper Controller Sanmotion 103.jpg|resource=./Fichier:TB0371 Setup of Beckoff EP7041 Stepper Controller Sanmotion 103.jpg|caption=|size=500px}}
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<br />
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Apply KV value of 20
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Version actuelle datée du 29 avril 2024 à 13:55

Tuning of EP7041 box is tricky, but following a step through telephone call with Etienne at Beckhoff, it was successful with the following steps

Auteur avatarGareth Green | Dernière modification 29/04/2024 par Gareth Green en cours de rédaction


Tuning of EP7041 box is tricky, but following a step through telephone call with Etienne at Beckhoff, it was successful with the following steps

EP7041 Setup

Set up Remote Box CoE Online Tab

TB0371 Setup of Beckoff Image.png


Parameter Notes ZX5 SY

AS2023-H

ZX5 SY AF2 SY AF2 GY AF2 GZ
8010 – 04 Motor Coil Resistance (AS1050 28 [0.28Ohm]) 32 28 36 36 36
8010 – 06 Motor FullSteps – always 200 for Beckhoff Steppers 200 200 200 200 200
8010 – 07 Encoder Increments – always 4096 for Beckhoff Steppers 4096 4096 4096 4096 4096
8012 - 05 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

2000 2000 1000 1000 1000
8012 - 08 Feedback type

Encoder feedback is best as it closes the loop. For open loop, use Internal, but this can loose steps / position

Encoder Encoder Encoder Encoder Encoder
8013:01 Kp Factor 500
...Following Any CoE change you need to do Online reset for EtherCAT master [Right click on Devicenn] NCAxis setup


Axis Parameters (Under NC Task)

TB0371 Setup of Beckoff 2.png


Parameter Notes ZX5 SY

AS2023-H

ZX5 SY AF2 SY AF2 GY AF2 GZ
Ref velocity 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

50 50 50 500 500
Max Velocity Stuga Limit (less than Ref velocity) 15 15 25 100 100

Encoder Setup – Enc

TB0371 Setup of Beckoff 3.png


Parameter Notes ZX5 SY

AS2023-H

ZX5 SY AF2 SY AF2 GY AF2 GZ
Numerator Pitch of leadscrew 10 10 10 100 100
Denominator Encoder counts per rev (if feedback is Encoder) 4096 4096 4096 4096 4096
Scale 819.2 *819.2 409.6 45.86 45.86
Note – the above two parameters will be overwritten by the Scale factor from the front end each time the front end is reset


*Note the original value of 819.6 was incorrect. It should be 819.2 for 10mm pitch leadscrew

...Activate the configuration at the end

Addendum For SANMOTION 103-H7126-6640


TB0371 Setup of Beckoff EP7041 Stepper Controller Sanmotion 103.jpg











Apply KV value of 20


TB0371 Setup of Beckoff EP7041 Stepper Controller KV setting 2023-01-30 122752.png


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