| [version en cours de rédaction] | [version en cours de rédaction] |
| (6 révisions intermédiaires par le même utilisateur non affichées) | |||
| Ligne 1 : | Ligne 1 : | ||
{{Tuto Details | {{Tuto Details | ||
| + | |Main_Picture=EP7041_Stepper_Controller.jpg | ||
| + | |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> | ||
|Categories=Maintenance, Software | |Categories=Maintenance, Software | ||
|Tags=TB0371, EP7041, Stepper, Beckhoff | |Tags=TB0371, EP7041, Stepper, Beckhoff | ||
}} | }} | ||
| − | <translate>= EP7041 Setup = | + | <translate>=EP7041 Setup= |
==Set up Remote Box CoE Online Tab== | ==Set up Remote Box CoE Online Tab== | ||
| Ligne 10 : | Ligne 12 : | ||
| − | {| class="wikitable" width="748" | + | {| 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''' | ||
| − | | width="169" bgcolor="#dbe5f1" |Motor Coil Resistance ( | + | | 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 | ||
| Ligne 27 : | Ligne 32 : | ||
| 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 | ||
| Ligne 34 : | Ligne 40 : | ||
| 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 | ||
| Ligne 43 : | Ligne 50 : | ||
'''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 | ||
| Ligne 52 : | Ligne 61 : | ||
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 | ||
| + | | | ||
| + | | | ||
| + | | | ||
| + | | | ||
|} | |} | ||
{{Warning|...Following Any CoE change you need to do Online reset for EtherCAT master [Right click on Devicenn] NCAxis setup}} | {{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) == | + | ==Axis Parameters (Under NC Task)== |
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| − | {| class="wikitable" | + | {| class="wikitable" cellspacing="0" cellpadding="0" border="1" |
| width="75" valign="top" |'''Parameter''' | | width="75" valign="top" |'''Parameter''' | ||
| width="208" valign="top" |'''Notes''' | | width="208" valign="top" |'''Notes''' | ||
| + | |'''ZX5 SY''' | ||
| + | '''AS2023-H''' | ||
| width="58" valign="top" |'''ZX5 SY''' | | width="58" valign="top" |'''ZX5 SY''' | ||
| width="106" valign="top" |'''AF2 SY''' | | width="106" valign="top" |'''AF2 SY''' | ||
| Ligne 80 : | Ligne 100 : | ||
2000/200 | 2000/200 | ||
| + | |50 | ||
| width="58" valign="top" |50 | | width="58" valign="top" |50 | ||
| width="106" valign="top" |50 | | width="106" valign="top" |50 | ||
| Ligne 87 : | Ligne 108 : | ||
| width="75" valign="top" |'''Max Velocity''' | | width="75" valign="top" |'''Max Velocity''' | ||
| width="208" valign="top" |Stuga Limit (less than Ref velocity) | | width="208" valign="top" |Stuga Limit (less than Ref velocity) | ||
| + | |15 | ||
| width="58" valign="top" |15 | | width="58" valign="top" |15 | ||
| width="106" valign="top" |25 | | width="106" valign="top" |25 | ||
| Ligne 93 : | Ligne 115 : | ||
|} | |} | ||
| − | == Encoder Setup – Enc == | + | ==Encoder Setup – Enc== |
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| − | {| class="wikitable" | + | {| class="wikitable" cellspacing="0" cellpadding="0" border="1" |
| width="92" valign="top" |'''Parameter''' | | width="92" valign="top" |'''Parameter''' | ||
| width="145" valign="top" |'''Notes''' | | width="145" valign="top" |'''Notes''' | ||
| + | |'''ZX5 SY''' | ||
| + | '''AS2023-H''' | ||
| width="115" valign="top" |'''ZX5 SY''' | | width="115" valign="top" |'''ZX5 SY''' | ||
| width="102" valign="top" |'''AF2 SY''' | | width="102" valign="top" |'''AF2 SY''' | ||
| Ligne 105 : | Ligne 129 : | ||
| width="92" valign="top" |'''Numerator''' | | width="92" valign="top" |'''Numerator''' | ||
| width="145" valign="top" |Pitch of leadscrew | | width="145" valign="top" |Pitch of leadscrew | ||
| + | |10 | ||
| width="115" valign="top" |10 | | width="115" valign="top" |10 | ||
| width="102" valign="top" |10 | | width="102" valign="top" |10 | ||
| Ligne 112 : | Ligne 137 : | ||
| width="92" valign="top" |'''Denominator''' | | width="92" valign="top" |'''Denominator''' | ||
| width="145" valign="top" |Encoder counts per rev (if feedback is Encoder) | | width="145" valign="top" |Encoder counts per rev (if feedback is Encoder) | ||
| + | |4096 | ||
| width="115" valign="top" |4096 | | width="115" valign="top" |4096 | ||
| width="102" valign="top" |4096 | | width="102" valign="top" |4096 | ||
| Ligne 119 : | Ligne 145 : | ||
| width="92" valign="top" |'''Scale''' | | width="92" valign="top" |'''Scale''' | ||
| width="145" valign="top" | | | width="145" valign="top" | | ||
| − | | width="115" valign="top" | | + | |819.2 |
| + | | width="115" valign="top" |*819.2 | ||
| width="102" valign="top" |409.6 | | width="102" valign="top" |409.6 | ||
| width="102" valign="top" |45.86 | | width="102" valign="top" |45.86 | ||
| width="102" valign="top" |45.86 | | width="102" valign="top" |45.86 | ||
|- | |- | ||
| − | | colspan=" | + | | 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}}<br /></translate> | + | {{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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| + | Apply KV value of 20 | ||
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{{PageLang | {{PageLang | ||
|Language=en | |Language=en | ||
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
EP7041 Setup
Set up Remote Box CoE Online Tab
| 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 |
Axis Parameters (Under NC Task)
| 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
| 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
| ||||||
Addendum For SANMOTION 103-H7126-6640
Apply KV value of 20
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