[version en cours de rédaction]

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 Gareth Green | Dernière modification 29/04/2024 par Gareth Green en cours de rédaction ⧼frevu-button-review-label⧽

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

Sommaire

1 EP7041 Setup
2 Addendum For SANMOTION 103-H7126-6640
- 2.1 Commentaires

TB0371, EP7041, Stepper, Beckhoff EP7041_Stepper_Controller.jpg

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

...Following Any CoE change you need to do Online reset for EtherCAT master [Right click on Devicenn] NCAxis setup

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 *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

Apply KV value of 20

en none 0

Commentaires

Draft

@@ Ligne 6 : / Ligne 6 : @@
 |Tags=TB0371, EP7041, Stepper, Beckhoff
 }}
-<translate>= EP7041 Setup =
+<translate>=EP7041 Setup=
 ==Set up Remote Box CoE Online Tab==
@@ Ligne 12 : / Ligne 12 : @@
-{| class="wikitable" width="748" border="1" cellpadding="8" cellspacing="0" bordercolor="#4f81bd"
+{| class="wikitable" width="748" cellspacing="0" cellpadding="8" border="1" bordercolor="#4f81bd"
 | width="68" bgcolor="#4f81bd" |'''Parameter'''
 | width="169" bgcolor="#4f81bd" |'''Notes'''
+|'''ZX5 SY'''
+AS2023-H
 | width="103" bgcolor="#4f81bd" |'''ZX5 SY'''
 | width="103" bgcolor="#4f81bd" |'''AF2 SY'''
@@ Ligne 21 : / Ligne 23 : @@
 |- valign="TOP"
 | width="68" bgcolor="#dbe5f1" |'''8010 – 04'''
-| width="169" bgcolor="#dbe5f1" |Motor Coil Resistance (Small Motor 28 [0.28Ohm])
+| width="169" bgcolor="#dbe5f1" |Motor Coil Resistance (AS1050 28 [0.28Ohm])
+|32
 | width="103" bgcolor="#dbe5f1" |28
 | width="103" bgcolor="#dbe5f1" |36
@@ Ligne 29 : / Ligne 32 : @@
 | width="68" |'''8010 – 06'''
 | width="169" |Motor FullSteps – always 200 for Beckhoff Steppers
+|200
 | width="103" |200
 | width="103" |200
@@ Ligne 36 : / Ligne 40 : @@
 | width="68" bgcolor="#dbe5f1" |'''8010 – 07'''
 | width="169" bgcolor="#dbe5f1" |Encoder Increments – always 4096 for Beckhoff Steppers
+|4096
 | width="103" bgcolor="#dbe5f1" |4096
 | width="103" bgcolor="#dbe5f1" |4096
@@ Ligne 45 : / Ligne 50 : @@
 '''Needs to tie up with Ref velocity in NC Parameters – see below'''
+|2000
 | width="103" |2000
 | width="103" |1000
@@ Ligne 54 : / Ligne 61 : @@
 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
+|-
+|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}}
-== Axis Parameters (Under NC Task) ==
+==Axis Parameters (Under NC Task)==
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-{| class="wikitable" border="1" cellspacing="0" cellpadding="0"
+{| class="wikitable" cellspacing="0" cellpadding="0" border="1"
 | width="75" valign="top" |'''Parameter'''
 | width="208" valign="top" |'''Notes'''
+|'''ZX5 SY'''
+'''AS2023-H'''
 | width="58" valign="top" |'''ZX5 SY'''
 | width="106" valign="top" |'''AF2 SY'''
@@ Ligne 82 : / Ligne 100 : @@
 /200
+|50
 | width="58" valign="top" |50
 | width="106" valign="top" |50
@@ Ligne 89 : / Ligne 108 : @@
 | 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
@@ Ligne 95 : / Ligne 115 : @@
 |}
-== Encoder Setup – Enc ==
+==Encoder Setup – Enc==
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-{| class="wikitable" border="1" cellspacing="0" cellpadding="0"
+{| 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'''
@@ Ligne 107 : / Ligne 129 : @@
 | width="92" valign="top" |'''Numerator'''
 | width="145" valign="top" |Pitch of leadscrew
+|10
 | width="115" valign="top" |10
 | width="102" valign="top" |10
@@ Ligne 114 : / Ligne 137 : @@
 | 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
@@ Ligne 121 : / Ligne 145 : @@
 | width="92" valign="top" |'''Scale'''
 | 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" |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'''
+| 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}}
+<br />
+Apply KV value of 20
+<br />{{#annotatedImageLight:Fichier:TB0371 Setup of Beckoff EP7041 Stepper Controller KV setting 2023-01-30 122752.png|0=1094px|hash=05fafe0882c1d4c09e7e37e9ad09b14c|jsondata={"version":"2.4.6","objects":[{"type":"image","version":"2.4.6","originX":"left","originY":"top","left":0,"top":0,"width":2287,"height":814,"fill":"rgb(0,0,0)","stroke":null,"strokeWidth":0,"strokeDashArray":null,"strokeLineCap":"butt","strokeDashOffset":0,"strokeLineJoin":"miter","strokeMiterLimit":4,"scaleX":0.48,"scaleY":0.48,"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/f/fe/TB0371_Setup_of_Beckoff_EP7041_Stepper_Controller_KV_setting_2023-01-30_122752.png","filters":[]},{"type":"wfellipse","version":"2.4.6","originX":"center","originY":"center","left":757.49,"top":183.48,"width":49.71,"height":46.13,"fill":"rgba(255,0,0,0)","stroke":"#FF0000","strokeWidth":2,"strokeDashArray":null,"strokeLineCap":"butt","strokeDashOffset":0,"strokeLineJoin":"miter","strokeMiterLimit":4,"scaleX":1,"scaleY":1,"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,"rx":24.857405463706886,"ry":23.06442834095776},{"type":"wfarrow2line","version":"2.4.6","originX":"center","originY":"center","left":40,"top":290.5,"width":94,"height":75,"fill":"rgba(255,0,0,0)","stroke":"#FF0000","strokeWidth":4,"strokeDashArray":null,"strokeLineCap":"round","strokeDashOffset":0,"strokeLineJoin":"miter","strokeMiterLimit":4,"scaleX":1,"scaleY":1,"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,"x1":-47,"x2":47,"y1":-37.5,"y2":37.5,"x2a":36.35585439982584,"y2a":18.772956334693585,"x2b":26.376967899662564,"y2b":31.279827414898225},{"type":"wfarrow2circle","version":"2.4.6","originX":"center","originY":"center","left":-7,"top":253,"width":16,"height":16,"fill":"#aaa","stroke":"#666","strokeWidth":0,"strokeDashArray":null,"strokeLineCap":"butt","strokeDashOffset":0,"strokeLineJoin":"miter","strokeMiterLimit":4,"scaleX":1,"scaleY":1,"angle":0,"flipX":false,"flipY":false,"opacity":0.5,"shadow":null,"visible":true,"clipTo":null,"backgroundColor":"","fillRule":"nonzero","paintFirst":"fill","globalCompositeOperation":"source-over","transformMatrix":null,"skewX":0,"skewY":0,"radius":8,"startAngle":0,"endAngle":6.283185307179586},{"type":"wfarrow2circle","version":"2.4.6","originX":"center","originY":"center","left":87,"top":328,"width":16,"height":16,"fill":"#aaa","stroke":"#666","strokeWidth":0,"strokeDashArray":null,"strokeLineCap":"butt","strokeDashOffset":0,"strokeLineJoin":"miter","strokeMiterLimit":4,"scaleX":1,"scaleY":1,"angle":0,"flipX":false,"flipY":false,"opacity":0.5,"shadow":null,"visible":true,"clipTo":null,"backgroundColor":"","fillRule":"nonzero","paintFirst":"fill","globalCompositeOperation":"source-over","transformMatrix":null,"skewX":0,"skewY":0,"radius":8,"startAngle":0,"endAngle":6.283185307179586}],"height":389,"width":1094}|mediaClass=Image|type=frameless|align=center|src=/images/thumb/f/fe/TB0371_Setup_of_Beckoff_EP7041_Stepper_Controller_KV_setting_2023-01-30_122752.png/ia-05fafe0882c1d4c09e7e37e9ad09b14c-px-TB0371_Setup_of_Beckoff_EP7041_Stepper_Controller_KV_setting_2023-01-30_122752.png.png|href=./Fichier:TB0371 Setup of Beckoff EP7041 Stepper Controller KV setting 2023-01-30 122752.png|resource=./Fichier:TB0371 Setup of Beckoff EP7041 Stepper Controller KV setting 2023-01-30 122752.png|caption=|size=1094px}}<br /></translate>
 {{PageLang
 |Language=en

TB0371 Setup of Beckoff EP7041 Stepper Controller : Différence entre versions