[version en cours de rédaction] | [version en cours de rédaction] |
Ligne 50 : | 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 68 : | Ligne 67 : | ||
| 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}} | ||
Ligne 94 : | Ligne 101 : | ||
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 102 : | Ligne 109 : | ||
| 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 123 : | Ligne 130 : | ||
| 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 139 : | Ligne 146 : | ||
| width="92" valign="top" |'''Scale''' | | width="92" valign="top" |'''Scale''' | ||
| width="145" valign="top" | | | width="145" valign="top" | | ||
− | | | + | |819.2 |
− | | width="115" valign="top" |819. | + | | 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 | ||
Ligne 146 : | Ligne 153 : | ||
|- | |- | ||
| 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''' | | 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}} | {{Warning|...Activate the configuration at the end}} | ||
Ligne 173 : | Ligne 183 : | ||
Apply KV value of 20 | 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 />{{#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}} |
+ | |||
+ | = '''Addendum For AS2023-H''' = | ||
+ | Set Kv of 100</translate> | ||
{{PageLang | {{PageLang | ||
|Language=en | |Language=en |
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
TB0371, EP7041, Stepper, Beckhoff EP7041_Stepper_Controller.jpg
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 |
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 |
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
|
Apply KV value of 20
Set Kv of 100 en none 0
Draft
Vous avez entré un nom de page invalide, avec un ou plusieurs caractères suivants :
< > @ ~ : * € £ ` + = / \ | [ ] { } ; ? #