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

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

TB0371, EP7041, Stepper, Beckhoff EP7041_Stepper_Controller.jpg

EP7041 Setup

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	4000 [1200rpm]	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

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

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	15	50	50	500	500
Max Velocity	Stuga Limit (less than Ref velocity)	10	15	25	100	100

Parameter	Notes	ZX5 SY AS2023-H	ZX5 SY	AF2 SY	AF2 GY	AF2 GZ
Numerator	Pitch of leadscrew	2	10	10	100	100
Denominator	Encoder counts per rev (if feedback is Encoder)	4096	4096	4096	4096	4096
Scale		4096	819.6	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