TB0371 Setup of Beckoff EP7041 Stepper Controller

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, Beckoff

Solution

Set up Remote box CoE Online Tab

Parameter	Notes	ZX5 SY	AF2 SY	AF2 GY	AF2 GZ
8010 – 04	Motor Coil Resistance (Small Motor 28 [0.28Ohm])	28	36	36	36
8010 – 06	Motor FullSteps – always 200 for Beckhoff Steppers	200	200	200	200
8010 – 07	Encoder Increments – always 4096 for Beckhoff Steppers	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	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

Following Any CoE change you need to do Online reset for EtherCAT master [Right click on Devicenn] NCAxis setup en none 0

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