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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

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TB0371, EP7041, Stepper, Beckhoff EP7041_Stepper_Controller.jpg

EP7041 Setup

Parameter	Notes	ZX5 SY AS2023-H	ZX5 SY	AF2 SY	AF2 GY	AF2 GZ	AF2 (older setup)
8010 – 04	Motor Coil Resistance (AS1050 28 [0.28Ohm])	32	28	36	36	36	100
8010 – 06	Motor FullSteps – always 200 for Beckhoff Steppers	200	200	200	200	200	200
8010 – 07	Encoder Increments – always 4096 for Beckhoff Steppers	4096	4096	4096	4096	4096	0
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	2000
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	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

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 *Note the original value of 819.6 was incorrect. It should be 819.2 for 10mm pitch leadscrew