Beckhoff EL7037 Uživatelský manuál

DocumentationEL70x7Stepper Motor Terminals, vector control1.011.05.2015VersionDate

ForewordFig.3: CU2016 switch with batch numberFig.4: EL3202-0020 with batch numbers 26131006 and unique D-number 204418Fig.5: EP1258-00001 IP67 Eth

CommissioningFig.110: Process Data tab SM3, EL70xx (default)PDO AssignmentIn order to configure the process data, select the desired Sync Manager (SM

CommissioningSM2, PDO assignment 0x1C12Index Index of excludedPDOsSize(byte.bit)Name PDO content0x1600(default)0x1601 4.0 ENCControlcompactIndex 0x700

CommissioningSM3, PDO Assignment 0x1C13Index Index of excludedPDOsSize(byte.bit)Name PDO content0x1A00(default)0x1A01 6.0 ENCStatuscompactIndex 0x6000

CommissioningSM3, PDO Assignment 0x1C13Index Index of excludedPDOsSize(byte.bit)Name PDO content0x1A06 0x1A07 2.0 POSStatuscompactIndex 0x6020:01 [}1

CommissioningName SM2, PDO assignment SM3, PDO assignmentVelocity control compact 0x16000x16020x16040x1A000x1A03Velocity control compactwith info data

CommissioningAdding an axis automatically• Once the terminals have been scanned successfully, TwinCAT detects the new axes automatically.The user is a

CommissioningFig.113: Adding a new task• Right-click on Axes, then add a new axis (see Fig. "Adding a new axis").Fig.114: Adding a new axi

CommissioningFig.115: Selecting and confirming the axis type• Left-click your axis to select it. Under the Settings tab select "Link To..."

CommissioningFig.117: Selecting the right terminal• All main links between the NC configuration and the terminal are set automatically (see Fig. &quo

CommissioningFig.118: Automatic linking of all main variables • Several parameters have to be set before the motor can be started up. The values can

ForewordFig.7: EL2904 IP20 safety terminal with batch number/date code 50110302 and serial number 00331701EL70x7 11Version 1.0

CommissioningFig.119: Adaptation of current and voltageBase frequency selectionMicrostepping is set to 1/64 and cannot be changed. However, the base

CommissioningFig.120: Setting the base frequency Selecting the feedback system (only for the module with encoder connections)Two feedback system opti

CommissioningFig.121: Selecting the feedback system 5.3.4 Configuring the main parameter - Selecting the referencevelocityThe specified data apply to

CommissioningFig.122: Ex70x1_KONFIG_ref_veloReference velocity parameter Dead time compensationThe dead time compensation should theoretically be 3 c

CommissioningFig.124: Setting the Scaling FactorNoteAdaptation of the scaling factorThe feedback system is directly related to the scaling factor of

CommissioningFig.125: Position lag monitoring parametersKv factorsIn the NC two proportional factors Kv can be set under "Axis 1_Ctrl " in

CommissioningFig.127: Setting the proportional factor KvDead band for position errorsMicrostepping can be used to target 200 * 64 = 12800 positions.

CommissioningFig.129: Setting the acceleration timeAttentionATTENTION: Use a buffer capacitor terminal (EL9570) for short decelerationramps.Very shor

CommissioningFig.130: Selection of the target platformPlease note the following for the System Manager file:• Start the System Manager in Config mode

CommissioningFig.132: Changing the PLC path• Under NC configuration an EL7041 is already linked to the NC. To change the link or add additionaldevice

Product overview2 Product overview2.1 EL70372.1.1 EL7037 - IntroductionFig.8: EL7037Stepper motor terminal, 24 V DC, 1,5 A, vector controlThe The EL7

Commissioningwhich in turn initiates continuous travel of the motor.An axis reset is carried out with the function block MC_Reset. Absolute positionin

CommissioningFig.136: Program codeThe motor can then be operated with the aid of the following visualization (see Fig. “Visualization”).Press Enable

CommissioningFig.137: VisualizationNoteInformation on function blocks and data typesFurther information on the function blocks and data types used ca

Commissioning5.4 Operating modes5.4.1 OverviewThe modes Velocity direct, Position controller, Ext. Velocity mode, Ext. Position mode and Velocitysenso

CommissioningNotes regarding the individual operating modesThe following matrix shows an overview of the limitations of individual operating modes.It

CommissioningVelocitydirectPositioncontr.ExtendedvelocitymodeExtendedpositionmodeVelocitysensor-lessLoad an-glerecog-nitionStep loss recogni-tionwith

Commissioning• The process data can be transferred with TwinCAT NC or directly from the PLC.Step by Step• Add the terminal to the configuration as des

Commissioning◦ If you use the TwinCAT NC.The State Machine is run through automatically by the NC. You can enable the axis in the "On-line"

Commissioning• A defined velocity can be entered via the cyclic variable STM velocity (Fig. "Entering the velocity"). The speed is specified

CommissioningFig.143: Position controller mode• Under Predefined PDO Assignments [}103] select Position control, Positioning interface compact,Posit

Product overviewConfiguration instructions• Section "Commissioning",- Configuring the main parameters - Settings in the CoE register [}109]

CommissioningFig.145: Enabling the axis in the NC • If you don’t use the TwinCAT NC.In this case you must run through the State Machine manually. Set

CommissioningFig.147: Entering the position5.4.4 Extended Velocity modeIn Extended Velocity mode the EL70x7 operates in the cyclic velocity interface

CommissioningFig.148: Extended Velocity mode• Under Predefined PDO Assignments [}103] select Velocity control or Velocity control compact orVelocity

CommissioningFig.150: Enabling the axis in the NC • If you don’t use the TwinCAT NC.In this case you must run through the State Machine manually. Set

CommissioningFig.152: Entering the velocity5.4.5 Extended Position modeIn Extended Position mode the EL70x7 operates in the cyclic position interface

CommissioningFig.153: Ext. Position mode• Under Predefined PDO Assignments [}103] select Position control, Positioning interface compact,Positioning

CommissioningFig.155: Enabling the axis in the NC • If you don’t use the TwinCAT NC.In this case you must run through the State Machine manually. Set

CommissioningFig.157: Entering the position5.4.6 Velocity sensorlessIn Velocity sensorless mode, the EL70x7 operates in the cyclic velocity interface

CommissioningFig.158: Velocity sensorless mode• Under Predefined PDO Assignments [}103] select Velocity control, Velocity control compact or Velocit

CommissioningFig.160: Enabling the axis in the NC • If you don’t use the TwinCAT NC.In this case you must run through the State Machine manually. Set

Product overview2.1.2 EL7037 - Technical dataTechnical data EL7037Number of outputs 1 stepper motor, 2 phasesNumber of digital inputs 2 limit position

CommissioningFig.162: Entering the velocity• The changeover to sensorless operation take place via a programmable, motor-dependent switchingspeed. Th

CommissioningFig.164: Settings objects in the CoEPOS SettingsVelocity min.:For reasons of performance when ramping down to the target position, the t

Commissioning Deceleration pos.:Deceleration time in the positive direction of rotation. Deceleration neg.:Deceleration time in the negative directi

Commissioning Invert calibration cam search direction:In relation to a positive direction of rotation, the direction of the search for the calibratio

Commissioning Target overrun:In the case of a dynamic change of the target position, the change may take place at a relatively late point intime. The

CommissioningStartUp:Test the system and the ready status of the motor.Start positioning:Write all variables and calculate the desired target position

CommissioningName Com-mandGroup DescriptionABSOLUTE 0x0001Standard[}146] Absolute positioning to a specified target positionRELATIVE 0x0002 Relative

CommissioningFig.167: Absolute positioningRELATIVE:In relative positioning, the user specifies a position delta S, which is added to the current posi

CommissioningFig.170: Additive positioningABSOLUTE_CHANGE / RELATIVE_CHANGE / ADDITIVE_CHANGE:These three kinds of positioning are completely identic

CommissioningFig.171: Calibration with camFor a more precise calibration, an HW sync pulse (C-track) is used in addition to the cam. This calibration

Product overview2.2 EL70472.2.1 EL7047 - IntroductionFig.9: EL7047Stepper motor terminal, 50 V DC, 5 A, vector controlThe EL7047 EtherCAT Terminal is

CommissioningFig.173: Effect of the modulo tolerance window - modulo target position 0° in positive directionExample:An axis is positioned to 0°, wit

CommissioningModulo positioning by less than one turnModulo positioning from a starting position to a non-identical target position is unambiguous and

CommissioningModulo starttypeAbsolutestart posi-tionModulotarget po-sitionRelativetravel pathAbsoluteend positionModulo endpositionNoteMODULO_PLUS 89.

CommissioningExamples of two travel commands with a dynamic change of the target positionWithout overrun of the target positionTime POS Outputs POS In

CommissioningWith overrun of the target positionTime POS Outputs POS Inputs Descriptiont1: Execute = 1Target position = 200000Velocity = 5000Start typ

Configuration by means of the TwinCAT System Manager6 Configuration by means of the TwinCAT SystemManager6.1 EL70376.1.1 Object description and parame

Configuration by means of the TwinCAT System ManagerConfiguration dataIndex 8000 ENC Settings Ch.1Index Name Meaning Data type Flags Default value8000

Configuration by means of the TwinCAT System ManagerIndex 8012 STM Features Ch.1 (part 1)Index Name Meaning Data type Flags Default value8012:0 STM Fe

Configuration by means of the TwinCAT System ManagerIndex Name Meaning Data type Flags Default value8012:32 Function for input1permitted values: BIT4

Configuration by means of the TwinCAT System ManagerIndex 8020 POS Settings Ch.1Index Name Meaning Data type Flags Default value8020:0 POS SettingsCh.

Product overviewConfiguration instructions• Section "Commissioning",- Configuring the main parameters - Settings in the CoE register [}109]

Configuration by means of the TwinCAT System ManagerIndex 8021 POS Features Ch.1Index Name Meaning Data type Flags Default value8021:0 POS FeaturesCh.

Configuration by means of the TwinCAT System ManagerInput dataIndex 6000 ENC Inputs Ch.1Index Name Meaning Data type Flags Default value6000:0 ENC Inp

Configuration by means of the TwinCAT System ManagerIndex 6020 POS Inputs Ch.1Index Name Meaning Data type Flags Default value6020:0 POS Inputs Ch.1 M

Configuration by means of the TwinCAT System ManagerIndex 7020 POS Outputs Ch.1 (part 2)Index Name Meaning Data type Flags Default value7020:22 Start

Configuration by means of the TwinCAT System ManagerIndex 9020 POS Info data Ch.1Index Name Meaning Data type Flags Default value9020:0 POS Info dataC

Configuration by means of the TwinCAT System ManagerIndex A020 POS Diag data Ch.1Index Name Meaning Data type Flags Default valueA020:0 POS Diag dataC

Configuration by means of the TwinCAT System ManagerIndex FB40 Memory interfaceIndex Name Meaning Data type Flags Default valueFB40:0 Memory interface

Configuration by means of the TwinCAT System ManagerIndex 10F0 Backup parameter handlingIndex Name Meaning Data type Flags Default value10F0:0 Backup

Configuration by means of the TwinCAT System ManagerIndex 1404 STM RxPDO-Par VelocityIndex Name Meaning Data type Flags Default value1404:0 STM RxPDO-

Configuration by means of the TwinCAT System ManagerIndex 1602 STM RxPDO-Map ControlIndex Name Meaning Data type Flags Default value1602:0 STM RxPDO-M

Product overview2.2.2 EL7047 - Technical dataTechnical data EL7047Number of outputs 1 stepper motor, 2 phasesNumber of digital inputs 2 limit position

Configuration by means of the TwinCAT System ManagerIndex 1800 ENC TxPDO-Par Status compactIndex Name Meaning Data type Flags Default value1800:0 ENC

Configuration by means of the TwinCAT System ManagerIndex 1A00 ENC TxPDO-Map Status compactIndex Name Meaning Data type Flags Default value1A00:0 ENC

Configuration by means of the TwinCAT System ManagerIndex 1A01 ENC TxPDO-Map StatusIndex Name Meaning Data type Flags Default value1A01:0 ENC TxPDO-Ma

Configuration by means of the TwinCAT System ManagerIndex 1A03 STM TxPDO-Map StatusIndex Name Meaning Data type Flags Default value1A03:0 STM TxPDO-Ma

Configuration by means of the TwinCAT System ManagerIndex 1A06 POS TxPDO-Map Status compactIndex Name Meaning Data type Flags Default value1A06:0 POS

Configuration by means of the TwinCAT System ManagerIndex 1C00Sync manager typeIndex Name Meaning Data type Flags Default value1C00:0 Sync managertype

Configuration by means of the TwinCAT System ManagerIndex 1C32 SM output parameter (part 1)Index Name Meaning Data type Flags Default value1C32:0 SM o

Configuration by means of the TwinCAT System ManagerIndex 1C33 SM input parameter (part 1)Index Name Meaning Data type Flags Default value1C33:0 SM in

Configuration by means of the TwinCAT System ManagerIndex F008 Code wordIndex Name Meaning Data type Flags Default valueF008:0 Code wordsee note! [}3

Configuration by means of the TwinCAT System Manager6.2 EL70476.2.1 Object description and parameterization - Profile-specificobjectsNoteEtherCAT XML

Product overview2.3 TechnologyThe EL70x7 stepper motor terminal integrates a compact Motion Control solution for stepper motors in avery compact desig

Configuration by means of the TwinCAT System ManagerIndex 8000 ENC Settings Ch.1Index Name Meaning Data type Flags Default value8000:0 ENC SettingsCh.

Configuration by means of the TwinCAT System ManagerIndex 8012 STM Features Ch.1 (part 1)Index Name Meaning Data type Flags Default value8012:0 STM Fe

Configuration by means of the TwinCAT System ManagerIndex Name Meaning Data type Flags Default value8012:32 Function for input1permitted values: BIT4

Configuration by means of the TwinCAT System ManagerIndex 8020 POS Settings Ch.1Index Name Meaning Data type Flags Default value8020:0 POS SettingsCh.

Configuration by means of the TwinCAT System ManagerIndex 8021 POS Features Ch.1Index Name Meaning Data type Flags Default value8021:0 POS FeaturesCh.

Configuration by means of the TwinCAT System ManagerInput dataIndex 6000 ENC Inputs Ch.1Index Name Meaning Data type Flags Default value6000:0 ENC Inp

Configuration by means of the TwinCAT System ManagerIndex 6020 POS Inputs Ch.1Index Name Meaning Data type Flags Default value6020:0 POS Inputs Ch.1 M

Configuration by means of the TwinCAT System ManagerIndex 7020 POS Outputs Ch.1 (part 2)Index Name Meaning Data type Flags Default value7020:22 Start

Configuration by means of the TwinCAT System ManagerIndex 9020 POS Info data Ch.1Index Name Meaning Data type Flags Default value9020:0 POS Info dataC

Configuration by means of the TwinCAT System ManagerIndex A020 POS Diag data Ch.1Index Name Meaning Data type Flags Default valueA020:0 POS Diag dataC

Product overviewToday, the most widely used type in industry is the hybrid stepper motor type. In this type of motor the rotorconsists of a toothed ir

Configuration by means of the TwinCAT System ManagerIndex FB40 Memory interfaceIndex Name Meaning Data type Flags Default valueFB40:0 Memory interface

Configuration by means of the TwinCAT System ManagerIndex 10F0 Backup parameter handlingIndex Name Meaning Data type Flags Default value10F0:0 Backup

Configuration by means of the TwinCAT System ManagerIndex 1404 STM RxPDO-Par VelocityIndex Name Meaning Data type Flags Default value1404:0 STM RxPDO-

Configuration by means of the TwinCAT System ManagerIndex 1602 STM RxPDO-Map ControlIndex Name Meaning Data type Flags Default value1602:0 STM RxPDO-M

Configuration by means of the TwinCAT System ManagerIndex 1800 ENC TxPDO-Par Status compactIndex Name Meaning Data type Flags Default value1800:0 ENC

Configuration by means of the TwinCAT System ManagerIndex 1A00 ENC TxPDO-Map Status compactIndex Name Meaning Data type Flags Default value1A00:0 ENC

Configuration by means of the TwinCAT System ManagerIndex 1A01 ENC TxPDO-Map StatusIndex Name Meaning Data type Flags Default value1A01:0 ENC TxPDO-Ma

Configuration by means of the TwinCAT System ManagerIndex 1A03 STM TxPDO-Map StatusIndex Name Meaning Data type Flags Default value1A03:0 STM TxPDO-Ma

Configuration by means of the TwinCAT System ManagerIndex 1A06 POS TxPDO-Map Status compactIndex Name Meaning Data type Flags Default value1A06:0 POS

Configuration by means of the TwinCAT System ManagerIndex 1C00 Sync manager typeIndex Name Meaning Data type Flags Default value1C00:0 Sync managertyp

Product overview• Cogging torqueIn many cases the stepper motors design results in high cogging torque, which can lead to relatively strongnatural res

Configuration by means of the TwinCAT System ManagerIndex 1C32 SM output parameter (part 1)Index Name Meaning Data type Flags Default value1C32:0 SM o

Configuration by means of the TwinCAT System ManagerIndex 1C33 SM input parameter (part 1)Index Name Meaning Data type Flags Default value1C33:0 SM in

Configuration by means of the TwinCAT System ManagerIndex F008 Code wordIndex Name Meaning Data type Flags Default valueF008:0 Code wordsee note! [}3

Error correction7 Error correction7.1 Diagnosis - Diag MessagesTable of contents• Definition [}203] • TwinCAT System Manager implementation [}204]

Error correctionFig.176: DiagMessages in the CoEThe subindex of the latest DiagMessage can be read under x10F3:02.NoteSupport for commissioningThe Di

Error correctionInterpretationStructure of the Text IDThe structure of the MessageID is not subject to any standardisation and can be supplier-specifi

Error correctionText ID Type Place Text (Englishonly)Cause 0x4410 Warning Drive Target position exceeded0x4411 Warning Drive DC-Linkundervoltage(Warni

Error correctionText ID Type Place Text (Englishonly)Cause 0x82FF Error CommunicationBoot mode not activated0x8300 Error Encoder Error while setting t

Appendix8 Appendix8.1 UL noticeApplicationBeckhoff EtherCAT modules are intended for use with Beckhoff’s UL Listed EtherCAT Sys-tem only.ExaminationFo

Appendix• from an isolated source protected by a fuse of max. 4A (according to UL248) or• from a voltage supply complying with NEC class 2.A voltage s

Product overview•Torque constantIn the Extended Operation Modes the torque constant kT is used as an additional parameter for themechanical controlled

Appendix8.2 EtherCAT AL Status CodesFor detailed information please refer to the EtherCAT system description.8.3 Firmware EL/ES/EM/EPxxxxThis section

AppendixFig.178: Device identifier consisting of name EL3204-0000 and revision -0016The configured identifier must be compatible with the actual devi

AppendixFig.180: Configuration is identicalotherwise a change dialog for entering the actual data in the configuration.Fig.181: Change dialogIn the

AppendixFig.182: EEPROM UpdateSelect the new ESI description in the following dialog, see Fig. “Selecting the new ESI”. The ShowHiddenDevices checkbo

AppendixExample with ser. no.: 12 10 03 02:12 - week of production 1210 - year of production 201003 - firmware version 0302 - hardware version 02Deter

AppendixFig.185: Firmware UpdateProceed as follows, unless instructed otherwise by Beckhoff support.• Switch slave to INIT (A)• Switch slave to BOOTS

AppendixFig.186: FPGA firmware version definitionIf the column Reg:0002 is not displayed, right-click the table header and select Properties... in th

AppendixFig.188: Dialog Advanced SettingsUpdateFor updating the FPGA firmware• of an EtherCAT coupler the coupler must have FPGA firmware version 11

AppendixFig.189: Select dialog Advanced SettingsThe Advanced Settings dialog appears. Under ESC Access/E²PROM/FPGA click on Write FPGA button,Fig.19

AppendixFig.191: Write FPGAselect the file (*.rbf) with the new FPGA firmware, and transfer it to the EtherCAT device.AttentionRisk of damage to the

Product overview2. Determine mass m and moment of inertia (J) of all parts to be moved3. Calculate the acceleration resulting from the temporal requir

Appendix8.4 Firmware compatibilityBeckhoff EtherCAT devices will be equipped with the last available firmware on delivery. There are certaindependenci

AppendixFig.193: Selecting the "Restore default parameters" PDODouble-click on SubIndex 001 to enter the Set Value dialog. Enter the value

Appendix8.6 Support and ServiceBeckhoff and their partners around the world offer comprehensive support and service, making available fastand competen

Table of figuresTable of figuresFig. 1 EL5021 EL terminal, standard IP20 IO device with batch number and revision ID (since2014/01) ...

Table of figuresFig. 43 System Manager option ...

Table of figuresFig. 88 Correction dialog with modifications ...

Table of figuresFig. 134 Global variables ...

Table of figuresFig. 177 Implementation of the DiagMessage system in the TwinCAT System Manager ... 204Fig. 178 Device identifier

Product overviewRepresented by magnitude and angle:I(φe ) = IABS · e jφeIt follows that a rotation of the electrical angle φe is equivalent to four fu

Product overviewcalculated from the phase currents. Via the torque-forming current component iq, the torque of the machinecan now be regulated directl

Product overviewRequirement• Encoder with sufficiently high resolution required (minimum 4000 [INC/360°])• Slightly higher parametrisation effort requ

Product overviewAll parameters required for sensorless operation can be found in the table "Overview of parameter settingsfor individual operatin

Basics communication3 Basics communication3.1 EtherCAT basicsPlease refer to the chapter EtherCAT System Documentation for the EtherCAT fieldbus basi

Basics communicationFig.17: System manager current calculationAttentionCaution! Malfunction possible!The same ground potential must be used for the E

Basics communicationFig.18: EtherCAT tab -> Advanced Settings -> Behavior -> WatchdogNotes:• the multiplier is valid for both watchdogs.• ea

Table of contentsTable of contents1 Foreword ...

Basics communicationExample "Set SM watchdog"This checkbox enables manual setting of the watchdog times. If the outputs are set and the Ethe

Basics communicationFig.19: States of the EtherCAT State MachineInitAfter switch-on the EtherCAT slave in the Init state. No mailbox or process data

Basics communicationIn the Op state the slave copies the output data of the masters to its outputs. Process data and mailboxcommunication is possible.

Basics communicationFig.20: "CoE Online " tabThe figure above shows the CoE objects available in device "EL2502", ranging from x1

Basics communicationNoteStartup listChanges in the local CoE list of the terminal are lost if the terminal is replaced. If a terminalis replaced with

Basics communicationFig.22: Offline list• If the slave is online- The actual current slave list is read. This may take several seconds, depending on

Basics communicationIn the CoE system 16 indices, each with 255 subindices, are generally sufficient for representing all channelparameters. The chann

Basics communication3.6 Distributed ClockThe distributed clock represents a local clock in the EtherCAT slave controller (ESC) with the followingchara

Installation4 Installation4.1 Installation on mounting railsWARNINGRisk of electric shock and damage of device!Bring the bus terminal system into a sa

InstallationDisassemblyFig.25: Disassembling of terminalEach terminal is secured by a lock on the mounting rail, which must be released for disassemb

Table of contents5.3.2 Integration into the NC configuration ...1045.3.3

InstallationFig.26: Power contact on left sideAttentionPossible damage of the deviceNote that, for reasons of electromagnetic compatibility, the PE c

Installation4.2 Connection systemWARNINGRisk of electric shock and damage of device!Bring the bus terminal system into a safe, powered down state befo

InstallationConductor cross sections between 0.08mm2 and 2.5mm2 can continue to be used with the proven springforce technology.The overview and nome

InstallationWiringTerminals for standard wiring ELxxxx / KLxxxx and terminals for steady wiringESxxxx / KSxxxxFig.30: Mounting a cable on a terminal

InstallationShieldingNoteShieldingAnalog sensors and actors should always be connected with shielded, twisted paired wires.EL70x744 Version 1.0

Installation4.3 Installation positionAttentionConstraints regarding installation position and operating temperature rangeWhen installing the terminals

Installation4.4 Mounting of Passive TerminalsNoteHint for mounting passive terminalsEtherCAT Bus Terminals (ELxxxx / ESxxxx), which do not take an act

Installation4.5 Shielding conceptTogether with the shield busbar, the prefabricated cables from Beckhoff Automation offer optimum protectionagainst el

Installation4.6 EL70374.6.1 EL7037 - LEDs and connectionWARNINGWARNING! Risk of electric shock and damage of devices possible!Bring the bus terminal s

InstallationEL7037-0000LEDsNo. LED Color Meaning1 RUN green This LED indicates the terminal's operating state:off State of the EtherCAT State Mac

Foreword1 Foreword1.1 Notes on the documentationThis description is only intended for the use of trained specialists in control and automation enginee

InstallationTerminal pointsTerminalpointName Signal1 A Encoder input A2 CEncoder input C (zero input). If object 7000:01 [}186] is set inthe control

InstallationConnection typesThe EL7047 Stepper Motor terminal has bipolar output stages and can control bipolar and unipolar motors.Bipolar motorsFig.

InstallationFig.37: Bipolar control of a unipolar motorOnly one half of each winding is controlled.EL70x752 Version 1.0

Installation4.7 EL70474.7.1 EL7047 - LEDs and connectionWARNINGWARNING! Risk of electric shock and damage of devices possible!Bring the bus terminal s

InstallationLEDs (left prism)LED Color MeaningRUN green This LED indicates the terminal's operating state:off State of the EtherCAT State Machine

InstallationTerminal Points - Left-hand section of the housingTerminalpointName Signal1 A Encoder input A2 CEncoder input C (zero input). If object 70

InstallationAttentionUse a brake chopper terminal (EL9576) for short deceleration ramps!Very short deceleration ramps may lead to temporarily increase

InstallationUnipolar motorsBipolar control of a unipolar motorFig.41: Bipolar control with only one half of each winding is controlledEncoderConnecti

Commissioning5 Commissioning5.1 TwinCAT 2.1x5.1.1 Installation of the TwinCAT real-time driverIn order to assign real-time capability to a standard Et

CommissioningAfter the installation the driver appears activated in the Windows overview for the network interface(Windows Start -->System Properti

Foreword1.2 Safety instructionsSafety regulationsPlease note the following safety instructions and explanations!Product-specific safety instructions c

CommissioningFig.47: Incorrect driver settings for the Ethernet portEL70x760 Version 1.0

CommissioningIP address of the port usedNoteIP address/DHCPIn most cases an Ethernet port that is configured as an EtherCAT device will not transportg

Commissioning5.1.2 Notes regarding ESI device descriptionInstallation of the latest ESI device descriptionThe TwinCAT EtherCAT master/System Manager n

CommissioningFig.51: OnlineDescription information windowIn TwinCAT 3.x a similar window appears, which also offers the Web update:Fig.52: Informati

CommissioningIf slaves are added manually to the configuration at a later stage, slaves created in the manner describedabove are indicated by an arrow

Commissioning• Structure of the *.xml does not correspond to the associated *.xsd file --> check your schematics• Contents cannot be translated int

Commissioning5.1.3 Offline configuration creation (master: TwinCAT 2.x)Distinction between Online and OfflineThe distinction between online and offlin

CommissioningFig.58: Selecting the EtherCAT connection (TwinCAT 2.11)Fig.59: Selecting the EtherCAT connection (TwinCAT 2.11 R2)Then assign a real E

CommissioningFig.61: EtherCAT properties dialogNoteSelecting the Ethernet portEthernet ports can only be selected for EtherCAT devices for which the

CommissioningFig.63: Selection dialog for new EtherCAT deviceBy default only the name/device type is used as selection criterion. For selecting a spe

Foreword1.3 Documentation issue stausVersion Comment1.0 - Minor corrections- Layout adaption - 1st public issue0.4 - Minor corrections- Addenda EL7037

CommissioningFig.65: Display of previous revisionsNoteDevice selection based on revision, compatibilityThe ESI description also defines the process i

CommissioningFig.67: EtherCAT terminal in the TwinCAT treeEL70x7 71Version 1.0

Commissioning5.1.4 Online configuration creation ‘scanning’ (master: TwinCAT 2.x)Distinction between Online and OfflineDistinction between Online and

CommissioningFig.69: TwinCAT CONFIG mode displayNoteOnline scanning in Config modeThe online search is not available in RUN mode (production operatio

CommissioningFig.73: Detected Ethernet devicesAfter confirmation with “OK” a device scan is suggested for all selected devices, see Fig. 5.NoteSelect

CommissioningFig.75: Installing EthetCAT terminal with revision -1018Likewise, during the prototype test phase, the functions and properties of this

CommissioningFig.78: Manual triggering of a device scan on a specified EtherCAT deviceIn the System Manager the scan process can be monitored via the

CommissioningThe EtherCAT system should then be in a functional cyclic state, as shown in Fig. “Online display example”.Fig.83: Online display exampl

CommissioningScan over existing ConfigurationAttentionChange of the configuration after comparisonWith this scan (TwinCAT 2.11 or 3.1) only the device

CommissioningColour Explanationgreen This EtherCAT slave matches the entry on the other side. Both type and revision match.blue This EtherCAT slave is

Foreword1.4 Version identification of EtherCAT devicesDesignationA Beckhoff EtherCAT device has a 14-digit designation, made up of• family key• type•

CommissioningFig.88: Correction dialog with modificationsOnce all modifications have been saved or accepted, click “OK” to transfer them to the real

CommissioningFig.90: TwinCAT 2 Dialog ChangeToCompatibleDeviceIf called, the System Manager searches in the procured device ESI (in this example: EL1

CommissioningFig.91: Configuring the process dataNoteManual modification of the process dataAccording to the ESI description, a PDO can be identified

Commissioning„General“ tabFig.93: “General” tabName Name of the EtherCAT deviceId Number of the EtherCAT deviceType EtherCAT device typeComment Here

CommissioningType EtherCAT device typeProduct/Revision Product and revision number of the EtherCAT deviceAuto Inc Addr. Auto increment address of the

CommissioningSync ManagerLists the configuration of the Sync Manager (SM).If the EtherCAT device has a mailbox, SM0 is used for the mailbox output (Mb

CommissioningDownloadIf the device is intelligent and has a mailbox, the configuration of the PDO and the PDO assignments can bedownloaded to the devi

Commissioning“CoE – Online” tabThe additional CoE - Online tab is displayed if the EtherCAT slave supports the CANopen over EtherCAT(CoE) protocol. Th

CommissioningUpdate List The Update list button updates all objects in thedisplayed listAuto Update If this check box is selected, the content of theo

Commissioning„Online“ tabFig.99: „Online“ tabState MachineInit This button attempts to set the EtherCAT device tothe Init state.Pre-Op This button at

ForewordExceptions can occur in the IP67 area , where the following syntax can be used (see respective devicedocumentation):Syntax: D ww yy x y z uD -

CommissioningStatus DescriptionNo Carrier / Open No carrier signal is available at the port, but the portis open.No Carrier / Closed No carrier signal

CommissioningIn general, an EtherCAT Slave offers• communication diagnosis typical for a slave (diagnosis of successful participation in the exchange

CommissioningFig.101: Basic EtherCAT Slave Diagnosis in the PLCThe following aspects are covered here:EL70x792 Version 1.0

CommissioningCode Function Implementation Application/evaluationA The EtherCAT Master'sdiagnostic informationupdated acyclically (yellow) orprovi

CommissioningCode Function Implementation Application/evaluationD Diagnostic information of theEtherCAT Master which, while it isrepresented at the sl

CommissioningNoteEtherCAT System DocumentationThe comprehensive description in the EtherCAT System Documentation (EtherCAT Basics--> CoE Interface)

Commissioning• SAFEOP• OPto ensure sound operation. The EtherCAT Master directs these statuses in accordance with the initializationroutines that are

CommissioningFig.105: Default target state in the SlaveManual ControlThere are particular reasons why it may be appropriate to control the states fro

CommissioningNote regarding E-Bus currentEL/ES terminals are placed on the DIN rail at a coupler on the terminal strand. A Bus Coupler can supply theE

Commissioning5.3 Start-up and parameter configuration5.3.1 Process dataSync Manager (SM)Sync Manager (SM) The scope of the offered process data can be