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Beckhoff EL7037 User Manual Page 52
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Installation
Fig.37: Bipolar control of a unipolar motor
Only one half of each winding is controlled.
EL70x7
52
Version 1.0
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Table of contents
3
1 Foreword
5
1.2 Safety instructions
6
1.3 Documentation issue staus
7
Designation
8
Identification number
8
Unique serial number/ID
9
Examples of markings:
9
Foreword
11
EL70x7 11Version 1.0
11
2 Product overview
12
Configuration instructions
13
Application example
13
2.1.2 EL7037 - Technical data
14
2.2 EL7047
15
2.2.2 EL7047 - Technical data
17
2.3 Technology
18
Stepper motor parameters
19
• Mechanical system
19
• Number of phases
19
• Torque
19
• Cogging torque
20
• Mass moment of inertia
20
• Resonance
20
2.3.2 Standard mode
22
2.3.3 Field-oriented control
23
Control structure
24
Motor dependency
24
2.3.4 Sensorless operation
25
2.4 Start-up
26
3 Basics communication
27
Multiplier
29
3.4 EtherCAT State Machine
30
Pre-Operational (Pre-Op)
31
Safe-Operational (Safe-Op)
31
Operational (Op)
31
3.5 CoE Interface
32
Data management
33
Online/offline list
34
Channel-based order
35
3.6 Distributed Clock
37
4 Installation
38
Disassembly
39
PE power contact
39
Possible damage of the device
40
Risk of electric shock!
40
4.2 Connection system
41
Wiring HD Terminals
42
ESxxxx / KSxxxx
43
Shielding
44
4.3 Installation position
45
4.5 Shielding concept
47
4.6 EL7037
48
EL7037-0000
49
Terminal points
50
Connection types
51
Bipolar motors
51
Installation
52
EL70x752 Version 1.0
52
4.7 EL7047
53
LEDs (left prism)
54
LEDs (right prism)
54
Unipolar motors
57
Connecting an encoder (24 V)
57
5 Commissioning
58
EL70x760 Version 1.0
60
IP address of the port used
61
Device differentiation
62
Online description
62
Faulty ESI file
64
EL70x7 65Version 1.0
65
Creating the EtherCAT device
66
Defining EtherCAT slaves
68
EL70x7 71Version 1.0
71
Selecting the Ethernet port
74
Online scan functionality
74
Troubleshooting
77
Change to compatible device
80
Change to Alternative Type
80
„General“ tab
83
„EtherCAT“ tab
83
“Process Data” tab
84
Sync Manager
85
PDO list
85
PDO Content
85
Download
86
PDO Configuration
86
„Startup“ tab
86
“CoE – Online” tab
87
„Online“ tab
89
DLL Status
89
EL70x792 Version 1.0
92
CoE Parameter Directory
94
EtherCAT System Documentation
95
Standard setting
96
Manual Control
97
Note regarding E-Bus current
98
5.3.1 Process data
99
PDO Assignment
100
Predefined PDO Assignment
103
Adding an axis automatically
105
Adding an axis manually
105
Commissioning
108
EL70x7108 Version 1.0
108
The motor may overheat!
109
Base frequency selection
110
CoE "Feedback type"
111
Dead time compensation
113
Scaling factor
113
Position lag monitoring
114
factors
115
Dead band for position errors
116
Setting the acceleration time
116
5.3.5 Application example
117
5.4 Operating modes
123
5.4.2 Velocity direct
125
Step by Step
126
5.4.3 Position controller
128
5.4.4 Extended Velocity mode
131
5.4.5 Extended Position mode
134
5.4.6 Velocity sensorless
137
Parameter set
140
POS Settings
141
Velocity min.:
141
Velocity max.:
141
Acceleration pos.:
141
Acceleration neg.:
141
Target overrun:
144
StartUp:
145
Start positioning:
145
Evaluate status:
145
Error handling:
145
Start types
145
ABSOLUTE:
146
RELATIVE:
147
ENDLESS_PLUS / ENDLESS_MINUS:
147
ADDITIVE:
147
Example:
150
6.1 EL7037
155
Configuration data
156
Index 8000 ENC Settings Ch.1
156
EL70x7 157Version 1.0
157
EL70x7158 Version 1.0
158
Index 8020 POS Settings Ch.1
159
Index 8021 POS Features Ch.1
160
Command object
160
Index FB00 STM Command
160
Input data
161
Index 6000 ENC Inputs Ch.1
161
Index 6010 STM Inputs Ch.1
161
Index 6020 POS Inputs Ch.1
162
Output data
162
Index 7000 ENC Outputs Ch.1
162
Index 7010 STM Outputs Ch.1
162
Index 9010 STM Info data Ch.1
163
Index 9020 POS Info data Ch.1
164
Index A010 STM Diag data Ch.1
164
EL70x7 165Version 1.0
165
EL70x7 167Version 1.0
167
EL70x7168 Version 1.0
168
EL70x7 169Version 1.0
169
EL70x7170 Version 1.0
170
EL70x7 171Version 1.0
171
EL70x7172 Version 1.0
172
EL70x7 173Version 1.0
173
EL70x7174 Version 1.0
174
Index 1C00Sync manager type
175
Index 1C12 RxPDO assign
175
Index 1C13 TxPDO assign
175
EL70x7176 Version 1.0
176
EL70x7 177Version 1.0
177
Index F008 Code word
178
6.2 EL7047
179
EL70x7 181Version 1.0
181
EL70x7182 Version 1.0
182
EL70x7 189Version 1.0
189
EL70x7 191Version 1.0
191
EL70x7192 Version 1.0
192
EL70x7 193Version 1.0
193
EL70x7194 Version 1.0
194
EL70x7 195Version 1.0
195
EL70x7196 Version 1.0
196
EL70x7 197Version 1.0
197
Index 1C00 Sync manager type
199
EL70x7200 Version 1.0
200
EL70x7 201Version 1.0
201
7 Error correction
203
Support for commissioning
204
Interpretation
205
Structure of the Text ID
205
General Text IDs
205
8 Appendix
208
8.2 EtherCAT AL Status Codes
210
8.3 Firmware EL/ES/EM/EPxxxx
210
Update of XML/ESI description
211
CoE Online and Offline CoE
214
CoE directory
214
FPGA firmware *.rbf
215
Updating an EtherCAT device
217
Appendix
218
Fig.190: Select dialog FPGA
218
EL70x7218 Version 1.0
218
Risk of damage to the device!
219
8.4 Firmware compatibility
220
Alternative restore value
221
8.6 Support and Service
222
Table of figures
223
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