Beckhoff EL7037 User Manual Page 95
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Commissioning
Note
EtherCAT System Documentation
The comprehensive description in the EtherCAT System Documentation (EtherCAT Basics
--> CoE Interface) must be observed!
A few brief extracts:
• Whether changes in the online directory are saved locally in the slave depends on the device. EL
terminals (except the EL66xx) are able to save in this way.
• The user must manage the changes to the StartUp list.
Commissioning aid in the TwinCAT System Manager
Commissioning interfaces are being introduced as part of an ongoing process for EL/EP EtherCAT devices.
These are available in TwinCAT System Managers from TwinCAT 2.11R2 and above. They are integrated
into the System Manager through appropriately extended ESI configuration files.
Fig.103: Example of commissioning aid for a EL3204
This commissioning process simultaneously manages
• CoE Parameter Directory
• DC/FreeRun mode
• the available process data records (PDO)
Although the "Process Data", "DC", "Startup" and "CoE-Online" that used to be necessary for this are still
displayed, it is recommended that, if the commissioning aid is used, the automatically generated settings are
not changed by it.
The commissioning tool does not cover every possible application of an EL/EP device. If the available setting
options are not adequate, the user can make the DC, PDO and CoE settings manually, as in the past.
EtherCAT State: automatic default behaviour of the TwinCAT System Manager and
manual operation
After the operating power is switched on, an EtherCAT Slave must go through the following statuses
• INIT
• PREOP
EL70x7 95Version 1.0
- 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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