Beckhoff EL7037 manuals

Beckhoff EL7037 User Manual (230 pages)

Brand: Beckhoff | Category: Equipment | Size: 8.15 MB |

German

Table of contents

Inhaltsverzeichnis

3

1 Vorwort

5

1.2 Sicherheitshinweise

6

Bezeichnung

8

Hinweise

8

Identifizierungsnummer

8

Eindeutige Seriennummer/ID

9

EL70x710 Version 1.0

10

2 Produktübersicht

12

Hinweise zur Konfiguration

13

Anwendungsbeispiel

13

2.2 EL7047

15

Hinweise zur Inbetriebnahme

16

2.3 Technologie

18

Parameter eines Schrittmotors

19

• Mechanisches System

19

• Drehzahl

19

• Phasenzahl

19

• Drehmoment

20

• Rastmoment

20

• Massenträgheitsmoment

20

• Resonanzen

20

• Drehmomentkonstante

21

Elektrisches System

21

• Induzierte Gegenspannung

21

• Schrittwinkel

21

2.3.2 Standard Betrieb

22

Funktion

24

Regelstruktur

24

2.3.4 Sensorloser Betrieb

25

Motorabhängigkeit

26

Parametrierung

26

Zusammenfassung

26

Voraussetzungen

26

2.4 Start up

27

3.1 EtherCAT Grundlagen

28

Multiplier

30

3.4 EtherCAT State Machine

31

Pre-Operational (Pre-Op)

32

Safe-Operational (Safe-Op)

32

3.5 CoE-Interface

33

Datenerhaltung

34

Online/Offline Verzeichnis

35

Kanalweise Ordnung

37

3.6 Distributed Clock

38

4 Installation

39

Demontage

40

PE-Powerkontakt

40

4.2 Anschlusstechnik

42

Verdrahtung HD-Klemmen

43

Verdrahtung

44

Verdrahtung ESxxxx / KSxxxx

44

Schirmung

45

Vorgeschriebene Einbaulage

46

4.5 Schirmkonzept

48

Installation

49

EL70x7 49Version 1.0

49

4.6 EL7037

50

Anschlussbelegung

52

Anschlussarten

53

Bipolare Motoren

53

EL70x754 Version 1.0

54

4.7 EL7047

55

LEDs (linkes Prisma)

56

LEDs (rechtes Prisma)

57

Unipolare Motoren

60

5 Inbetriebnahme

61

EL70x7 63Version 1.0

63

IP Adresse/DHCP

64

Geräteunterscheidung

65

Online Description

66

Fehlerhafte ESI-Datei

67

Unterscheidung Online/Offline

69

Anlegen des Geräts EtherCAT

69

Auswahl Ethernet Port

71

EL70x774 Version 1.0

74

Online Scannen im Config Mode

76

Funktionsweise Online Scan

77

Problembehandlung

80

Change to compatible device

83

Change to Alternative Type

84

Karteireiter „Allgemein“

86

Karteireiter „EtherCAT“

87

Karteireiter „Prozessdaten“

87

Sync-Manager

88

Karteireiter „CoE – Online“

90

Karteireiter „Online“

93

DLL-Status

93

EL70x796 Version 1.0

96

CoE-Parameterverzeichnis

98

EtherCAT-Systemdokumentation

99

Standardeinstellung

100

Manuelle Führung

101

Hinweis Ebus Strom

102

5.3.1 Prozessdaten

103

PDO-Zuordnung

104

Predefined PDO Assignment

107

Achse automatisch hinzufügen

109

Achse manuell hinzufügen

109

Inbetriebnahme

112

EL70x7112 Version 1.0

112

CoE-Register

113

Auswahl der Grundfrequenz

114

CoE "Feedback type"

115

Bezugsgeschwindigkeit

116

Totzeitkompensation

117

Skalierungsfaktor

117

Schleppüberwachung Position

118

- Faktoren

119

Totzone für Positionsfehler

120

Einstellung der Hochlaufzeit

120

5.3.5 Anwendungsbeispiel

121

5.4 Betriebsarten

125

5.4.2 Velocity direct

128

Step by Step

129

5.4.3 Position controller

131

5.4.4 Extended Velocity mode

134

5.4.5 Extended Position mode

137

5.4.6 Velocity sensorless

140

Parametersatz

143

POS Settings

144

Velocity min.:

144

Velocity max.:

144

Acceleration pos.:

144

Command aborded:

147

Target overrun:

147

Startup:

148

Start positioning:

148

Evaluate status:

148

Error handling:

148

Starttypen

148

ABSOLUTE:

150

RELATIVE:

150

ENDLESS_PLUS / ENDLESS_MINUS:

150

ADDITIVE:

150

Beispiel:

153

6.1 EL7037

158

EL70x7 159Version 1.0

159

EL70x7160 Version 1.0

160

EL70x7 161Version 1.0

161

Index 8020 POS Settings Ch.1

162

Index 8021 POS Features Ch.1

163

Kommando-Objekt

163

Index FB00 STM Command

163

Eingangsdaten

164

Index 6000 ENC Inputs Ch.1

164

Index 6010 STM Inputs Ch.1

164

Index 6020 POS Inputs Ch.1

165

Ausgangsdaten

165

Index 7000 ENC Outputs Ch.1

165

Index 7010 STM Outputs Ch.1

165

Index 9010 STM Info data Ch.1

166

Index 9020 POS Info data Ch.1

167

Index A010 STM Diag data Ch.1

167

EL70x7168 Version 1.0

168

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

EL70x7 175Version 1.0

175

EL70x7176 Version 1.0

176

EL70x7 177Version 1.0

177

Index 1C00Sync manager type

178

Index 1C12 RxPDO assign

178

Index 1C13 TxPDO assign

178

EL70x7 179Version 1.0

179

EL70x7180 Version 1.0

180

Index F008 Code word

181

6.2 EL7047

182

Konfigurationsdaten

183

Index 8000 ENC Settings Ch.1

183

EL70x7184 Version 1.0

184

EL70x7 185Version 1.0

185

EL70x7192 Version 1.0

192

EL70x7194 Version 1.0

194

EL70x7 195Version 1.0

195

EL70x7196 Version 1.0

196

EL70x7 197Version 1.0

197

EL70x7198 Version 1.0

198

EL70x7 199Version 1.0

199

EL70x7200 Version 1.0

200

Index 1C00 Sync manager type

202

EL70x7 203Version 1.0

203

EL70x7204 Version 1.0

204

7 Fehlerbehebung

206

Interpretation

208

Aufbau der Text-ID

208

Allgemeine Text-IDs

208

8 Anhang

211

EL70x7212 Version 1.0

212

8.2 EtherCAT AL Status Codes

213

8.3 Firmware EL/ES/EM/EPxxxx

213

Anzeige der Slave-Kennung ESI

214

CoE-Online und Offline-CoE

217

CoE-Verzeichnis

217

FPGA-Firmware *.rbf

218

Update eines EtherCAT-Geräts

220

8.4 Firmware Kompatibilität

223

Alternativer Restore-Wert

224

8.6 Support und Service

225

Abbildungsverzeichnis

226

Beckhoff EL7037 User Manual (227 pages)

Brand: Beckhoff | Category: Equipment | Size: 8.11 MB |

English

Table of contents

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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