BECKHOFF EL7037 - Manual (Page 223)

Table of figures
Table of figures
Fig. 1 EL5021 EL terminal, standard IP20 IO device with batch number and revision ID (since
2014/01) ....................................................................................................................................
9
Fig. 2 EK1100 EtherCAT coupler, standard IP20 IO device with batch number ................................ 9
Fig. 3 CU2016 switch with batch number ........................................................................................... 10
Fig. 4 EL3202-0020 with batch numbers 26131006 and unique D-number 204418 .......................... 10
Fig. 5 EP1258-00001 IP67 EtherCAT Box with batch number 22090101 and serial number 158102 10
Fig. 6 EP1908-0002 IP76 EtherCAT Safety Box with batch number 071201FF and serial number
00346070 ..................................................................................................................................
10
Fig. 7 EL2904 IP20 safety terminal with batch number/date code 50110302 and serial number
00331701 ..................................................................................................................................
11
Fig. 8 EL7037 ..................................................................................................................................... 12
Fig. 9 EL7047 ..................................................................................................................................... 15
Fig. 10 Simplified representation of the mass moments of inertia ........................................................ 20
Fig. 11 Control structure of a standard stepper motor drive ................................................................. 22
Fig. 12 Behaviour of the rotor under load ............................................................................................. 23
Fig. 13 Coordinate transformation of field-oriented control ................................................................... 23
Fig. 14 Calculation of the resolution ...................................................................................................... 24
Fig. 15 Cascade control structure with field-oriented control (Extended Operating modes) ................. 24
Fig. 16 Influence of the crossover velocity thresholds (1,2,3) on sensorless control ............................ 25
Fig. 17 System manager current calculation ........................................................................................ 28
Fig. 18 EtherCAT tab -> Advanced Settings -> Behavior -> Watchdog ................................................ 29
Fig. 19 States of the EtherCAT State Machine...................................................................................... 31
Fig. 20 "CoE Online " tab ...................................................................................................................... 33
Fig. 21 Startup list in the TwinCAT System Manager ........................................................................... 34
Fig. 22 Offline list ................................................................................................................................... 35
Fig. 23 Online list .................................................................................................................................. 35
Fig. 24 Attaching on mounting rail ......................................................................................................... 38
Fig. 25 Disassembling of terminal.......................................................................................................... 39
Fig. 26 Power contact on left side.......................................................................................................... 40
Fig. 27 Standard wiring.......................................................................................................................... 41
Fig. 28 Pluggable wiring ........................................................................................................................ 41
Fig. 29 High Density Terminals.............................................................................................................. 42
Fig. 30 Mounting a cable on a terminal connection ............................................................................... 43
Fig. 31 Correct configuration ................................................................................................................ 46
Fig. 32 Incorrect configuration .............................................................................................................. 46
Fig. 33 Shield busbar ............................................................................................................................ 47
Fig. 34 Screen connection .................................................................................................................... 47
Fig. 35 Bipolar control (serial) of a bipolar motor................................................................................... 51
Fig. 36 Bipolar control (parallel) of a bipolar motor................................................................................ 51
Fig. 37 Bipolar control of a unipolar motor............................................................................................. 52
Fig. 38 LEDs and Connection EL7047 ................................................................................................. 53
Fig. 39 Bipolar control (serial) of a bipolar motor .................................................................................. 56
Fig. 40 Bipolar control (parallel) of a bipolar motor ............................................................................... 56
Fig. 41 Bipolar control with only one half of each winding is controlled................................................. 57
Fig. 42 The encoder is supplied from the power contacts via terminal points 3 (+24 V) and 7 (0 V). ... 57
EL70x7 223 Version 1.0