Beckhoff EP7211-0034, EP7211-9034 Documentation

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Documentation

EP7211

Servomotor module with OCT

Version: Date:

1.0 2019-08-01

Table of contents

1 Foreword ....................................................................................................................................................5

1.1 Notes on the documentation..............................................................................................................5

1.2 Safety instructions .............................................................................................................................6

1.3 Documentation issue status ..............................................................................................................7

2 Product overview.......................................................................................................................................8

2.1 EtherCAT Box - Introduction..............................................................................................................8

2.2 EP7211-x034 - Introduction.............................................................................................................10

2.3 Technical data .................................................................................................................................11

2.4 Scope of supply ...............................................................................................................................12

2.5 Technology ......................................................................................................................................13

3 Mounting and cabling..............................................................................................................................15

3.1 Mounting .........................................................................................................................................15

3.1.1 Dimensions ...................................................................................................................... 15

3.1.2 Fixing ............................................................................................................................... 16

3.1.3 Functional earth (FE) ....................................................................................................... 16

3.2 Cabling ............................................................................................................................................17

3.2.1 Power supply ................................................................................................................... 18

3.2.2 EtherCAT ......................................................................................................................... 20

3.2.3 Motor, brake and feedback system.................................................................................. 22

3.2.4 Hardware Enable / Safe Torque Off ................................................................................ 24

3.2.5 Touch Probe .................................................................................................................... 27

4 Commissioning........................................................................................................................................29

4.1 Activate motor output stage.............................................................................................................29

4.2 Configuration in TwinCAT................................................................................................................29

4.3 Start-up and parameter configuration..............................................................................................30

4.3.1 Integration into the NC configuration ............................................................................... 30

4.3.2 Settings with the Drive Manager...................................................................................... 34

4.3.3 Settings in the CoE register ............................................................................................. 39

4.3.4 NC settings ...................................................................................................................... 42

4.3.5 Commissioning without NC, status word/control word..................................................... 48

4.3.6 Settings for the automatic configuration .......................................................................... 51

4.3.7 Configure end position monitoring ................................................................................... 53

4.3.8 Homing ............................................................................................................................ 54

4.3.9 Touch Probe .................................................................................................................... 57

4.4 Drive profiles....................................................................................................................................61

4.5 Operation modes .............................................................................................................................62

4.5.1 Overview.......................................................................................................................... 62

4.5.2 CSV ................................................................................................................................. 63

4.5.3 CST.................................................................................................................................. 66

4.5.4 CSTCA............................................................................................................................. 69

4.5.5 CSP ................................................................................................................................. 72

4.6 Process data MDP 742....................................................................................................................76

4.7 DS402 process data ........................................................................................................................80

EP7211 3Version: 1.0

Table of contents

4.8 Object description (MDP 742) .........................................................................................................84

4.8.1 Restore object.................................................................................................................. 84

4.8.2 Configuration data ........................................................................................................... 84

4.8.3 Configuration data (vendor-specific)................................................................................ 91

4.8.4 Command object.............................................................................................................. 91

4.8.5 Input data......................................................................................................................... 91

4.8.6 Output data ...................................................................................................................... 93

4.8.7 Information / diagnosis data............................................................................................. 95

4.8.8 Standard objects.............................................................................................................. 98

4.9 Object description (DS402) ...........................................................................................................107

4.9.1 Configuration data ......................................................................................................... 108

4.9.2 Configuration data (vendor-specific).............................................................................. 113

4.9.3 Command object ........................................................................................................... 113

4.9.4 Input/output data............................................................................................................ 114

4.9.5 Information / diagnosis data .......................................................................................... 119

4.9.6 Standard objects............................................................................................................ 122

5 Appendix ................................................................................................................................................129

5.1 General operating conditions.........................................................................................................129

5.2 Firmware Update EL/ES/EM/ELM/EPxxxx ....................................................................................130

5.2.1 Device description ESI file/XML..................................................................................... 131

5.2.2 Firmware explanation .................................................................................................... 134

5.2.3 Updating controller firmware *.efw................................................................................. 135

5.2.4 FPGA firmware *.rbf....................................................................................................... 136

5.2.5 Simultaneous updating of several EtherCAT devices.................................................... 140

5.3 EtherCAT Box- / EtherCATPBox - Accessories ..........................................................................141

5.4 Servo technology - accessories.....................................................................................................141

5.5 General note on the introduction of the Beckhoff Identification Code (BIC) ..................................142

5.6 Support and Service ......................................................................................................................144

EP72114 Version: 1.0

Foreword

1 Foreword

1.1 Notes on the documentation

Intended audience

This description is only intended for the use of trained specialists in control and automation engineering who are familiar with the applicable national standards. It is essential that the documentation and the following notes and explanations are followed when installing and commissioning these components. It is the duty of the technical personnel to use the documentation published at the respective time of each installation and commissioning.

The responsible staff must ensure that the application or use of the products described satisfy all the requirements for safety, including all the relevant laws, regulations, guidelines and standards.

Disclaimer

The documentation has been prepared with care. The products described are, however, constantly under development.

We reserve the right to revise and change the documentation at any time and without prior announcement.

No claims for the modification of products that have already been supplied may be made on the basis of the data, diagrams and descriptions in this documentation.

Trademarks

Beckhoff®, TwinCAT®, EtherCAT®, EtherCATG®, EtherCATG10®, EtherCATP®, SafetyoverEtherCAT®, TwinSAFE®, XFC®, XTS® and XPlanar® are registered trademarks of and licensed by Beckhoff Automation GmbH. Other designations used in this publication may be trademarks whose use by third parties for their own purposes could violate the rights of the owners.

Patent Pending

The EtherCAT Technology is covered, including but not limited to the following patent applications and patents: EP1590927, EP1789857, EP1456722, EP2137893, DE102015105702 with corresponding applications or registrations in various other countries.

EtherCAT® is registered trademark and patented technology, licensed by Beckhoff Automation GmbH, Germany.

© Beckhoff Automation GmbH & Co. KG, Germany. The reproduction, distribution and utilization of this document as well as the communication of its contents to others without express authorization are prohibited. Offenders will be held liable for the payment of damages. All rights reserved in the event of the grant of a patent, utility model or design.

EP7211 5Version: 1.0

Foreword

1.2 Safety instructions

Safety regulations

Please note the following safety instructions and explanations! Product-specific safety instructions can be found on following pages or in the areas mounting, wiring, commissioning etc.

Exclusion of liability

All the components are supplied in particular hardware and software configurations appropriate for the application. Modifications to hardware or software configurations other than those described in the documentation are not permitted, and nullify the liability of Beckhoff Automation GmbH & Co. KG.

Personnel qualification

This description is only intended for trained specialists in control, automation and drive engineering who are familiar with the applicable national standards.

Description of instructions

In this documentation the following instructions are used. These instructions must be read carefully and followed without fail!

DANGER

Serious risk of injury!

Failure to follow this safety instruction directly endangers the life and health of persons.

WARNING

Risk of injury!

Failure to follow this safety instruction endangers the life and health of persons.

CAUTION

Personal injuries!

Failure to follow this safety instruction can lead to injuries to persons.

NOTE

Damage to environment/equipment or data loss

Failure to follow this instruction can lead to environmental damage, equipment damage or data loss.

Tip or pointer

This symbol indicates information that contributes to better understanding.

EP72116 Version: 1.0

Foreword

1.3 Documentation issue status

Version Comment

1.0 • First release

0.4 • Preliminary version

0.3 • Updates

0.2 • Technical data updated

0.1 • First draft

Firmware and hardware versions

This documentation refers to the firmware and hardware version that was applicable at the time the documentation was written.

The module features are continuously improved and developed further. Modules having earlier production statuses cannot have the same properties as modules with the latest status. However, existing properties are retained and are not changed, so that older modules can always be replaced with new ones.

The firmware and hardware version (delivery state) can be found in the batch number (D-number) printed on the side of the EtherCATBox.

Syntax of the batch number (D-number)

D: WW YY FF HH WW - week of production (calendar week)

YY - year of production FF - firmware version HH - hardware version

Beckhoff Identification Code (BIC)

The Beckhoff Identification Code contains additional information about the delivery state of the module: General note on the introduction of the Beckhoff Identification Code (BIC) [}142].

Example with D no. 29 10 02 01: 29 - week of production 29

10 - year of production 2010 02 - firmware version 02 01 - hardware version 01

EP7211 7Version: 1.0

Product overview

2 Product overview

2.1 EtherCAT Box - Introduction

The EtherCAT system has been extended with EtherCAT Box modules with protection class IP67. Through the integrated EtherCAT interface the modules can be connected directly to an EtherCAT network without an additional Coupler Box. The high-performance of EtherCAT is thus maintained into each module.

The extremely low dimensions of only 126x30x26.5 mm (hxw xd) are identical to those of the Fieldbus Box extension modules. They are thus particularly suitable for use where space is at a premium. The small mass of the EtherCAT modules facilitates applications with mobile I/O interface (e.g. on a robot arm). The EtherCAT connection is established via screened M8connectors.

Fig.1: EtherCAT Box Modules within an EtherCAT network

The robust design of the EtherCAT Box modules enables them to be used directly at the machine. Control cabinets and terminal boxes are now no longer required. The modules are fully sealed and therefore ideally prepared for wet, dirty or dusty conditions.

Pre-assembled cables significantly simplify EtherCAT and signal wiring. Very few wiring errors are made, so that commissioning is optimized. In addition to pre-assembled EtherCAT, power and sensor cables, fieldconfigurable connectors and cables are available for maximum flexibility. Depending on the application, the sensors and actuators are connected through M8 or M12connectors.

The EtherCAT modules cover the typical range of requirements for I/O signals with protection class IP67:

• digital inputs with different filters (3.0ms or 10μs)

• digital outputs with 0.5 or 2A output current

• analog inputs and outputs with 16bit resolution

• Thermocouple and RTD inputs

• Stepper motor modules

XFC (eXtreme Fast Control Technology) modules, including inputs with time stamp, are also available.

EP72118 Version: 1.0

Fig.2: EtherCAT Box with M8 connections for sensors/actuators

Product overview

Fig.3: EtherCAT Box with M12 connections for sensors/actuators

Basic EtherCAT documentation

You will find a detailed description of the EtherCAT system in the Basic System Documentation for EtherCAT, which is available for download from our website (www.beckhoff.com) under Downloads.

EtherCAT XML Device Description

You will find XML files (XML Device Description Files) for Beckhoff EtherCAT modules on our website (www.beckhoff.com) under Downloads, in the Configuration Files area.

EP7211 9Version: 1.0

Product overview

2.2 EP7211-x034 - Introduction

Fig.4: EP7211-9034

The EP7211-x034 EtherCAT Box is a single-channel servo drive for synchronous servomotors with OCT feedback system. It is intended for operation with motors from the AM81xx series. These motors have an electronic identification plate. EP7211-x034 can read the electronic identification plate in order to set the motor parameters in TwinCAT automatically.

The EP7211-9034 variant supports the "Safe Torque Off" (STO) function. This variant is non-reactive and can be used in a safety application.

Process-side interfaces of EP7211-x034:

• Motor

• Motor brake

• OCT communication: ◦ Feedback ◦ Electronic identification plate readout

• 2 x touch probe

• Hardware Enable (EP7211-0034): digital input for activating the output stage

• Safe Torque Off (EP7211-9034)

The motor is connected via a hybrid cable. The hybrid cable contains the wires for the motor phases, the brake and the OCT communication.

EP7211-x034 can be controlled via the MDP742 or alternatively the DS402 drive profile.

EP721110 Version: 1.0

2.3 Technical data

Technical data EP7211-0034 EP7211-9034

Fieldbus

Fieldbus EtherCAT Connection 2 x M8 socket (green) Electrical isolation 500V (fieldbus / IO)

Distributed Clocks Process image

Supply

Connection

Control voltage U DC link supply voltage U

Supply of the module electronics from the control voltage U Current consumption of the module

electronics Current consumption from the

DC link supply voltage

Motor

Motor type Synchronous servomotor Connection

Power rating P Nominal output current I Peak output current I

peak

Output frequency range 0..599Hz PWM clock frequency 16kHz Current controller frequency 32kHz Speed controller frequency 16kHz

Drive profile [}61]

Motor brake

Output voltage 24VDC from the control voltage U Output current max. 0.5A, short-circuit protected

Digital inputs

Interfaces 2 x touch probe

Yes Dependent on the operation mode [}62]

Feed: 1 x 7/8" plug, 5-pin [}18] Downstream connection: 1 x 7/8" socket, 5-pin [}18]

24VDC (-15% / +20%) 48VDC (8 - 50VDC), not protected against polarity reversal

typ. 120mA

typ. 50mA

1 x iTec socket, 9-pin, M23 [}22] Hybrid connector for:

• 1 x motor

• 1 x feedback (OCT encoder)

• 1 x brake

max. 276W

4.5A

rms

9.0A

for 1s

rms

Alternatively:

• MDP 742 (default)

• CiA DS402

2 x touch probe

1 x Hardware Enable

1 x Safe Torque Off (STO)

Product overview

EP7211 11Version: 1.0

Product overview

Technical data EP7211-0034 EP7211-9034

Environmental conditions

Permissible ambient temperature during operation

Permissible ambient temperature during storage

Vibration/ shock resistance conforms to EN60068-2-6/ EN60068-2-27 EMC immunity/emission conforms to EN61000-6-2/ EN61000-6-4 EMC category Category C3 (auxiliary filter required)

Protection class IP65, IP66, IP67 (conforms to EN 60529)

Mechanics

Dimensions 150mmx 60mmx 26.5mm (without plug connectors) Weight approx.500g Installation position variable

Approvals and conformity

Approvals CE, UL in preparation

-25°C ... +60°C

-40°C ... +85°C

Category C2, C1 in preparation (auxiliary filter required)

2.4 Scope of supply

Make sure that the following components are included in the scope of delivery:

• 1x EtherCAT Box EP7211-0034 / EP7211-9034

• 2x protective caps for EtherCAT socket (mounted)

• 1x protective cap for 7/8" socket (mounted)

• 10X labels, blank (1 strip of 10)

EP721112 Version: 1.0

Product overview

2.5 Technology

Servomotor

The servomotor is an electrical motor. Together with a servo drive the servomotor forms a drive. The servomotor is operated in a closed control loop with position, torque or speed control.

EP7211-x034 supports control of permanent magnet synchronous motors. These consist of 3 coils which are offset by 120° and a permanent magnet rotor.

Fig.5: Three synchronous motor coils, each offset by 120°

One Cable Technology (OCT)

In the servomotors from the AM8100-xF2 x series the feedback signals are transmitted directly via the power supply cable, so that power and feedback system are combined in a single motor connection cable. With the use of the One Cable technology, the information is sent reliably and without interference through a digital interface. Since a cable and plug are omitted at both the motor and controller end, the component and commissioning costs are reduced.

Thermal I²T motor model

The thermal I²T motor model represents the thermal behavior of the motor winding taking into account the absolute thermal resistance Rth and the thermal capacity Cth of motor and the stator winding.

The model assumes that the motor reaches its maximum continuous operating temperature T continuous operation with rated current I

. This temperature corresponds to 100% motor load. During

nom

during

operation at rated current the motor model reaches a load of 63% after a time of τth=Rth∙Cth and slowly reaches its continuous operating temperature.

If the motor is operated with a current that is greater than the rated current, the model reaches 100% load more quickly.

If the load of the I²T model exceeds 100%, the requested set current is limited to the rated current, in order to protect the motor winding thermally. The load reduces to a maximum of 100%. If the current falls below the rated current, the load falls below 100% and the set current limitation is cancelled.

For a motor that has been cooled to ambient temperature, the time for reaching 100% load with a set current that exceeds the rated current can be estimated with τth∙I

nom

²/I

actual

².

The actual load must be known for exact calculation of the time when the 100% load threshold is exceeded.

EP7211 13Version: 1.0

Product overview

Fig.6: Limitation to the rated motor current

EP721114 Version: 1.0

3 Mounting and cabling

150

141

Ø 4.5

3.1 Mounting

3.1.1 Dimensions

Mounting and cabling

Fig.7: Dimensions

All dimensions are given in millimeters.

Housing features

Housing material PA6 (polyamide) Sealing compound polyurethane Mounting two fastening holes Ø4.5mm for M4 Metal parts brass, nickel-plated Contacts CuZn, gold-plated Power feed through max. 16A at 40°C (according to IEC 60512-3) Mounting position variable Protection class IP65, IP66, IP67 (conforms to EN60529) when screwed together Dimensions (HxWxD) approx. 150 x 60 x 26.5mm (without connectors)

EP7211 15Version: 1.0

Mounting and cabling

3.1.2 Fixing

NOTE

Protect connectors against soiling!

Protection class IP67 can only be guaranteed if all cables and connectors are connected. Protect the connections against soiling during mounting.

Mount the module with two M4 screws in the centrally located fastening holes.

The bolts must be longer than 15mm. The fastening holes in the modules have no thread.

Note when mounting that the overall height is increased further by the fieldbus connections. See chapter Accessories.

3.1.3 Functional earth (FE)

All existing connections for the functional earth must be connected to earth:

• Fastening holes

• "FE" cores in the supply cables

Functional earth via the fastening holes

The fastening holes [}16] also serve as connections for the functional earth (FE).

Make sure that the box is earthed with low impedance via both fastening screws.

Fig.8: Functional earth via the fastening holes

Functional earth via the supply lines

The pins of the supply connectors [}18] marked with "FE" are directly connected to the functional earth potential of the fastening holes.

Connect the functional earth of the "FE" cores in accordance with the following instructions:

• If the remote station is a device with a 7/8" connector: connect the devices with a pre-configured cable.

Possible types of preconfigured cables:

◦ Beckhoff ZK2030-1112-0xxx ◦ Beckhoff ZK2030-1114-0xxx ◦ Beckhoff ZK2030-1314-0xxx

• Otherwise: Earth the "FE" core with low impedance as near as possible to the remote station.

EP721116 Version: 1.0

3.2 Cabling

X60 X61

X20

X04

X03

X02

X01

X40 X41

Mounting and cabling

Fig.9: Connector overview

Name Connector

type

X01 M12 0.6Nm

Tightening torque

Function

Hardware Enable / Safe Torque Off [}24]

X02 X03 M12 0.6Nm

Touch Probe [}27]

X04 X20 iTec M23 -

X40 M8 0.4Nm

Motor, brake and feedback system [}22]

EtherCAT [}20]

X41 X60 7/8" 1.5Nm

Power supply [}18]

X61

Mount connectors on these plug connectors using a torque wrench, e.g. ZB8801 from Beckhoff.

EP7211 17Version: 1.0

Mounting and cabling

OUT

3.2.1 Power supply

3.2.1.1 Connection

Two 7/8" connectors at the low-end of the modules are used for feeding and routing the supply voltages:

• "IN" (male): left connector for feeding the supply voltages

• "OUT" (female): right connector for downstream connection

Fig.10: 7/8" connector pin assignment

NoteDefect possible through polarity reversal. The input for the DC link voltage Up is not protected

against polarity reversal. Ensure that the polarity is correct.

Pin Name Comment Core colors

1 GND 2 GND

GND to U GND to U

Black

Blue 3 FE Functional earth Grey 4 +24 VDC U 5 +48 VDC U

The core colors apply to cables of the type: Beckhoff ZK203x-xxxx.

Control voltage U DC link voltage U

Brown

White

EP721118 Version: 1.0

Mounting and cabling

3.2.1.2 Status LEDs

The status of the supply voltages is signaled by two LEDs. A Status LED lights up green when the respective supply voltage is present on the connector for the supply.

Fig.11: Power supply Status LEDs

3.2.1.3 Conductor losses

Take into account the voltage drop on the supply line when planning a system. Avoid the voltage drop being so high that the supply voltage at the box lies below the minimum permissible value. See Technical data.

Variations in the voltage of the power supply unit must also be taken into account.

The following graph illustrates the dependence of the voltage drop on the core cross-section, current and cable length:

Fig.12: Losses on the supply line

EP7211 19Version: 1.0

Mounting and cabling

3.2.2 EtherCAT

3.2.2.1 Connection

EtherCAT Boxes (EPxxxx) have two green M8 sockets for the incoming and outgoing EtherCAT connections.

Fig.13: EtherCAT connection

Fig.14: M8 socket pin assignment

Assignment

There are various different standards for the assignment and colors of connectors and cables for EtherCAT.

EtherCAT Plug connector Cable Standard

Signal M8 M12 RJ45

Tx + Pin 1 Pin 1 Pin 1 yellow Tx - Pin 4 Pin 3 Pin 2 orange Rx + Pin 2 Pin 2 Pin 3 white Rx - Pin 3 Pin 4 Pin 6 blue Shield Housing Shroud Shield Shield Shield

) colored markings according to EN 61918 in the four-pin RJ45 connector ZS1090-0003

) wire colors according to EN 61918

) wire colors

ZB9010, ZB9020, ZB9030, ZB9032, ZK1090-6292, ZK1090-3xxx-xxxx

ZB9031 and old versions of ZB9030, ZB9032, ZK1090-3xxx-xxxx

orange/white orange blue/white

blue

TIA-568B

white/orange orange white/green green

Assimilation of color coding for cable ZB9030, ZB9032 and ZK1090-3xxxx-xxxx (with M8 connectors)

For unification, the prevalent cables ZB9030, ZB9032 and ZK1090-3xxx-xxxx were changed to the colors of EN61918 (yellow, orange, white, blue). So different color coding exists. But the electrical properties are absolutely identical.

EP721120 Version: 1.0

3.2.2.2 Status LEDs

Mounting and cabling

Fig.15: EtherCAT Status LEDs

L/A (Link/Act)

A green LED labelled "L/A" or “Link/Act” is located next to each EtherCAT/EtherCATP socket. The LED indicates the communication state of the respective socket:

LED Meaning

off no connection to the connected EtherCAT device lit LINK: connection to the connected EtherCAT device flashes ACT: communication with the connected EtherCAT device

Run

Each EtherCAT slave and each EtherCATP slave has a green LED labelled "Run". The LED signals the status of the slave in the EtherCAT network:

LED Meaning

off Slave is in "Init" state flashes uniformly Slave is in "Pre-Operational“ state flashes sporadically Slave is in "Safe-Operational" state lit Slave is in "Operational" state

A description of the EtherCAT slave states can be found under https://infosys.beckhoff.com/content/1033/ethercatsystem/1036980875.html?id=8582353789396071752.

EP7211 21Version: 1.0

Mounting and cabling

3.2.3 Motor, brake and feedback system

3.2.3.1 Connection

Fig.16: iTec socket pin assignment

Pin Name Comment Core colors

1 Brake + Motor brake + Red 2 Brake - Motor brake - Black 3 OCT + Data and supply for the OCT feedback system White 4 OCT - Data and supply for the OCT feedback system Blue 5 - A U Motor phase U Black B W Motor phase W Grey C V Motor phase V Brown

FE, shield Functional earth, cable shield green-yellow

The core colors apply to the ZK470x-xxxx motor cables from Beckhoff.

EP721122 Version: 1.0

3.2.3.2 Status LEDs

Fig.17: Status LEDs of the motor connection

LED Displays

LED Display Meaning

Drv OK green

illuminated Rd OCT flashing green The electronic identification plate is being read. Enable green The driver stage is enabled.

Limit orange Limit reached (e.g. torque or speed limit).

Warning flashes Error while reading the electronic identification plate.

orange Warning. The "Warning" threshold value is exceeded.

The driver stage is ready for operation.

The LED is linked with bits 1 and 2 of the Status word1).

The LED is linked with bit 11 of the Status word1).

Possible reasons:

• Motor load (I²T) is higher than 100%

Mounting and cabling

• The motor output stage is not activated [}29]

• Maximum operating temperature exceeded

The LED is linked with bit 7 of the Status word1).

Error red Error. The “Error” threshold value is exceeded.

Possible reasons:

• Overcurrent

• STO triggered with active axis

• Voltage not available

• Feedback not connected

• Max. temperature (100 °C) exceeded

The LED is linked with bit 3 of the Status word1).

Status word in the CoE directory:

• Device profile MDP742 [}92] (default)

• Device profile DS402 [}114]

EP7211 23Version: 1.0

Mounting and cabling

3.2.4 Hardware Enable / Safe Torque Off

EP7211-0034 and EP7211-9034 differ from each other by the purpose of use of the digital input "Hardware Enable" / "Safe Torque Off":

Hardware variant Designation of the digital input Purpose of use of the digital input

EP7211-0034 Hardware Enable (HWE)

EP7211-9034 Safe Torque Off (STO) Safe Torque Off

Safe Torque Off (STO)

Refer to the Application Guide TwinSAFE if you wish to use the EP7211-9034 in a safety application: an application example with "Safe Torque Off" for EL72x1-9014 is described in chapter 2.27. EP7211-9034 can be used instead of EL72x1-9014 in this application example if you observe the following note:

WARNING

Wiring of the STO

The wiring between EL2904 and the STO input of EP7211-9034 must be done with a separate sheathed cable in order to be able to assume a fault exclusion for the cross-circuit or external power supply of the wiring between EL2904 and EP7211-9034. Alternatively, the wiring is to be protected individually by an earth connection. The evaluation of this wiring and the evaluation of whether the fault exclusion is permissible must be done by the machine manufacturer or user.

Activation of the motor output stage [}29]

3.2.4.1 Connection

Connect the "Hardware Enable" / "Safe Torque Off" signal to the X01 or alternatively the X02 socket. The X01 and X02 sockets have the same configuration and are bridged 1:1 inside the box.

Fig.18: M12 socket pin assignment

Pin Signal Core colors

1 n.c. Brown 2 n.c. White 3 n.c. Blue 4 EP7211-0034: Hardware Enable

EP7211-9034: Safe Torque Off

5 FE (Functional earth) Grey

The core colors apply to cables of the types ZK2000-5xxx, ZK2000-6xxx and ZK2000-7xxx from Beckhoff.

Black

EP721124 Version: 1.0

3.2.4.2 Status LEDs

EP7211-9034

EP7211-0034

Mounting and cabling

Fig.19: Status LEDs for HWE/STO

EP7211-0034

The green LED with the name "HWE" (Hardware Enable) lights when a high level is present on the corresponding pin of X01 or X02. → The motor output stage is activated.

EP7211-9034

The green LED with the name "STO" (Safe Torque Off) lights when a high level is present on the corresponding pin of X01 or X02. → The motor output stage is activated.

EP7211 25Version: 1.0

Mounting and cabling

EP7211

HWE /

STO

EP7211

Box 1 Box 2

...

Cable

3.2.4.3 Cabling

The X01 and X02 sockets have the same configuration and are bridged 1:1 inside the box. This makes it possible to forward the signal for "Hardware Enable" / "Safe Torque Off" from one box to the next.

Sample:

Fig.20: Sample: forwarded HWE/STO signal

EP721126 Version: 1.0

Mounting and cabling

3.2.5 Touch Probe

3.2.5.1 Connection

Connect touch probes to the sockets X03 and X04. The X03 and X04 sockets have the same configuration and are bridged 1:1 inside the box.

Fig.21: M12 socket pin assignment

Pin Signal Core colors

1 US: +24V

Brown

2 IN B = TP2 White 3 GND

Blue 4 IN A = TP1 Black 5 n.c. Grey

The core colors apply to cables of the types ZK2000-5xxx, ZK2000-6xxx and ZK2000-7xxx from Beckhoff.

3.2.5.2 Status LEDs

Fig.22: Touch probe Status LEDs

The green LEDs with the names "IN A" and "IN B" light when a high level is present on the corresponding pins of X03 or X04:

• IN A = TP1

• IN B = TP2

EP7211 27Version: 1.0

Mounting and cabling

X03

X04

Cable

X03

X04

Cable

3.2.5.3 Cabling

The X03 and X04 sockets have the same configuration and are bridged 1:1 inside the box. This enables the touch probes to be wired in two ways:

• One common cable (connection to X03 or X04)

• One cable per touch probe (connection to X03 and X04)

EP721128 Version: 1.0

Commissioning

4 Commissioning

4.1 Activate motor output stage

Activate the motor output stage by applying a high level to the digital input Hardware Enable / Safe Torque Off [}24].

4.2 Configuration in TwinCAT

An EtherCAT Box must be configured in TwinCAT so that its functions can be used in a PLC program.

The following link will take you to a quick start guide describing the configuration of an EtherCAT Box in TwinCAT:

https://infosys.beckhoff.com/content/1033/epioconfiguration/index.html?id=6991403443235907429

EP7211 29Version: 1.0

Commissioning

4.3 Start-up and parameter configuration

4.3.1 Integration into the NC configuration

(Master: TwinCAT 2.11 R3)

Installation of the latest XML device description

Please ensure that you have installed the corresponding latest XML device description in TwinCAT. This can be downloaded from the Beckhoff Website and installed according to the installation in-

structions.

Integration into the NC can be accomplished as follows:

• The box must already have been added manually under I/O devices or have been scanned in by the system (see section Configuration in TwinCAT [}29]).

Adding an axis automatically

• TwinCAT detects the new axes automatically once the IO modules have been successfully scanned. The user is asked whether the detected axes should be added automatically (see Fig. Axis detected). If this is confirmed, all axes are automatically liked to the NC.

Fig.23: Axis detected

• Several parameters have to be set before the motor can be started up. The values can be found in the chapter Settings in the CoE register [}39].

Set these parameters before continuing with the motor commissioning.

EP721130 Version: 1.0

Commissioning

Adding an axis manually

• First add a new task. Right-click on NC configuration and select "Append Task..." (see Fig. Adding a new task).

• Rename the task if required and confirm with OK.

Fig.24: Adding a new task

• Right-click on Axes, then add a new axis (see Fig. Adding a new axis).

Fig.25: Adding a new axis

• Select Continuous Axis type and confirm with OK (see Fig. Selecting and confirming the axis type).

EP7211 31Version: 1.0

Commissioning

Fig.26: Selecting and confirming the axis type

• Left-click your axis to select it. On the Settings tab, select "Link To..." (see Fig. Linking the axis with the box).

Fig.27: Linking the axis with the box

• Select the appropriate box (CANopen DS402, EtherCAT CoE) and confirm with "OK".

Fig.28: Selection of the correct box

• All main links between the NC configuration and the box are set automatically (see Fig. Automatic linking of all main variables)

EP721132 Version: 1.0

Commissioning

Fig.29: Automatic linking of all main variables

• Several parameters have to be set before the motor can be started up. The values can be found in the chapters Settings in the CoE register [}39] and NC settings [}42].

Set these parameters before continuing with the motor commissioning.

EP7211 33Version: 1.0

Commissioning

4.3.2 Settings with the Drive Manager

(Master TwinCAT 2.11 R3)

The data given here serve as an example for a servomotor type AM8131-0F20-0000 from Beckhoff Automation. For other motors the values may vary, depending on the application.

Table of contents

Start-up with the Drive Manager [}34] Setting further parameters with the Drive Manager [}38] Integral velocity controller component Tn [}38]

Proportional velocity controller component Kp

The TwinCAT Drive Manager is available for download in the AX5000 download package.

The TwinCAT Drive Manager for parameterizing an EL7211 is integrated in the System Manager, so that no separate configuration tool is required. Once an EP7211 has been detected or entered, the TwinCAT Drive Manager is available on the "Configuration" tab.

The following points are intended to enable you to start up the EP7211 quickly. More detailed information on the Drive Manager can be found in the corresponding documentation "AX5000 Introduction in the TCDrivemanager"

Start-up with the Drive Manager

• The box must already have been added manually under I/O devices or have been scanned in by the system (see chapter Configuration in TwinCAT [}29])

• The box must already have been integrated in the NC (see chapter Integration into the NC configuration [}30])

• Select the Drive Manager tab of the EP7211.

• Select the connected voltage under Power Management.

Fig.30: Selecting the connected voltage

• You can subsequently scan or select the connected motor under Channel A > Configuration > Motor and Feedback. If you decide to use automatic scanning, click on Scan motor and feedback. The electronic identification plate of the AM81xx-x2xx motor will then be read automatically. To do this it is

necessary for automatic scanning of the motor to be activated in the box (Index 0x8008 [}85], MDP or Index 0x2018 [}113], DS402)

EP721134 Version: 1.0

Commissioning

Fig.31: Automatic scanning of the connected motor

• If you decide to manually input the connected motor, please click on Select Motor.

Fig.32: Selecting the connected motor

• Select the suitable motor in the selection window and confirm with Ok.

EP7211 35Version: 1.0

Commissioning

Fig.33: List of available motors

• Confirm the next dialog box with OK. All required parameters are automatically entered in the NC, and the scaling factor is calculated. If this is not confirmed, these settings have to be entered manually. See

section NC settings [}42].

Fig.34: Confirmation of the automatic NC settings parameters

• The scaling can be determined under Scalings and NC Parameters. A motor revolution is defined as 360° as an example. All required parameters are adjusted automatically. The setting only becomes active once the configuration is activated.

EP721136 Version: 1.0

Commissioning

Fig.35: Adapting the scaling

All main parameters for the commissioning the motor are now set. The motor can now be commissioned with the NC, for example. A brief description can be found in section "Commissioning the motor with the NC". Or

the NC can be addressed from the PLC. A sample program has been added in the documentation for this also. Some parameters can be adjusted manually for your particular application.

EP7211 37Version: 1.0

Commissioning

Setting further parameters with the Drive Manager

The values specified here are exemplary, although in most cases they have led to excellent results. Depending on the application, other values may yield better results. These values can be changed during operation. Click on Download to apply the values.

Integral velocity controller component Tn

• Reduce the value, until the motor starts to oscillate slightly. Then increase the value by 10%.

Fig.36: Adapting Tn

Proportional velocity controller component Kp

• Increase the value, until the motor starts to oscillate slightly. Then reduce the value to 80%.

Fig.37: Adapting Kp

EP721138 Version: 1.0

Commissioning

4.3.3 Settings in the CoE register

(Master TwinCAT 2.11 R3)

The data given here serve as an example for a servomotor type AM8131-0F20-0001 from Beckhoff Automation. For other motors the values may vary, depending on the application.

Table of contents

Settings in the CoE register [}39] Settings in the CoE register [}41] Setting further parameters [}41] Settings in the CoE register [}41] Torque limitation [}41] Settings in the CoE register [}41] Settings in the CoE register [}41]

Inserting the motor XML file

Downloading the motor XML files

The motor XML files are available for download from the Beckhoff website.

To facilitate commissioning of the EP7211, motor XML files have been created for the servomotors that are supported by the EP7211. The XML files can be read in the System Manager. All CoE parameters and DS402 parameters are then set as required.

• To read the motor XML file, select the EP7211 and open the Startup tab. Right-click in the empty field and select Import from XML...(see Fig. Importing the motor XML file).

Fig.38: Importing the motor XML file

• Select the motor XML file that matches the connected motor (see Fig. Selecting the correct motor XML file)

EP7211 39Version: 1.0

Commissioning

Fig.39: Selecting the correct motor XML file

• All required parameters are then set, and the motor can be put into operation (see Fig. CoE parameters of the motor XML file).

Fig.40: CoE parameters of the motor XML file

Startup list

Any further application-specific settings should also be implemented in the Startup list. Otherwise the modified settings will be overwritten next time the box starts up.

EP721140 Version: 1.0

Commissioning

Adaptation of current and voltage

NOTE

The motor may overheat!

In order to prevent overheating of the connected motor, it is important to adjust the output voltage of the box to the actually connected voltage.

This requires the index 0x8010:19 [}86] (0x2002:19 [}108], DS402 profile) "Nominal DC Link Voltage" of the connected voltage to be set accordingly

Setting further parameters

Single-turn bits (MDP742: Index 0x8000:12 [}84] / DS402: Index 0x2010:12 [}112])/ Multi-turn bits (MDP742: Index 0x8000:13 [}84] / DS402: Index 0x2010:13 [}112])

Here the user can specify how many single-turn and multi-turn bits the box should display. A total of 32bits are available. These 32bits can be subdivided as required. The standard setting is 20 single-turn bits and 12 multi-turn bits.

Single-turn bits: number of bits relating to the resolution of one rotor rotation.

Multiturn bits: after a rotor rotation the multi-turn bits are incremented by one.

The motor may overheat!

If the number of single-turn bits is changed, the scaling factor [}44] in the NC has to be adjusted.

Fig.41: Multi-turn / single-turn bits

Torque limitation (MDP742: Index 0x7010:0B [}94] / DS402: Index 0x6072:0 [}116])

Limits the current / torque to this value. The value is specified in 1000th of the rated current.

Integral velocity controller component Tn (MDP742: Index 0x8010:14 [}86] / DS402: Index 0x2002:14 [}108])

The values specified here are exemplary, although in most cases they have led to excellent results. Depending on the application, other values may yield better results.

• Reduce the value, until the motor starts to oscillate slightly. Then increase the value by 10%.

Proportional velocity controller component Kp (MDP742: Index 0x8010:15 [}86] / DS402: Index 0x2002:15 [}108])

The values specified here are exemplary, although in most cases they have led to excellent results. Depending on the application, other values may yield better results.

EP7211 41Version: 1.0

Commissioning

• Increase the value, until the motor starts to oscillate slightly. Then reduce the value to 80%.

4.3.4 NC settings

(Master TwinCAT 2.11 R3)

The data given here serve as an example for a servomotor type AM8122-0F20-0000 from Beckhoff Automation. For other motors the values may vary, depending on the application.

Table of contents

Definition of the unit [}42] Selecting the maximum velocity [}43] Dead time compensation [}43] NC settings [}44] NC settings [}44] Calculation of the scaling factor [}45] Scaling output [}45] NC settings [}45]

Commissioning the motor with the NC

Several important parameters are required for the commissioning with the NC. These should be set as follows before commissioning. A fundamental factor for setting the following parameters is the unit in which the NC is set to operate. For the following parameters it was assumed that one revolution corresponds to 360°.

Definition of the unit

The unit can be defined in the Settings tab for the axis.

Fig.42: Definition of the unit

EP721142 Version: 1.0

Commissioning

Selecting the maximum velocity

The maximum permitted velocity is calculated based on the maximum motor speed (name plate) and the distance, in this case in relation to 360° per second.

Fig.43: Adjusting the reference velocity

The reference velocity matches the maximum permitted velocity. Below that separate values for the maximum and minimum velocity for manual NC mode can be set.

Dead time compensation

The dead time compensation can be adjusted on the Time Compensation tab of Axis1_ENC. It should theoretically be 3 cycles of the NC cycle time, although in practice 4 cycles are preferable. Therefore, the settings of the parameters Time Compensation Mode Encoder should be ‚ON (with velocity) )‘ and Encoder Delay in Cycles ‘4’.

Fig.44: Dead time compensation parameter

EP7211 43Version: 1.0

Commissioning

Setting the encoder mask

The maximum values for the encoder mask can be set in the Parameter tab for the Axis1_ENC encoder settings. EP7211 provides a maximum of 32bits for the encoder. The parameter Encoder Mask (maximum encoder value) can be used to set the maximum number of available bits. By default this is set to 0xFFFF FFFF, which corresponds to 32bits (20 single-turn bits and 12 multi-turn bits). The calculation is based on the following equation.

The parameter Encoder Sub Mask (absolute range maximum value) indicates how many bits of the maximum encoder value are single-turn bits. The default setting is 20 (and therefore 12 multi-turn bits). The calculation is based on the following equation.

Further calculation example with 13 single-turn bits and 8 multi-turn bits.

Fig.45: Setting the encoder mask

Scaling factor

The scaling factor can be changed by selecting "Axis 1_Enc" and tab Parameter in the NC (see Setting the Scaling Factor). The value can be calculated with the formulas specified below. The calculation is based on

the assumption that one revolution corresponds to 360°. The number of single-turn bits is taken into account in the calculation of the scaling factor. As indicated above, the default setting for EP7211 is 20 single-turn bits. This value is also used for calculating the scaling factor. If the single-turn bit value is changed, the scaling factor must be adjusted.

EP721144 Version: 1.0

Calculation of the scaling factor

Commissioning

Fig.46: Setting the Scaling Factor

Scaling output

Enter the value 32 in the Parameter tab for the drive settings under Output Scaling (Velocity).

Fig.47: Output scaling

Position lag monitoring

The position lag monitoring function checks whether the current position lag of an axis has exceeded the limit value. The position lag is the difference between the set value (control value) and the actual value reported back. If the box parameters are set inadequately, the position lag monitoring function may report an error when the axis is moved. During commissioning it may therefore be advisable to increase the limits of the Position lag monitoring slightly.

EP7211 45Version: 1.0

Commissioning

NOTE

Damage to equipment, machines and peripheral components possible!

Setting the position lag monitoring parameters too high may result in damage to equipment, machines and peripheral components.

Fig.48: Lag monitoring

Commissioning the motor with the NC

• Once the parameters are set, the motor is basically ready for operation. Individual further parameters have to be adapted to the respective application.

• To commission the axis, activate the configuration (Ctrl+Shift+F4), select the axis, select tab Online and enable the axis under Set.

• Set all tick marks and set Override to 100% (see Fig. Enabling an axis). The axis can then be moved.

EP721146 Version: 1.0

Commissioning

Fig.49: Enabling an axis

You can now move the axis with the function keys F1, F2 (Backward) or F3, F4 (Forward). You can adjust the Kv factor in order to approach a suitable factor. Set the value to 0 initially in order to set

the correct reference velocity. For calculating the reference velocity please refer to section "Selecting the maximum velocity [}43]". The calculation provides a relatively precise value, although the value may have to

be corrected slightly. To this end move the motor with a Kv factor of 0 until the actual velocity matches the setpoint velocity.

Alternatively you can control the axis via the Functions tab. An example is provided below.

• Select as Reversing Sequence as the start type.

• Enter the required Target Position2, e.g. 12000°.

• Enter the required Target Velocity, e.g. 12000°/s.

• Enter the required Target Position1, e.g. 0°.

• Enter the required Idle Time, e.g. 2 s.

• Select Start.

EP7211 47Version: 1.0

Commissioning

Fig.50: Reversing Sequence

The motor now turns to position 2, remains there for 2 seconds and returns to position 1. This is repeated until Stop is pressed.

4.3.5 Commissioning without NC, status word/control word

(Master: TwinCAT 2.11 R3)

In principle, the operating modes CST, CSTCA, CSV and CSP can be used without TwinCAT NC.

Output stage enabled via control word

The output stage has to be enabled for each operation mode. To this end enter the following values in the specified order via the PLC control word (MDP742 [}94] / DS402 [}114]) (see Fig. DS402 State Machine). The respective status messages are output in the status word (MDP742 [}92] / DS402 [}114]).

hex

(Fault reset)

hex

(Shutdown)

hex

(Switch on)

hex

(Enable operation)

hex

EP721148 Version: 1.0

Commissioning

Fig.51: DS402 State Machine

EP7211 49Version: 1.0

Commissioning

CST - cyclic synchronous torque

Select Cyclic synchronous torque mode in index 0x7010:03 [}94] Modes of operation (MDP) or 0x6060:0 [}115] Modes of operation (DS402). In the respective process data, the Predefined PDO Assignment: 'Cyclic synchronous torque mode (CST)' should also be selected (see Process data MDP 742 [}76] or DS402 process data [}80]). The configuration then has to be reloaded in order to activate the selection.

Index 0x6010:03 [}92] Modes of operation display (MDP) or index 0x6061:0 [}115] Modes of operation display (DS402) can be used to check the actual mode of the box.

Via the PLC a defined torque can be defined in the variable Target torque as a basis for the box control. The torque is specified in 1000th of the rated current. A value of 1000

, for example, corresponds to the set

dec

index 0x8011:12 [}89] Rated current (MDP) or index 0x6075:0 [}116] Motor rated current (DS402). The value 1

corresponds to one 1000th of the rated current.

dec

CSTCA - cyclic synchronous torque with commutation angle

Select Cyclic synchronous torque mode with commutation angle in index 0x7010:03 [}94] Modes of operation (MDP) or index 0x6060:0 [}115] Modes of operation (DS402). In the respective process data, the

Predefined PDO Assignment: 'Cyclic synchronous torque mode with commutation angle mode (CSTCA)'

should also be selected (see Process data MDP 742 [}76] or DS402 process data [}80]). The configuration then has to be reloaded in order to activate the selection.

Index 0x6010:03 [}92] Modes of operation display (MDP) or index 0x6061:0 [}115] Modes of operation display (DS402) can be used to check the actual mode of the box.

Via the PLC a defined torque can be set in the Target torque variable as a basis for the box control and the angle to be maintained with the set torque can be specified in the Commutation angle variable. The torque is specified in 1000th of the rated current. A value of 1000

0x8011:12 [}89] Rated current (MDP) or index 0x6075:0 [}116] Motor rated current (DS402). The value 1

, for example, corresponds to the set index

dec

corresponds to one 1000th of the rated current. The angle value must be converted, 65536

corresponds to 360°.

dec

CSV - cyclic synchronous velocity

Select Cyclic synchronous velocity in index 0x7010:03 [}94] Modes of operation (MDP) or index 0x6060:0 [}115] Modes of operation (DS402). In the respective process data, the Predefined PDO Assignment: 'Cyclic synchronous velocity mode (CSV)' should also be selected (see Process data MDP 742 [}76] or DS402 process data [}80]). The configuration then has to be reloaded in order to activate the selection.

Index 0x6010:03 [}92] Modes of operation display (MDP) or index 0x6061:0 [}115] Modes of operation display (DS402) can be used to check the actual mode of the box.

Via the PLC a defined speed can be set in the variable Target velocity 0x7010:06 [}94] (MDP) or 0x60FF:0 [}118] (DS402) as a basis for the box control. The constant value Velocity encoder resolution in CoE object 0x9010:14 [}97] (MDP) or 0x6090:0 [}117] (DS402) corresponds to 1 revolution per second. If this value is

entered under Target velocity, the motor speed is 1 rpm. The velocity can be increased by entering a suitable multiple of the Velocity encoder resolution value under Target velocity.

CSP - cyclic synchronous position

Select Cyclic synchronous position in index 0x7010:03 [}94] Modes of operation (MDP) or index 0x6060:0 [}115] Modes of operation (DS402).

In the respective process data, the Predefined PDO Assignment: 'Cyclic synchronous position mode (CSP)' should also be selected (see Process data MDP 742 [}76] or DS402 process data [}80]). The configuration

then has to be reloaded in order to activate the selection. Index 0x6010:03 [}92] Modes of operation display (MDP) or index 0x6061:0 [}115] Modes of operation

display (DS402) can be used to check the actual mode of the box.

Via the PLC a defined position can be set in the variable Target position 0x7010:05 [}94] (MDP) or 0x607A:0 [}116] (DS402) to which the motor is to drive. The calculated scaling factor is taken as the basis

for the calculation of the position. The value entered in the Target position variable must be multiplied by the calculated scaling factor.

EP721150 Version: 1.0

Commissioning

4.3.6 Settings for the automatic configuration

(Master TwinCAT 2.11 R3)

The EP7211 offers the option of automatically configuring the connected motor from the AM81xx series. The electronic identification plate integrated in the motor is read and the necessary parameters of the box are adapted accordingly.

The automatic configuration is switched off on delivery. The user has the possibility to adapt the automatic configuration according to the flow chart shown below (see fig. Flow chart for the automatic configuration).

Overwriting of the parameters during automatic configuration

The parameters manually changed by the user in the parameter list of the automatic configuration are automatically overwritten at the next start-up if automatic configuration is switched on.

• The automatic configuration can be switched on in the index 0x8001:01 [}85] (0x2018:01 [}113], DS402 Profile) Enable autoconfig.

• In the index 0x8008:02 [}85] (0x2018:02 [}113], DS402 Profile) Reconfig identical motor, the user can decide in the case of replacing an identical motor whether the box should automatically reconfigure the motor (setting = true) or whether the motor should be operated with the stored settings (setting = false). The deactivation of this function can be advantageous, for example, if the user has specially adjusted the motor to his application and does not want to lose these settings after replacing the motor.

• In the index 0x8008:03 [}85] (0x2018:03 [}113], DS402 Profile) Reconfig non-identical motor , the user can decide in the case of replacing a non-identical motor whether the box should automatically reconfigure the motor (setting = true) or whether the motor should be operated with the stored settings (setting = false).

EP7211 51Version: 1.0

Commissioning

Fig.52: Flow chart for the automatic configuration

EP721152 Version: 1.0

Parameter list of the automatic configuration

The following parameters are affected by the automatic configuration.

Index (hex) Name Meaning

MDP 407 Profile DS402 Profile

8010:12 [}86] 2002:12 [}108]

8010:13 [}86] 2002:13 [}108]

8011:11 [}89] 2003:11 [}111]

8011:12 [}89] 2003:12 [}111]

8011:13 [}89] 2003:13 [}111]

8011:15 [}89] 2003:15 [}111]

8011:16 [}89] 2003:16 [}111]

8011:18 [}89] 2003:18 [}111]

8011:19 [}89] 2003:19 [}111]

8011:1B [}89] 2003:1B [}111]

8011:2B [}89] 2003:2B [}111]

8011:2C [}89] 2003:2C [}111]

8011:2D [}89] 2003:2D [}111]

8012:11 [}90] 2004:11 [}112]

8012:12 [}90] 2004:12 [}112]

8012:14 [}90] 2004:14 [}112]

Current loop integral time is calculated according to the symmetrical optimum Current loop proportional gain is calculated according to the symmetrical optimum Max. current is adopted directly from the electronic identification

plate of the connected motor

Rated current is adopted directly from the electronic identification

plate of the connected motor

Motor pole pairs is adopted directly from the electronic identification

plate of the connected motor

Commutation offset is always set to -90° Torque constant is adopted directly from the electronic identification

plate of the connected motor

Rotor moment of inertia is adopted directly from the electronic identification

plate of the connected motor

Winding inductance is adopted directly from the electronic identification

plate of the connected motor

Motor speed limitation Calculation of the max. speed of the connected motor Motor temperature warn level is adopted directly from the electronic identification

plate of the connected motor

Motor temperature error level is adopted directly from the electronic identification

plate of the connected motor

Motor thermal time constant is adopted directly from the electronic identification

plate of the connected motor

Release delay is adopted directly from the electronic identification

plate of the connected motor

Application delay is adopted directly from the electronic identification

plate of the connected motor

Brake moment of inertia is adopted directly from the electronic identification

plate of the connected motor

Commissioning

4.3.7 Configure end position monitoring

Software end position monitoring

The TwinCAT NC can be used to set software end position monitoring for EP7211 to ensure the safety of the system. The axis does not move beyond the set position (maximum/minimum end position). End position monitoring can be activated in the Parameter tab for the corresponding axis.

Fig.53: Pull-down menu for activating end position monitoring

EP7211 53Version: 1.0

Commissioning

4.3.8 Homing

(Master TwinCAT 2.11 R3)

The data given here serve as an example for a servomotor type AM8131-0F20-0000 from Beckhoff Automation. For other motors the values may vary, depending on the application.

Table of contents

Referencing [}54] Function block "MC_Home" [}54] Homing [}55]

Referencing

Referencing does not work via the online commissioning tab of the axis (see Fig. Online homing in the NC).

Fig.54: Online homing in the NC

Function block "MC_Home"

• Referencing must be done from the PLC. The function block MC_Home from the TC MC2 Lib is used for this purpose.

• The following minimum configuration is required in MC_Home.

◦ HomingMode enables selection of mode to be used for referencing. ◦ Execute is used to initiate homing. ◦ bCalibrationCam, which has to be linked with your reference cam, is used to stop homing.

EP721154 Version: 1.0

Commissioning

Fig.55: Configuration of the MC_Home block

• The following figure Extract from the functional description for MC_Home shows an extract from the functional description of MC_Home. Full information can be found in the corresponding functional description.

Fig.56: Extraction from the functional description for MC_Home

Reference modes

• EP7211 can be operated with the following NC reference modes (see Fig. Selection of the reference modes in the NC).

• Default: Is suitable as a general setting and for most applications. Once the motor reaches the reference cam, the direction is reversed. The declining cam signal causes the motor to stop. The reference position is then set.

• Software Sync: The C track is modelled virtually.

EP7211 55Version: 1.0

Commissioning

Fig.57: Selection of the reference modes in the NC

The velocity to be used for homing can also be set in the NC (Fig. Setting the reference velocity).

Fig.58: Setting the reference velocity

EP721156 Version: 1.0

Commissioning

4.3.9 Touch Probe

(Master TwinCAT 2.11 R3)

Functional description

The touch probe function saves the current position of the motor when a signal edge is detected on a digital input [}27].

The process data objects required for this can be activated on the Process data tab (see figs. Touch Probe inputs and Touch Probe outputs).

EP7211 57Version: 1.0

Commissioning

Fig.59: Touch Probe inputs

EP721158 Version: 1.0

Commissioning

Fig.60: Touch Probe outputs

EP7211 59Version: 1.0

Commissioning

Step-by-step

TP1 is used here as an example for the description of the function.

• TP1 Enable must be set to true in order to generally activate the Touch Probe function.

• Subsequently, you must decide whether the position is to be saved on a positive edge at input 1 (TP1 Enable pos edge = true), on a negative edge (TP1 Enable neg edge = true), or in both cases (both set to ‘true’).

• With TP1 Continuous you can decide whether the position is to be saved only at the first event (TP1 Continuous = false) or whether this should take place at every event (TP1 Continuous = true). For example, if TP1 Continous and TP1 Enablepos edge are set, the position is saved on each positive edge at input 1 of the box. If TP1 Enable neg edge is set and TP1 Continuous is not set, the position will only be saved on the first negative edge at input 1 of the box. If you wish to repeat this procedure, you must first deactivate TP1 Enable and then activate it again. Then the position is saved again on the first negative edge.

• The TP1 Trigger mode has no function with the EP7211.

• The saved position of the positive edge can be read in the inputs of the process data under TP1 Pos position, that of the negative edge under TP1 Neg position.

• The variables under Touch probe status are for the diagnosis.

• The Touch Probe inputs must be addressed with a 1-wire +24V signal.

EP721160 Version: 1.0

Commissioning

4.4 Drive profiles

The EP7211 supports the MDP742 and DS402 drive profiles. Both drive profiles contain the same parameters. The drive profiles define the presentation of the parameters in TwinCAT and the index, under which the respective parameters are arranged in the object directory.

• The CoE objects in the MDP742 (Modular Device Profile) are allocated in the way that is common for the Beckhoff IO modules.

• The DS402 drive profile is specified in IEC61800-7-200 (CiA402) and uses a different allocation of the object directory structure.

The drive state machine in both profiles is based on the CiA402 State Machine [}48], which means the functional behavior is identical.

The box is supplied ex factory with the MDP742 drive profile.

Changing the drive profile

You can change the drive profile by carrying out an EEPROM Update [}131]. Select the EEPROM description on the basis of the following table.

Variant of the EP7211 Drive profile EEPROM description

EP7211-0034 MDP742 EP7211-0034

DS402 EP7211-0035

EP7211-9034 MDP742 EP7211-9034

DS402 EP7211-9035

The EEPROM description is at the same time the name of the IO module in the IO tree.

The CoE object description and the process data of the drive profiles are different. The motor XML files that match the set profile must be used.

EP7211 61Version: 1.0

Commissioning

4.5 Operation modes

4.5.1 Overview

Operation modes CST, CSTCA, CSV and CSP are supported. The operation mode is set in the CoE directory in index 0x7010:03 [}94] Modes of operation (MDP) or index 0x6060:0 [}115] Modes of operation

(DS402). In the respective process data the user can additionally select the respective Predefined PDO Assignment. All required variables are then in the process data.

CSV [}63] - cyclic synchronous velocity (velocity control)

The EP7211-x034 operates in the cyclic velocity interface in the CSV operation mode. A defined velocity can be set via the Target velocity variable.

CST [}66] - cyclic synchronous torque (torque control)

The EP7211-x034 operates in the cyclic torque interface in the CST operation mode. A defined torque can be set via the Target torque variable.

CSTCA [}69] - cyclic synchronous torque with commutation angle (torque control with commutation angle)

This operation mode is also intended for use with the cyclic torque interface. In addition the user can specify the commutation angle. The variable Commutation angle can be used to set an angle which is to be maintained with a defined torque set in variable Target torque.

CSP [}72] - cyclic synchronous position (position control)

The EP7211-x034 operates in the cyclic position interface in the CSP operation mode. A defined position can be set via the Target position variable.

For further information on the three operation modes described above please refer to section Commissioning without NC [}48].

EP721162 Version: 1.0

Commissioning

4.5.2 CSV

The EP7211-x034 operates in the cyclic velocity interface in the CSV operation mode. A defined velocity can be set via the Target velocity variable.

Step-by-Step

• Add the box to the configuration as described in the chapter Configuration in TwinCAT [}29].

• Link the box with the NC as described in the chapter Integration into the NC configuration [}30].

• Import the motor XML file into the Startup directory as described in the chapter Settings in the CoE [}39].

• Set the mode of operation in the CoE directory to Cyclic synchronous velocity mode (CSV), Fig. Selection of the mode of operation.

Fig.61: Selection of the mode of operation

• Under Predefined PDO assignment, also select Cyclic synchronous velocity mode (CSV), Fig. Selecting a predefined PDO assignment.

EP7211 63Version: 1.0

Commissioning

Fig.62: Selecting a predefined PDO assignment

• Activate the configuration (Ctrl+Shift+F4)

• Run through the State Machine of the box. There are two ways to do this:

◦ If you use the TwinCAT NC.

The State Machine is run through automatically by the NC. You can enable the axis in the Online tab of the axis. Set all tick marks and set Override to 100% (see Fig. Set enables). The axis can then be moved.

EP721164 Version: 1.0

Commissioning

Fig.63: Set enables

◦ If you don’t use the TwinCAT NC.

In this case you must run through the State Machine manually. To do this, follow the instructions in the chapter Commissioning without the NC [}48].

• The cyclic variable Target velocity (Fig. Torque specification) can be used to specify a defined velocity. The value in the index 0x9010:14 [}97] (0x6090 [}117], DS402) Velocity encoder resolution

corresponds to 1rpm.

Fig.64: Torque specification

EP7211 65Version: 1.0

Commissioning

4.5.3 CST

The EP7211-x034 operates in the cyclic torque interface in the CST operation mode. A defined torque can be set via the Target torque variable.

Step-by-Step

• Add the box to the configuration as described in the chapter Configuration in TwinCAT [}29].

• Link the box with the NC as described in the chapter Integration into the NC configuration [}30].

• Import the motor XML file into the Startup directory as described in the chapter Settings in the CoE [}39].

• Set the mode of operation in the CoE directory to Cyclic synchronous torque mode (CST), Fig.

Selection of the mode of operation

Fig.65: Selection of the mode of operation

• Under Predefined PDO assignment, also select Cyclic synchronous torque mode (CST), Fig. Selecting

a predefined PDO assignment

EP721166 Version: 1.0

Commissioning

Fig.66: Selecting a predefined PDO assignment

• Activate the configuration (Ctrl+Shift+F4)

• Run through the State Machine of the box. There are two ways to do this:

◦ If you use the TwinCAT NC.

The State Machine is run through automatically by the NC. You can enable the axis in the Online tab of the axis. Set all tick marks and set Override to 100% (see Fig. Set enabling). The axis can then be moved.

◦ If you don’t use the TwinCAT NC.

In this case you must run through the State Machine manually. To do this, follow the instructions in the chapter Commissioning without the NC [}48].

EP7211 67Version: 1.0

Commissioning

Fig.67: Set enabling

• The cyclic variable Target torque (Fig. Torque specification) can be used to specify a defined torque.

Fig.68: Torque specification

EP721168 Version: 1.0

Commissioning

4.5.4 CSTCA

Step-by-Step

• Add the box to the configuration as described in the chapter Configuration in TwinCAT [}29].

• Link the box with the NC as described in the chapter Integration into the NC configuration [}30].

• Import the motor XML file into the Startup directory as described in the chapter Settings in the CoE [}39].

• Set the mode of operation in the CoE directory to Cyclic synchronous torque mode with commutation angle (CSTCA), Fig. Selection of the mode of operation

Fig.69: Selection of the mode of operation

• Under Predefined PDO assignment, also select Cyclic synchronous torque mode with commutation angle (CSTCA), Fig. Selecting a predefined PDO assignment.

EP7211 69Version: 1.0

Commissioning

Fig.70: Selecting a predefined PDO assignment

• Activate the configuration (Ctrl+Shift+F4)

• Run through the State Machine of the box. There are two ways to do this:

◦ If you use the TwinCAT NC.

EP721170 Version: 1.0

Commissioning

Fig.71: Set enables

◦ If you don’t use the TwinCAT NC.

In this case you must run through the State Machine manually. To do this, follow the instructions in the chapter Commissioning without the NC [}48].

• You can specify a defined torque via the cyclic variable Target torque. The value is specified in 1000ths of the rated current and the torque is calculated according to the following equation, where the rated

current refers to the value in the index 0x8011:12 [}89] rated current.

You can specify a defined angle via the cyclic variable Commutation angle. The value is specified in 360°/216.

Fig.72: Specification of torque and commutation angle

EP7211 71Version: 1.0

Commissioning

4.5.5 CSP

The EP7211-x034 operates in the cyclic position interface in the CSP operation mode. A defined position can be set via the Target position variable.

Minimum cycle time

The cycle time in CSP modus must be 2^n*125µs (where n = 1 to 8), i.e. 250µs, 500µs, 1ms, 2ms, 4ms, 8ms, 16ms or 32ms.

Step-by-Step

• Add the box to the configuration as described in the chapter Configuration in TwinCAT [}29].

• Link the box with the NC as described in the chapter Integration into the NC configuration [}30].

• Configure the motor with the help of the automatic configuration [}51] (OCT types only) using the Drive Manager [}34] or import the motor XML file into the Start-up directory as described in the chapter Settings in the CoE [}39].

• Set the mode of operation in the CoE directory to Cyclic synchronous position mode (CSP), Fig. Selection of the mode of operation.

Fig.73: Selection of the mode of operation

• Under Predefined PDO assignment, also select Cyclic synchronous position mode (CSP), Fig. Selecting a predefined PDO assignment.

EP721172 Version: 1.0

Commissioning

Fig.74: Selecting a predefined PDO assignment

• Activate the configuration (Ctrl+Shift+F4)

• Run through the State Machine of the box. There are two ways to do this:

◦ If you use the TwinCAT NC.

The State Machine is run through automatically by the NC. You can enable the axis in the “Online” tab of the axis. Set all tick marks and set Override to 100% (see Fig. Set enabling). The axis can then be moved.

EP7211 73Version: 1.0

Commissioning

Fig.75: Set enabling

◦ If you don’t use the TwinCAT NC.

In this case you must run through the State Machine manually. To do this, follow the instructions in the chapter Commissioning without the NC [}48].

• You can specify a position via the cyclic variable Target position (fig. Position specification). The value must be multiplied by the calculated scaling factor [}44] in order to obtain the correct position.

Fig.76: Position specification

EP721174 Version: 1.0

Commissioning

Following error monitor

Furthermore, there is an option in CSP mode to activate a following error monitor. The following error monitor is switched off on delivery. In all other modes this is not used and is ignored.

• The window of the following error monitor can be adjusted with the Following error window (Index 0x8010:50 MDP742 / Index 0x6065 DS402). The value set here – multiplied by the scaling factor – specifies by what position the actual position may differ from the set position, positively and negatively. The total accepted tolerance is thus twice as large as the position entered in the Following error window (see fig. Following error window).

Fig.77: Following error window

• The time (in ms) allowed for a following error exceedance can be set with the Following error time out (Index 0x8010:51 MDP742 / Index 0x6066 DS402). As soon as the target position is exceeded by more than the position entered in the Following error window for the time entered in the Following error time out, the box outputs an error and stops immediately.

• The current following error can be read in the Following error actual value (Index 0x6010:09 MDP742 / Index 0x60F4 DS402).

Fig.78: Following error time out

The value 0xFFFFFF (- 1) in the Following error window means that the following error monitor is switched off and corresponds to the delivery state. The Following error time out is 0x0000 (0) on delivery.

EP7211 75Version: 1.0

Commissioning

4.6 Process data MDP 742

Table of contents

• Sync Manger

• PDO Assignment

• Predefined PDO Assignment

Sync Manager (SM)

Sync Manager (SM) The extent of the process data that is made available can be changed through the "Process data" tab (see following Fig.).

Fig.79: Process Data tab SM2, EP7211 (default)

EP721176 Version: 1.0

Commissioning

Fig.80: Process Data tab SM3, EP7211 (default)

EP7211 77Version: 1.0

Commissioning

PDO Assignment

In order to configure the process data, select the desired Sync Manager (SM 2 & 3 can be edited here) in the upper left-hand "Sync Manager" box (see fig. Process data SM3 tab). The process data assigned to this Sync Manager can then be switched on or off in the “PDO Assignment” box underneath. Restarting the EtherCAT system, or reloading the configuration in Config mode (F4), causes the EtherCAT communication to restart, and the process data is transferred from the box.

SM2, PDO Assignment 0x1C12

Index Size (byte.bit) Name PDO Content

0x1600 (default) 2.0 DRV Controlword 0x1601 (default) 4.0 DRV Target velocity 0x1602 2.0 DRV Target torque 0x1603 2.0 DRV Commutation angle 0x1604 2.0 DRV Torque limitation 0x1605 2.0 DRV Torque offset 0x1606 4.0 DRV Target position 0x1607 2.0 FB Touch probe control Index 0x7001:0

Index 0x7010:01 [}94] Index 0x7010:06 [}94] Index 0x7010:09 [}94] Index 0x7010:0E [}94] Index 0x7010:0B [}94] Index 0x7010:0A [}94] Index 0x7010:05 [}94]

Index 0x7001:01 [}93] Index 0x7001:02 [}93] Index 0x7001:03 [}93] Index 0x7001:05 [}93] Index 0x7001:06 [}93] Index 0x7001:09 [}93] Index 0x7001:0A [}93] Index 0x7001:0B [}93] Index 0x7001:0D [}93] Index 0x7001:0E [}93]

TP1 Enable TP1 Continous TP1 Trigger mode TP1 Enable pos. edge TP1 Enable neg. edge TP2 Enable TP2 Continous TP2 Trigger mode TP2 Enable pos. edge TP2 Enable neg. edge

SM3, PDO Assignment 0x1C13

Index Size (byte.bit) Name PDO Content

0x1A00 (default) 4.0 FB position 0x1A01 (default) 2.0 DRV Statusword 0x1A02 4.0 DRV Velocity actual value 0x1A03 2.0 DRV Torque actual value 0x1A04 2.0 DRV Info data 1 0x1A05 2.0 DRV Info data 2 0x1A06 4.0 DRV Following error actual value 0x1A07 2.0 FB Touch probe status Index 0x6001:0

0x1A08 4.0 FB Touch probe 1 pos. position 0x1A09 4.0 FB Touch probe 1 neg. position 0x1A0A 4.0 FB Touch probe 2 pos. position 0x1A0B 4.0 FB Touch probe 2 neg. position

Index 0x6000:11 [}91] Index 0x6010:01 [}92] Index 0x6010:07 [}92] Index 0x6010:08 [}92] Index 0x6010:12 [}92] Index 0x6010:13 [}92] Index 0x6010:09 [}92]

Index 0x6001:01 [}92] Index 0x6001:02 [}92] Index 0x6001:03 [}92] Index 0x6001:08 [}92] Index 0x6001:09 [}92] Index 0x6001:0A [}92] Index 0x6001:0B [}92] Index 0x6001:10 [}92]

Index 0x6001:11 [}92] Index 0x6001:12 [}92] Index 0x6001:13 [}92] Index 0x6001:14 [}92]

TP1 Enable TP1 Pos. value stored TP1 Neg. value stored TP1 Input TP2 Enable TP2 Pos. value stored TP2 Neg. value stored TP2 Input

EP721178 Version: 1.0

Commissioning

Predefined PDO Assignment

The "Predefined PDO Assignment" enables a simplified selection of the process data. The desired function is selected on the lower part of the "Process Data" tab. As a result, all necessary PDOs are automatically activated and the unnecessary PDOs are deactivated.

The following PDO assignments are available:

Name SM2, PDO assignment SM3, PDO assignment

Cyclic synchronous velocity mode (CSV)

Cyclic synchronous torque mode (CST)

Cyclic synchronous torque mode with commutation angle (CSTCA)

Cyclic synchronous position mode (CSP)

0x1600 [}99] (DRV Controlword)

0x1601 [}99] (DRV Target velocity) 0x1600 [}99] (DRV Controlword)

0x1602 [}99] (DRV Target torque)

0x1600 [}99] (DRV Controlword) 0x1602 [}99] (DRV Target torque)

0x1603 [}99] (DRV Commutation angle) 0x1600 [}99] (DRV Controlword)

0x1606 [}100] (DRV Target position)

0x1A00 [}100] (FB Position)

0x1A01 [}100] (DRV Statusword) 0x1A00 [}100] (FB Position)

0x1A01 [}100] (DRV Statusword)

0x1A03 [}101] (DRV Torque actual value) 0x1A01 [}100] (DRV Statusword)

0x1A00 [}100](FB Position) 0x1A01 [}100](DRV Statusword)

Fig.81: Process data tab - Predefined PDO Assignment

EP7211 79Version: 1.0

Commissioning

4.7 DS402 process data

Table of contents

Sync Manager [}80] PDO Assignment [}82] Predefined PDO Assignment [}83]

Sync Manager (SM)

Sync Manager (SM). The extent of the process data that is made available can be changed via the "Process data" tab (see Fig. Process data tab SM2 (default)).

Fig.82: Process Data tab SM2 (default)

EP721180 Version: 1.0

Commissioning

Fig.83: Process Data tab SM3 (default)

EP7211 81Version: 1.0

Commissioning

PDO Assignment

In order to configure the process data, select the desired Sync Manager (SM 2 & 3 can be edited) in the upper left-hand "Sync Manager" box (see fig.). The process data assigned to this Sync Manager can then be switched on or off in the “PDO Assignment” box underneath. Restarting the EtherCAT system, or reloading the configuration in Config mode (F4), causes the EtherCAT communication to restart, and the process data is transferred from the box.

SM2, PDO Assignment 0x1C12

Index Size (byte.bit) Name PDO Content

0x1600 (default) 2.0 DS402 Controlword 0x1601 (default) 4.0 DS402 Target velocity 0x1602 2.0 DS402 Target torque 0x1603 2.0 DS402 Commutation angle 0x1604 2.0 DS402 Torque limitation 0x1605 2.0 DS402 Torque offset 0x1606 4.0 DS402 Target position 0x1607 2.0 DS402 FB Touch probe function

Index 0x6040 [}114] Index 0x60FF [}118] Index 0x6071 [}116] Index 0x60EA [}118] Index 0x6072 [}116] Index 0x2001:11 [}114] Index 0x607A [}116] Index 0x60B8 [}117]

Bit 0 Bit 1 Bit 2 Bit 4 Bit 5 Bit 8 Bit 9 Bit 10 Bit 12 Bit 13

TP1 Enable TP1 Continous TP1 Trigger mode TP1 Enable pos. edge TP1 Enable neg. edge TP2 Enable TP2 Continous TP2 Trigger mode TP2 Enable pos. edge TP2 Enable neg. edge

SM3, PDO Assignment 0x1C13

Index Size (byte.bit) Name PDO Content

0x1A00 (default) 2.0 DS402 Statusword 0x1A01 (default) 4.0 DS402 Position actual value 0x1A02 4.0 DS402 Velocity actual value 0x1A03 2.0 DS402 Torque actual value 0x1A04 4.0 DS402 Following error actual

value

0x1A05 2.0 DS402 Touch probe status

0x1A06 4.0 DS402 Touch probe 1 pos. po-

sition

0x1A07 4.0 DS402 Touch probe 1 neg. po-

sition

0x1A08 4.0 DS402 Touch probe 2 pos. po-

sition

0x1A09 4.0 DS402 Touch probe 2 neg. po-

sition

Index 0x6041 [}114] Index 0x6064 [}115] Index 0x606C [}115] Index 0x6077 [}116] Index 0x60F4 [}118]

Index 0x60B9 [}117] Bit 0

Bit 1 Bit 2 Bit 7 Bit 8 Bit 9 Bit 10 Index 6001:10

Index 0x60BA [}117]

Index 0x60BB [}117]

Index 0x60BC [}117]

Index 0x60BD [}118]

TP1 Enable TP1 Pos. value stored TP1 Neg. value stored TP1 Input TP2 Enable TP2 Pos. value stored TP2 Neg. value stored TP2 Input

EP721182 Version: 1.0

Commissioning

Predefined PDO Assignment

The following PDO assignments are available:

Name SM2, PDO assignment SM3, PDO assignment

Cyclic synchronous velocity mode (CSV)

Cyclic synchronous torque mode (CST)

Cyclic synchronous torque mode with commutation angle (CSTCA)

Cyclic synchronous position mode (CSP)

0x1600 [}123] (DS402 Controlword) 0x1601 [}123] (DS402 Target velocity)

0x1600 [}123] (DS402 Controlword) 0x1602 [}123] (DS402 Target torque)

0x1600 [}123] (DS402 Controlword) 0x1602 [}123] (DS402 Target torque) 0x1603 [}123] (DS402 Commutation an-

gle)

0x1600 [}123] (DS402 Controlword) 0x1606 [}124] (DS402 Target position)

0x1A00 [}124] (DS402 Statusword) 0x1A01 [}124] (DS402 Position actual

value)

0x1A00 [}124] (DS402 Statusword) 0x1A01 [}124] (DS402 Position actual

value)

0x1A03 [}124] (DS402 Torque actual value) 0x1A00 [}124] (DS402 Statusword)

0x1A00 [}124] (DS402 Statusword) 0x1A01 [}124] (DS402 Position actual

value)

Fig.84: Process data tab - Predefined PDO Assignment

EP7211 83Version: 1.0

Commissioning

4.8 Object description (MDP 742)

EtherCAT XML Device Description

The display matches that of the CoE objects from the EtherCAT XML Device Description. We recommend downloading the latest XML file from the download area of the Beckhoff website and in-

stalling it according to installation instructions.

Parameterization via the CoE list (CAN over EtherCAT)

The box is parameterized via the CoE - Online tab (double-click on the respective object) or via the Process Data tab (assignment of PDOs). Please note the following general CoE information when using/manipulating the CoE parameters:

- Keep a startup list if components have to be replaced

- Differentiation between online/offline dictionary, existence of current XML description

- use "CoE reload" for resetting changes

NOTE

Risk of damage to the device!

We strongly advise not to change settings in the CoE objects while the axis is active, since this could impair the control.

4.8.1 Restore object

Index 1011 Restore default parameters

Index (hex) Name Meaning Data type Flags Default

1011:0 Restore default param-

eters

1011:01 SubIndex 001 If this object is set to “0x64616F6C” in the set value di-

Restore default parameters UINT8 RO 0x01 (1

alog, all backup objects are reset to their delivery state.

UINT32 RW 0x00000000

)

dec

4.8.2 Configuration data

Index 8000 FB settings

Index (hex) Name Meaning Data type Flags Default

8000:0 FB Settings Maximum subindex UINT8 RO 0x13 (19 8000:01 Invert feedback direc-

tion 8000:02 Referenced BOOLEAN RW 0x00 (0 8000:11 Device type 3: OCT (not changeable) UINT32 RW 0x00000003

8000:12 Single-turn bits 8000:13 Multi-turn bits 8000:14 Observer bandwidth Bandwidth of the speed observer [Hz] UINT16 RW 0x01F4

8000:15 Observer feed-forward Load ratio [%]

8000:17 Position Offset UINT32 RW 0x00000000

Inverting the count direction BOOLEAN RW 0x00 (0

(3 Number of single-turn bits [}41] Number of multi-turn bits [}41]

100% = load-free 50% = mass moments of inertia of input and output are

equal

UINT8 RW 0x14 (20 UINT8 RW 0x0C (12

(500

UINT8 RW 0x01 (0

dec

)

dec

)

dec

)

dec

)

EP721184 Version: 1.0

Commissioning

Index 8008 FB OCT Settings

Index (hex) Name Meaning Data type Flags Default

8008:0 FB OCT Settings Maximum subindex UINT8 RO 0x00 (0 8008:01 Enable autoconfig Configuration takes place automatically after the read-

ing of the electronic type plate (see Automatic scanning of the electronic type plates [}51])

8008:02 Reconfig identical mo-

tor

When replacing identical motors, reconfiguration takes place automatically after reading the electronic type plate. Enable autoconfig must be activated.

(see Automatic scanning of the electronic type plates [}51])

8008:03 Reconfig non-identical

motor

When replacing non-identical motors, reconfiguration takes place automatically after reading the electronic type plate. Enable autoconfig must be activated.

(see Automatic scanning of the electronic type plates [}51])

BOOLEAN RW 0x00 (0

)

dec

)

dec

)

dec

)

dec

EP7211 85Version: 1.0

Commissioning

Index 8010 DRV Amplifier Settings

Index (hex) Name Meaning Data type Flags Default

8010:0 DRV Amplifier Settings Maximum subindex UINT8 RO 0x42 (66 8010:01 Enable TxPDOToggle Show TxPDO toggle in status word (bit 10) BOOLEAN RW 0x00 (0 8010:02 Enable input cycle

1: enabled

BOOLEAN RW 0x00 (0

counter

Two-bit counter that is incremented with each process data cycle up to a maximum value of 3, after which it starts again at 0

The low bit is represented in bit 10 and the high bit in bit 14 of the Status word.

8010:11 Device type 1: Servo drive (cannot be changed) UINT32 RW 0x00000001

8010:12* Current loop integral

time

Integral component of current controller Unit: 0.1ms

UINT16 RW 0x000A (10

This value is affected by automatic scanning. (see Automatic scanning of the electronic identifica- tion plates [}51])

8010:13* Current loop propor-

tional gain

Proportional component of current controller Unit: 0.1V/A

UINT16 RW 0x0064

(100

This value is affected by automatic scanning. (see Automatic scanning of the electronic identifica- tion plates [}51])

8010:14 Velocity loop integral

time

8010:15 Velocity loop propor-

tional gain

8010:17 Position loop propor-

tional gain

8010:19 Nominal DC link volt-

age

8010:1A Min DC link voltage Minimum DC link voltage

8010:1B Max DC link voltage Maximum DC link voltage

8010:29 Amplifier I2T warn

level

8010:2A Amplifier I2T error

level

8010:2B Amplifier Temperature

warn level

8010:2C Amplifier Temperature

error level

8010:31 Velocity limitation Velocity limitation

8010:32 Short-Circuit Brake du-

ration max

8010:33 Stand still window Standstill window

Integral component of velocity controller Unit: 0.1ms

Proportional component of velocity controller Unit: mA / (rad/s)

Proportional component position controller Unit: (rad/s) / rad

Nominal DC link voltage

Unit: mV

I²T model warning threshold Unit: %

I²T model error threshold Unit: %

Overtemperature warning threshold Unit: 0.1 °C

Overtemperature error threshold

Unit: 0.1 °C

Unit: rpm

Max. duration of armature short circuit brake Unit: ms

UINT32 RW 0x00000032

(50

UINT32 RW 0x00000096

(150

UINT32 RW 0x0000000A

(10

UINT32 RW 0x0000BB80

(48000

UINT32 RW 0x00001A90

(6800

UINT32 RW 0x0000EA60

(60000

UINT8 RW 0x50 (80

UINT8 RW 0x69 (105

UINT16 RW 0x0320

(800

UINT16 RW 0x03E8

(1000

UINT32 RW 0x00040000

(262144

UINT16 RW 0x03E8

(1000

UINT16 RW 0x0000 (0

Unit: rpm

dec

)

dec

)

dec

)

dec

)

dec

)

dec

)

dec

)

dec

)

dec

)

dec

)

dec

)

dec

) ) )

)

dec

)

dec

)

dec

*) see index 9009 FB OCT Nameplate

EP721186 Version: 1.0

Commissioning

Index (hex) Name Meaning Data type Flags Default

8010:39 Select info data 1 Selection "Info data 1"

Optional display of additional information in the cyclic process data. The following parameters are available.

Torque current (filtered 1ms) [1000th of rated current] DC link voltage [mV] PCB temperature [0.1 °C] Errors:

Bit0: ADC Error Bit1: Overcurrent Bit 2: Undervoltage Bit 3: Overvoltage Bit 4: Overtemperature Bit 5: I2T Amplifier Bit 6: I2T Motor Bit 7: Encoder Bit 8: Watchdog

Warnings: Bit 2: Undervoltage

Bit 3: Overvoltage Bit 4: Overtemperature Bit 5: I2T Amplifier Bit 6: I2T Motor Bit 7: Encoder

I2T Motor [%] I2T Amplifier [%] Input Level:

Bit0: Digital Input 1 Level Bit1: Digital Input 2 Level Bit 8: STO Input Level (STO variant, only)

8010:3A Select info data 2 Selection "Info data 2"

Optional display of additional information in the cyclic process data. The following parameters are available.

Torque current (filtered 1ms) [1000th of rated current] DC link voltage [mV] PCB temperature [0.1 °C] Errors:

UINT8 RW 0x01 (1

)

dec

)

dec

Bit0: ADC Error Bit1: Overcurrent Bit 2: Undervoltage Bit 3: Overvoltage Bit 4: Overtemperature Bit 5: I2T Amplifier Bit 6: I2T Motor Bit 7: Encoder Bit 8: Watchdog

Warnings: Bit 2: Undervoltage

Bit 3: Overvoltage Bit 4: Overtemperature Bit 5: I2T Amplifier Bit 6: I2T Motor Bit 7: Encoder

I2T Motor [%] I2T Amplifier [%] Input Level:

Bit0: Digital Input 1 Level Bit1: Digital Input 2 Level Bit 8: STO Input Level (STO variant, only)

8010:41 Low-pass filter fre-

quency

Low-pass filter frequency Unit: Hz

The following values can be set: 0 Hz = off 160Hz 320Hz

8010:49 Halt ramp deceleration Halt ramp deceleration

Unit: 0.1 rad / s²

UINT16 RW 0x0140

(320

)

dec

UINT32 RW 0x0000F570

(62832

)

dec

EP7211 87Version: 1.0

Commissioning

Index (hex) Name Meaning Data type Flags Default

8010:50 Following error window Following error monitor: Following error window

Unit: the given value must be multiplied by the corresponding scaling factor

UINT32 RW 0xFFFFFFFF

(-1

dec

)

8010:51 Following error time

out

0xFFFFFFFF (-1 Any other value = following error monitor on

Following error monitor: Timeout Unit: ms

) = following error monitor off

dec

If the following error is larger than the following error window for a time that exceeds the timeout, this leads to an error reaction

8010:52 Fault reaction option

code

Permitted values 0: Disable drive function, motor is free to rotate 1: Slow down on slow down ramp

8010:53 Position loop propor-

tional gain

Proportional component position controller Unit: mA / (rad/s)

8010:54 Feature bits The adjustable motor current values can be interpreted

as peak values or rms values. The feature bit enables the conversion.

Peak value → Bit 0 = 0 (default) RMS value → Bit 0 = 1

normal output current → Bit 1 = 0 (default) increased output current → Bit 1 = 1

From these, the following combinations can be set: 0

→ normal output current interpreted as peak value

dec

→ normal output current interpreted as rms value

dec

→ increased output current interpreted as peak

dec

value 3

→ increased output current interpreted as rms

dec

value

UINT16 RW 0x0000 (0

dec

)

dec

UINT32 RW 0x00000000 (0

)

dec

UINT32 RW 0x00000000 (0

)

dec

)

*) see index 9009 FB OCT Nameplate

EP721188 Version: 1.0

Commissioning

Index 8011 DRV Motor Settings

Index (hex) Name Meaning Data type Flags Default

8011:0 DRV Motor Settings Maximum subindex UINT8 RO 0x2D (45 8011:11* Max current Peak current

Unit: mA The adjustable motor current values can be interpreted

as peak values or rms values. The feature bit (8010:54 [}86]) enables the conversion.

Peak value → Bit 0 = 0 (default) RMS value → Bit 0 = 1

This value is affected by automatic scanning. (see Automatic scanning of the electronic identifica- tion plates [}51])

8011:12* Rated current Nominal current

Unit: mA The adjustable motor current values can be interpreted

as peak values or rms values. The feature bit (8010:54 [}86]) enables the conversion.

Peak value → Bit 0 = 0 (default) RMS value → Bit 0 = 1

This value is affected by automatic scanning. (see Automatic scanning of the electronic identifica- tion plates [}51])

8011:13* Motor pole pairs Number of pole pairs

This value is affected by automatic scanning. (see Automatic scanning of the electronic identifica- tion plates [}51])

8011:15* Commutation offset Commutation offset (between electrical zero position

and mechanical single-turn zero position) Unit:

UINT32 RW 0x00001770

(6000

dec

UINT32 RW 0x000003E8

(1000

dec

UINT8 RW 0x03 (3

INT16 RW 0x0000 (0

)

dec

)

dec

)

dec

This value is affected by automatic scanning. (see Automatic scanning of the electronic identifica- tion plates [}51])

8011:16* Torque constant Torque constant

Unit: mNm/A

This value is affected by automatic scanning. (see Automatic scanning of the electronic identifica- tion plates [}51])

8011:18* Rotor moment of iner-

tia

Mass moment of inertia of the motor Unit: g cm^2

This value is affected by automatic scanning. (see Automatic scanning of the electronic identifica- tion plates [}51])

8011:19* Winding inductance Inductance

Unit: 0.1 mH

This value is affected by automatic scanning. (see Automatic scanning of the electronic identifica- tion plates [}51])

8011:1B* Motor speed limitation Velocity limitation

Unit: rpm

This value is affected by automatic scanning. (see Automatic scanning of the electronic identifica- tion plates [}51])

UINT32 RW 0x00000000

)

dec

UINT32 RW 0x00000000

)

dec

UINT16 RW 0x000E (14

UINT32 RW 0x00040000

(262144

dec

)

dec

)

*) see index 9009 FB OCT Nameplate

EP7211 89Version: 1.0

Commissioning

Index (hex) Name Meaning Data type Flags Default

8011:29 I2T warn level I2T model warning threshold

UINT8 RW 0x50 (80

Unit: %

8011:2A I2T error level I2T model error threshold

UINT8 RW 0x69 (105

Unit: %

8011:2B* Motor Temperature

warn level

Overtemperature warning threshold Unit: 0.1 °C

UINT16 RW 0x03E8

(1000

This value is affected by automatic scanning. (see Automatic scanning of the electronic identifica- tion plates [}51])

8011:2C* Motor Temperature er-

ror level

Overtemperature error threshold Unit: 0.1 °C

UINT16 RW 0x05DC

(1500

This value is affected by automatic scanning. (see Automatic scanning of the electronic identifica- tion plates [}51])

8011:2D* Motor thermal time

constant

Thermal time constant Unit: 0.1 s

UINT16 RW 0x0028 (40

This value is affected by automatic scanning. (see Automatic scanning of the electronic identifica- tion plates [}51])

*) see index 9009 FB OCT Nameplate

)

dec

)

dec

)

dec

)

dec

)

dec

Index 8012 DRV Brake Settings

Index (hex) Name Meaning Data type Flags Default

8012:0 DRV Brake Settings Maximum subindex UINT8 RO 0x14 (20 8012:01 Manual override (re-

lease)

8012:11* Release delay Time the holding brake requires for opening (releasing)

8012:12* Application delay Time the holding brake requires for closing (holding)

8012:13 Emergency application

timeout

8012:14* Brake moment of iner-

tia

Manual release of the motor holding brake BOOLEAN RW 0x00 (0

UINT16 RW 0x0000 (0

after the current was applied

This value is affected by automatic scanning. (see Automatic scanning of the electronic type plates)

UINT16 RW 0x0000 (0

after the current was switched off

This value is affected by automatic scanning. (see Automatic scanning of the electronic type plates)

Time the amplifier waits, until the rotation speed

UINT16 RW 0x0000 (0 reaches the stand still window after stop request (set rotation speed 0 or Torque off). If the set waiting time is exceeded, the holding brake is triggered independently of the rotation speed.

Note:

For rotatory axes and the setting „torque off“ in error case, this parameter has to be set at least to the „coast to the stop“ time of the axis.

For suspended (hanging) axes and the setting „torque off“ in error case, this parameter has to be set to an appropriate short time, to prevent the axis/load from drop/fall.

Mass moment of inertia of the brake

UINT16 RW 0x0000 (0 Unit: g cm^2

)

dec

)

dec

)

dec

)

dec

)

dec

)

dec

This value is affected by automatic scanning. (see Automatic scanning of the electronic type plates)

*) see index 9009 FB OCT Nameplate

EP721190 Version: 1.0

Commissioning

4.8.3 Configuration data (vendor-specific)

Index 801F DRV Vendor data

Index (hex) Name Meaning Data type Flags Default

801F:0 DRV Vendor data Maximum subindex UINT8 RO 0x14 (20 801F:11 Amplifier peak current Peak current of the amplifier (peak value)

Unit: mA

801F:12 Amplifier rated current Tated current of the amplifier (peak value)

Unit: mA

801F:13 Amplifier thermal time

constant

801F:14 Amplifier overcurrent

threshold

Thermal time constant of the amplifier Unit: 0.1 ms

Threshold value for short-circuit detection Unit: mA

UINT32 RW 0x00001F40

(8000

UINT32 RW 0x00000FA0

(4000

UINT16 RW 0x0023 (35

UINT32 RW 0x00002EE0

(12000

4.8.4 Command object

Index FB00 command

Index (hex) Name Meaning Data type Flags Default

FB00:0 DCM Command Max. subindex UINT8 RO 0x03 (3 FB00:01 Request 0x1000 Clear the

Diag History

0x1100 Get build

number

0x1101 Get build

date

0x1102 Get build

time

0x8000 Software re-

set

FB00:02 Status 0 Finished,

no error, no response

1 Finished,

no error, response

2 Finished,

error, no response

3 Finished,

error, response

255 Executing Command is being executed

FB00:03 Response dependent on the request OCTET-

Clear the Diag History OCTET-

STRING[2]

Read out the build number

Read out the build date

Read out the build time

Perform a software reset (hardware is re-initialized with the current CoE configuration; this otherwise happens only during the transition to INIT)

Command terminated without

UINT8 RO 0x00 (0

error and without response

Command terminated without error and with response

Command terminated with error and without response

Command terminated with error and with response

STRING[4]

RW {0}

RO {0}

)

dec

)

dec

)

dec

)

dec

)

dec

)

dec

)

dec

4.8.5 Input data

Index 6000 FB Inputs

Index (hex) Name Meaning Data type Flags Default

6000:0 FB Inputs Maximum subindex UINT8 RO 0x11 (17 6000:11 Position Position UINT32 RO 0x00000000

EP7211 91Version: 1.0

dec

)

dec

)

Commissioning

Index 6001 FB Touch probe inputs

Index (hex) Name Meaning Data type Flags Default

6001:0 FB Touch probe inputs Maximum subindex UINT8 RO 0x14 (20 6001:01 TP1 Enable Touchprobe 1 switched on BOOLEAN RO 0x00 (0 6001:02 TP1 pos value stored Positive value of Touchprobe 1 saved BOOLEAN RO 0x00 (0 6001:03 TP1 Neg value stored Negative value of Touchprobe 1 saved BOOLEAN RO 0x00 (0 6001:09 TP2 Enable Touchprobe 2 switched on BOOLEAN RO 0x00 (0 6001:0A TP2 pos value stored Positive value of Touchprobe 2 saved BOOLEAN RO 0x00 (0 6001:0B TP2 neg value stored Negative value of Touchprobe 2 saved BOOLEAN RO 0x00 (0 6001:11 TP1 pos position Positive value of Touchprobe 1

Unit: the given value must be multiplied by the corresponding scaling factor [}44]

6001:12 TP1 neg position Negative value of Touchprobe 1

Unit: the given value must be multiplied by the corresponding scaling factor [}44]

6001:13 TP2 pos position Positive value of Touchprobe 2

Unit: the given value must be multiplied by the corresponding scaling factor [}44]

6001:14 TP2 neg position Negative value of Touchprobe 2

Unit: the given value must be multiplied by the corresponding scaling factor [}44]

UINT32 RO 0x00000000

)

dec

UINT32 RO 0x00000000

)

dec

UINT32 RO 0x00000000

)

dec

UINT32 RO 0x00000000

)

dec

)

dec

)

dec

)

dec

)

dec

)

dec

)

dec

)

dec

Index 6010 DRV Inputs

Index (hex) Name Meaning Data type Flags Default

6010:0 DRV Inputs Maximum subindex UINT8 RO 0x13 (19 6010:01 Statusword Statusword

Bit 0: Ready to switch on Bit 1: Switched on Bit 2: Operation enabled Bit 3: Fault Bit 4: reserved Bit 5: Quick stop (inverse) Bit 6: Switch on disabled Bit 7: Warning Bit 8 + 9: reserved Bit 10: TxPDOToggle (selection/deselection via

0x8010:01 [}86]) Bit 11: Internal limit active Bit 12: (Target value ignored) Bit 13 - 15: reserved

6010:03 Modes of operation

Modes of operation display.

display

Permitted values: 9: Cyclic synchronous velocity mode (CSV) 10: Cyclic synchronous torque mode (CST) 11: Cyclic synchronous torque mode with commutation angle (CSTCA)

6010:06 Following error actual

value

Following error Unit: the given value must be multiplied by the corre-

sponding scaling factor [}44]

6010:07 Velocity actual value Display of the current velocity value

Unit: see Index 0x9010:14 [}97]

6010:08 Position actual value Display of current torque value

The value is specified in 1000th of the rated current (0x8011:12)

Equation for index 8010:54 [}86] = 0 : M = ((Torque actual value / 1000) x (rated current /

√2)) x torque constant (8011:16 [}89])

UINT16 RO 0x0000 (0

UINT8 RO 0x00 (0

INT32 RO 0x00000000

)

dec

INT32 RO 0x00000000

)

dec

INT16 RO 0x0000 (0

)

dec

)

dec

)

dec

)

dec

Equation for index 8010:54 [}86] = 1 : M = ((Torque actual value / 1000) x rated current)) x

torque constant (8011:16 [}89])

6010:12 Info data 1 Synchronous information (selection via subindex

0x8010:39 [}86])

6010:13 Info data 2 Synchronous information (selection via subindex

0x8010:3A [}86])

UINT16 RO 0x0000 (0

EP721192 Version: 1.0

)

dec

)

dec

Commissioning

4.8.6 Output data

Index 7001 FB Touch probe outputs

Index (hex) Name Meaning Data type Flags Default

7001:0 FB Touch probe out-

puts 7001:01 TP1 Enable Switch on Touchprobe 1 BOOLEAN RO 0x00 (0 7001:02 TP1 Continous 0: triggered only on the first event

7001:03 TP1 Trigger mode Input 1 is triggered (not changeable) BIT2 RO 0x00 (0 7001:05 TP1 Enable pos edge Trigger on positive edge BOOLEAN RO 0x00 (0 7001:06 TP1 Enable neg edge Trigger on negative edge BOOLEAN RO 0x00 (0 7001:09 TP2 Enable Switch on Touchprobe 2 BOOLEAN RO 0x00 (0 7001:0A TP2 Continous 0: triggered only on the first event

7001:0B TP2 Trigger mode Input 2 is triggered (not changeable) BIT2 RO 0x00 (0 7001:0D TP2 Enable pos edge Trigger on positive edge BOOLEAN RO 0x00 (0 7001:0E TP2 Enable neg edge Trigger on negative edge BOOLEAN RO 0x00 (0

Maximum subindex UINT8 RO 0x0E (14

BOOLEAN RO 0x00 (0

1. triggered on every event

BOOLEAN RO 0x00 (0

1. triggered on every event

)

dec

)

dec

)

dec

)

dec

)

dec

)

dec

)

dec

)

dec

)

dec

)

dec

)

dec

EP7211 93Version: 1.0

Commissioning

Index 7010 DRV Outputs

Index (hex) Name Meaning Data type Flags Default

7010:0 DRV Outputs Maximum subindex UINT8 RO 0x0E (14 7010:01 Controlword Controlword

Bit 0: Switch on Bit 1: Enable voltage Bit 2: Quick stop (inverse) Bit 3: Enable operation Bit 4 - 6: reserved Bit 7: Fault reset Bit 8 - 15: reserved

7010:03 Modes of operation Permitted values:

0x08: Cyclic synchronous position mode (CSP) 0x09: Cyclic synchronous velocity mode (CSV) 0x0A: Cyclic synchronous torque mode (CST) 0x0B: Cyclic synchronous torque mode with commutation angle (CSTCA)

7010:05 Target position Configured target position

Unit: the value must be multiplied by the corresponding scaling factor

7010:06 Target velocity Configured target velocity

The velocity scaling can be found in object 0x9010:14 (Velocity encoder resolution)

7010:09 Target torque Configured input value for torque monitoring

The value is specified in 1000th of the rated current (0x8011:12 [}90])

Equation for index 8010:54 = 0 : M = ((Torque actual value / 1000) x (rated current / √2)) x torque constant (8011:16)

UINT16 RO 0x0000 (0

UINT8 RW 0x00 (0

INT32 RW 0x00000000

)

dec

INT32 RO 0x00000000

)

dec

INT16 RO 0x0000 (0

)

dec

)

dec

)

dec

)

dec

Equation for index 8010:54 = 1 : M = ((Torque actual value / 1000) x rated current)) x torque constant (8011:16)

7010:0A Torque offset Torque value offset

The value is specified in 1000th of the rated current (0x8011:12 [}90])

Equation for index 8010:54 = 0 : M = ((Torque actual value / 1000) x (rated current / √2)) x torque constant (8011:16)

Equation for index 8010:54 = 1 : M = ((Torque actual value / 1000) x rated current)) x torque constant (8011:16)

7010:0B Torque limitation Torque threshold value for torque monitoring (bipolar

limit) The value is specified in 1000th of the rated current

(0x8011:12 [}90]) Equation for index 8010:54 = 0 :

M = ((Torque actual value / 1000) x (rated current / √2)) x torque constant (8011:16)

Equation for index 8010:54 = 1 : M = ((Torque actual value / 1000) x rated current)) x torque constant (8011:16)

7010:0E Commutation angle Commutation angle (for CSTCA mode)

Unit: 360° / 2

INT16 RO 0x0000 (0

UINT16 RW 0x7FFF

(32767

dec

UINT16 RO 0x0000 (0

)

dec

)

dec

EP721194 Version: 1.0

Commissioning

4.8.7 Information / diagnosis data

Index 10F3 Diagnosis History

Index (hex) Name Meaning Data type Flags Default

10F3:0 Diagnosis History Maximum subindex UINT8 RO 0x37 (55 10F3:01 Maximum Messages Maximum number of stored messages. A maximum of

50 messages can be stored 10F3:02 Newest Message Subindex of the latest message UINT8 RO 0x00 (0 10F3:03 Newest Acknowledged

Subindex of the last confirmed message UINT8 RW 0x00 (0

Message

10F3:04 New Messages Avail-

Indicates that a new message is available BOOLEAN RO 0x00 (0

able 10F3:05 Flags not used UINT16 RW 0x0000 (0 10F3:06 Diagnosis Message

Message 1 OCTET-

001

... ... ... ... ... ...

10F3:37 Diagnosis Message

Message 50 OCTET-

050

Index 10F8 Actual Time Stamp

Index (hex) Name Meaning Data type Flags Default

10F8:0 Actual Time Stamp Time stamp UINT64 RO

UINT8 RO 0x00 (0

RO {0}

STRING[28]

RO {0}

STRING[28]

)

dec

)

dec

)

dec

)

dec

)

dec

)

dec

Index 9008 FB OCT Info data

(these data are always read in automatically from the electronic identification plate of the motor and serve purely informative purposes)

Index (hex) Name Meaning Data type Flags Default

9008:0 FB OCT Info data Maximum subindex UINT8 RO 0x1F (31 9008:11 Encoder type Feedback type

2: rotary encoder, unipolar counting

9008:12 Resolution Resolution of the feedback

Unit: Steps per revolution

9008:13 Range Working area of the feedback. On leaving this range

there is an overflow of the position.

Unit: Revolutions 9008:14 Type Code Name Name of the feedback STRING RO 9008:15 Serial No Serial number of the feedback STRING RO 9008:16 Firmware Revision No Revision of the firmware STRING RO 9008:17 Firmware Date Date of the firmware STRING RO 9008:18 EEPROM Size EEPROM size UINT16 RO 0x0000 (0 9008:19 Temperature Temperature

Unit: 0.1° 9008:1A LED Current Current of the feedback LED

Unit: 0.1 mA 9008:1B Supply voltage Supply voltage of the feedback

Unit: mV 9008:1C Life- time Operating hour counter

Unit: Minutes 9008:1D Received Signal

Strength Indicator

9008:1E Slave Received Signal

Strength Indicator

Received signal strength at the box

Unit: %

Received signal strength at the encoder

Unit: % 9008:1F Line delay Running time of the signal in the cable

Unit: ns

UINT16 RO 0x0000 (0

UINT32 RO 0x00000000

)

dec

UINT32 RO 0x00000000

)

dec

INT16 RO 0x0000 (0

UINT16 RO 0x0000 (0

UINT32 RO 0x00000000

)

dec

UINT32 RO 0x00000000

)

dec

UINT16 RO 0x0000 (0

)

dec

)

dec

)

dec

)

dec

)

dec

)

dec

)

dec

)

dec

EP7211 95Version: 1.0

Commissioning

Index 9009 FB OCT Nameplate

The parameters described in this index are always read from the electronic type plate of the connected motor. These parameters automatically lead to the parameters marked with an asterisk (*) in this chapter, if automatic scanning of the electronic type plate is switched on (index 8008).

Index (hex) Name Meaning Data type Flags Default

9009:0 FB OCT Nameplate Maximum subindex UINT8 RO 0x24 (36 9009:01 Motor vendor Motor vendor STRING RO 9009:02 Electric motor type Motor type STRING RO 9009:03 Serial No Serial number STRING RO 9009:04 Order code Order number

STRING RO (In case of Autoconfig a check is made on the basis of this index as to whether the motor is identical to the predecessor)

9009:05 Motor construction Type of motor STRING RO 9009:06 Pole pairs Number of pole pairs UINT32 RO 0x00000000

9009:07 Standstill current (rms) Effective holding current

Unit: mA

9009:08 Rated current (rms) Effective rated current

Unit: mA

9009:09 Peak current (rms) Effective peak current

Unit: mA

9009:0A Nominal voltage (rms) Effective nominal voltage

Unit: mV

9009:0B Max voltage (rms) Maximum voltage

Unit: mV

9009:0C Max winding du/dt Maximum permissible voltage rise on the winding

Unit: kV/s

9009:0D Max torque Maximum torque

UINT32 RO 0x00000000

UINT16 RO 0x0000 (0 Unit: mNm

9009:0E Torque constant Torque constant

UINT16 RO 0x0000 (0 Unit: mNm / A

9009:0F EMK (rms) Reverse voltage

Unit: mV / (rpm)

9009:10 Winding resistance

Ph-Ph 20°C

Coil resistance Unit: mOhm

9009:11 Ld Ph-Ph Inductance in the direction of flow

UINT32 RO 0x00000000

UINT16 RO 0x0000 (0

UINT16 RO 0x0000 (0 Unit: 0.1 mH

9009:12 Lq Ph-Ph Inductance in the torque-forming direction

UINT16 RO 0x0000 (0 Unit: 0.1 mH

dec

)

dec

)

dec

)

dec

)

dec

)

dec

)

dec

)

dec

)

dec

)

EP721196 Version: 1.0

Commissioning

Index (hex) Name Meaning Data type Flags Default

9009:13 Max speed Maximum speed

Unit: rpm

9009:14 Moment of inertia Mass moment of inertia

Unit: g cm^2

9009:15 T motor warn limit Motor temperature warning threshold

Unit: 0.1°C

9009:16 T motor shut down Motor temperature error threshold

Unit: 0.1°C

9009:17 Time constant i2t Time constant I2T model

Unit: s

9009:18 Motor thermal constant Thermal time constant of the motor

Unit: s

9009:1B Brake type Brake type

• no Brake

• holding Brake

9009:1C Min brake voltage Minimum brake voltage

Unit: mV

9009:1D Max brake voltage Maximum brake voltage

Unit: mV

9009:1E Min brake monitor cur-

rent

Minimum current for the monitoring of the brake Unit: mA

9009:1F Brake holding torque Brake holding torque

Unit: mNm

9009:20 Brake T on Time until the brake is applied

Unit: ms

9009:21 Brake T off Time until the brake is released

Unit: ms

9009:22 Brake reduced holding

voltage

9009:23 Brake time to red.

holding volt.

9009:24 Motor temp sensor

connection

Reduced brake voltage Unit: mV

Time from which the brake holds with reduced voltage Unit: ms

Temperature sensor connection Feedback port (not changeable)

UINT32 RO 0x00000000

)

dec

UINT16 RO 0x0000 (0

STRING RO

UINT32 RO 0x00000000

)

dec

UINT32 RO 0x00000000

)

dec

UINT32 RO 0x00000000

)

dec

UINT32 RO 0x00000000

)

dec

UINT16 RO 0x0000 (0

UINT32 RO 0x00000000

)

dec

UINT16 RO 0x0000 (0

STRING RO

)

dec

)

dec

)

dec

)

dec

)

dec

)

dec

)

dec

)

dec

Index 9010 DRV Info data

Index (hex) Name Meaning Data type Flags Default

9010:0 DRV info data Maximum subindex UINT8 RO 0x14 (20 9010:11 Amplifier temperature Internal temperature of the box

Unit: 0.1 °C

9010:12 DC link voltage DC link voltage

Unit: mV

9010:13 Supported drive

modes

Information about supported drive modes. (DS402: Object 0x6502) Only modes CSV, CST, CSTCA and CSP are supported

Bit 0: PP Bit 1: VL Bit 2: PV Bit 3: TQ Bit 4: R Bit 5: HM Bit 6: IP Bit 7: CSP Bit 8: CSV Bit 9: CST Bit 10: CSTCA Bit 11 - 15: reserved Bit 16-31: Manufacturer-specific

9010:14 Velocity encoder reso-

lution

Display of configured encoder increments/s and motor revolutions/s. The velocity encoder resolution is calculated according to the following formula:

Velocity Encoder Resolution = (encoder_increments / s ) / (motor_revolutions / s)

UINT16 RO 0x0000 (0

UINT32 RO 0x00000000

)

dec

UINT32 RO 0x00000000

)

dec

UINT32 RO 0x00041893

(268435

)

dec

)

dec

)

dec

EP7211 97Version: 1.0

Commissioning

Index 9018 DRV Info data

Index (hex) Name Meaning Data type Flags Default

9018:0 DRV Info data Maximum subindex UINT8 RO 0x11 (17 9018:11 Auxiliary voltage (10V)Auxiliary voltage

Unit: mV

UINT32 RO 0x00000000

)

dec

Index A010 DRV Amplifier Diag data

Index (hex) Name Meaning Data type Flags Default

A010:0 DRV Amplifier Diag

Maximum subindex UINT8 RO 0x11 (17

data

A010:11 Amplifier I2T tempera-

ture

I2T model load Unit: %

UINT8 RO 0x00 (0

Index A011 DRV Motor Diag data

Index (hex) Name Meaning Data type Flags Default

A011:0 DRV Motor Diag data Maximum subindex UINT8 RO 0x13 (19 A011:11 Motor I2T temperature I2T model load

Einheit: %

A011:13 Motor temperature Temperature utilization ratio

Unit: °

UINT8 RO 0x00 (0

INT16 RO 0x0000 (0

)

dec

)

dec

)

dec

)

dec

)

dec

)

dec

4.8.8 Standard objects

Index 1000 Device type

Index (hex) Name Meaning Data type Flags Default

1000:0 Device type Device type of the EtherCAT slave: the Lo-Word con-

tains the CoE profile used (5001). The Hi-Word contains the module profile according to the modular device profile.

Index 1008 Device name

Index (hex) Name Meaning Data type Flags Default

1008:0 Device name Device name of the EtherCAT slave STRING RO EP7211-0034

Index 1009 Hardware version

Index (hex) Name Meaning Data type Flags Default

1009:0 Hardware version Hardware version of the EtherCAT slave STRING RO

Index 100A Software version

Index (hex) Name Meaning Data type Flags Default

100A:0 Software version Firmware version of the EtherCAT slave STRING RO

UINT32 RO 0x00001389

(5001

)

dec

or EP7211-9034

EP721198 Version: 1.0

Commissioning

Index 1018 Identity

Index (hex) Name Meaning Data type Flags Default

1018:0 Identity Information for identifying the slave UINT8 RO 0x04 (4

)

dec

1018:01 Vendor ID Vendor ID of the EtherCAT slave UINT32 RO 0x00000002

)

dec

1018:02 Product code Product code of the EtherCAT slave UINT32 RO 0x1C2B4052

(472596562

1018:03 Revision Revision numberof the EtherCAT slave; the low word

(bit 0-15) indicates the special terminal number, the high word (bit 16-31) refers to the device description

1018:04 Serial number Serial number of the EtherCAT slave; the Low Byte (bit

0-7) of the Low Word contains the year of production, the High Byte (bit 8-15) of the Low Word contains the

UINT32 RO 0x00000000

)

dec

UINT32 RO 0x00000000

)

dec

week of production, the High Word (bit 16-31) is 0

Index 10F0 Backup parameter handling

Index (hex) Name Meaning Data type Flags Default

10F0:0 Backup parameter

handling

10F0:01 Checksum Checksum across all backup entries of the EtherCAT

Information for standardized loading and saving of backup entries

slave

UINT8 RO 0x01 (1

)

dec

UINT32 RO 0x00000000

)

dec

)

dec

Index 1600 DRV RxPDO-Map Controlword

Index (hex) Name Meaning Data type Flags Default

1600:0 DRV RxPDO-Map

PDO Mapping RxPDO 1 UINT8 RO 0x01 (1

Controlword

1600:01 SubIndex 001 1. PDO Mapping entry (object 0x7010 (DRV Outputs),

UINT32 RO 0x7010:01, 16 entry 0x01 (Controlword))

Index 1601 DRV RxPDO-Map Target velocity

Index (hex) Name Meaning Data type Flags Default

1601:0 DRV RxPDO-Map Tar-

PDO Mapping RxPDO 2 UINT8 RO 0x01 (1

get velocity

1601:01 SubIndex 001 1. PDO Mapping entry (object 0x7010 (DRV Outputs),

UINT32 RO 0x7010:06, 32 entry 0x06 (Target velocity))

Index 1602 DRV RxPDO-Map Target torque

Index (hex) Name Meaning Data type Flags Default

1602:0 DRV RxPDO-Map Tar-

PDO Mapping RxPDO 3 UINT8 RO 0x01 (1

get torque

1602:01 SubIndex 001 1. PDO Mapping entry (object 0x7010 (DRV Outputs),

UINT32 RO 0x7010:09, 16 entry 0x09 (Target torque))

Index 1603 DRV RxPDO-Map Commutation angle

Index (hex) Name Meaning Data type Flags Default

1603:0 DRV RxPDO-Map

Commutation angle

1603:01 SubIndex 001 1. PDO Mapping entry (object 0x7010 (DRV Outputs),

PDO Mapping RxPDO 4 UINT8 RO 0x01 (1

UINT32 RO 0x7010:0E, 16 entry 0x0E (Commutation angle))

)

dec

)

dec

)

dec

)

dec

Index 1604 DRV RxPDO-Map Torque limitation

Index (hex) Name Meaning Data type Flags Default

1604:0 DRV RxPDO-Map

PDO Mapping RxPDO 5 UINT8 RO 0x01 (1

Torque limitation

1604:01 SubIndex 001 1. PDO Mapping entry (object 0x7010 (DRV Outputs),

UINT32 RO 0x7010:0B, 16 entry 0x0B (Torque limitation))

EP7211 99Version: 1.0

)

dec

Commissioning

Index 1605 DRV RxPDO-Map Torque offset

Index (hex) Name Meaning Data type Flags Default

1605:0 DRV RxPDO-Map

Torque offset

1605:01 SubIndex 001 1. PDO Mapping entry (object 0x7010 (DRV Outputs),

PDO Mapping RxPDO 6 UINT8 RO 0x01 (1

UINT32 RO 0x7010:0A, 16

)

dec

entry 0x0A (Torque offset))

Index 1606 DRV RxPDO-Map Target position

Index (hex) Name Meaning Data type Flags Default

1606:0 DRV RxPDO-Map Tar-

get position

1606:01 SubIndex 001 1. PDO Mapping entry (object 0x7010 (DRV Outputs),

PDO Mapping RxPDO 7 UINT8 RO 0x01 (1

UINT32 RO 0x7010:05, 32

)

dec

entry 0x05 (Target postion))

Index 1607 FB RxPDO-Map Touch probe control

Index (hex) Name Meaning Data type Flags Default

1607:0 FB RxPDO-Map

Touch probe control

1607:01 SubIndex 001 1. PDO Mapping entry (object 0x7001 (FB Touch

1607:02 SubIndex 002 2. PDO Mapping entry (object 0x7001 (FB Touch

1607:03 SubIndex 003 3. PDO Mapping entry (object 0x7001 (FB Touch

1607:04 SubIndex 004 4. PDO Mapping entry (object 0x7001 (FB Touch

1607:05 SubIndex 005 5. PDO Mapping entry (object 0x7001 (FB Touch

1607:06 SubIndex 006 6. PDO Mapping entry (2 bits align) UINT32 RO 0x0000:00, 2 1607:07 SubIndex 007 7. PDO Mapping entry (object 0x7001 (FB Touch

1607:08 SubIndex 008 8. PDO Mapping entry (object 0x7001 (FB Touch

1607:09 SubIndex 009 9. PDO Mapping entry (object 0x7001 (FB Touch

1607:0A SubIndex 010 10. PDO Mapping entry (object 0x7001 (FB Touch

1607:0B SubIndex 011 11. PDO Mapping entry (object 0x7001 (FB Touch

1607:0C SubIndex 012 12. PDO Mapping entry (2 bits align) UINT32 RO 0x0000:00, 2

PDO Mapping RxPDO 8 UINT8 RO 0x0C (12

UINT32 RO 0x7001:01, 1 probe outputs), entry 0x01 (TP1 Enable))

UINT32 RO 0x7001:02, 1 probe outputs), entry 0x02 (TP1 Continous))

UINT32 RO 0x7001:03, 2 probe outputs), entry 0x03 (TP1 Trigger mode))

UINT32 RO 0x7001:05, 1 probe outputs), entry 0x05 (TP1 Enable pos edge))

UINT32 RO 0x7001:06, 1 probe outputs), entry 0x06 (TP1 Enable neg edge))

UINT32 RO 0x7001:09, 1 probe outputs), entry 0x09 (TP2 Enable))

UINT32 RO 0x7001:0A, 1 probe outputs), entry 0x0A (TP2 Continous))

UINT32 RO 0x7001:0B, 2 probe outputs), entry 0x0B (TP2 Trigger mode))

UINT32 RO 0x7001:0D, 1 probe outputs), entry 0x0D (TP2 Enable pos edge))

UINT32 RO 0x7001:0E, 1 probe outputs), entry 0x0E (TP2 Enable neg edge))

dec

)

Index 1A00 FB TxPDO-Map Position

Index (hex) Name Meaning Data type Flags Default

1A00:0 FB TxPDO-Map Posi-

PDO Mapping TxPDO 1 UINT8 RO 0x01 (1

tion

1A00:01 SubIndex 001 1. PDO Mapping entry (object 0x6000 (FB Inputs), en-

UINT32 RO 0x6000:11, 32 try 0x11 (Position))

Index 1A01 DRV TxPDO-Map Statusword

Index (hex) Name Meaning Data type Flags Default

1A01:0 DRV TxPDO-Map Sta-

tusword

1A01:01 SubIndex 001 1. PDO Mapping entry (object 0x6010 (DRV Inputs),

PDO Mapping TxPDO 2 UINT8 RO 0x01 (1

UINT32 RO 0x6010:01, 16 entry 0x01 (Statusword))

)

dec

)

dec

EP7211100 Version: 1.0

Beckhoff EP7211-0034, EP7211-9034 Documentation

Specifications and Main Features

Frequently Asked Questions

User Manual

Table of contents

1 Foreword

1.1 Notes on the documentation

1.2 Safety instructions

1.3 Documentation issue status

2 Product overview

2.1 EtherCAT Box - Introduction

2.2 EP7211-x034 - Introduction

2.3 Technical data

2.4 Scope of supply

2.5 Technology

3 Mounting and cabling

3.1 Mounting

3.1.1 Dimensions

3.1.2 Fixing

3.1.3 Functional earth (FE)

3.2 Cabling

3.2.1 Power supply

3.2.1.1 Connection

3.2.1.2 Status LEDs

3.2.1.3 Conductor losses

3.2.2 EtherCAT

3.2.2.1 Connection

3.2.2.2 Status LEDs

3.2.3 Motor, brake and feedback system

3.2.3.1 Connection

3.2.3.2 Status LEDs

3.2.4 Hardware Enable / Safe Torque Off

3.2.4.1 Connection

3.2.4.2 Status LEDs

3.2.4.3 Cabling

3.2.5 Touch Probe

3.2.5.1 Connection

3.2.5.2 Status LEDs

3.2.5.3 Cabling

4 Commissioning

4.1 Activate motor output stage

4.2 Configuration in TwinCAT

4.3 Start-up and parameter configuration

4.3.1 Integration into the NC configuration

4.3.2 Settings with the Drive Manager

4.3.3 Settings in the CoE register

4.3.4 NC settings

4.3.5 Commissioning without NC, status word/control word

4.3.6 Settings for the automatic configuration

4.3.7 Configure end position monitoring

4.3.8 Homing

4.3.9 Touch Probe

4.4 Drive profiles

4.5 Operation modes

4.5.1 Overview

4.5.2 CSV

4.5.3 CST

4.5.4 CSTCA

4.5.5 CSP

4.6 Process data MDP 742

4.7 DS402 process data

4.8 Object description (MDP 742)

4.8.1 Restore object

4.8.2 Configuration data

4.8.3 Configuration data (vendor-specific)

4.8.4 Command object

4.8.5 Input data

4.8.6 Output data

4.8.7 Information / diagnosis data

4.8.8 Standard objects