Beckhoff EL7031 User Manual (English)

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Commissioning

EL70x1152 Version: 4.4

Name Command Group Description

ABSOLUTE 0x0001

Standard [}152]

Absolute positioning to a specified target position

RELATIVE 0x0002 Relative positioning to a calculated target position; a specified posi-

tion difference is added to the current position

ENDLESS_PLUS 0x0003 Endless travel in the positive direction of rotation (direct specification

of a speed)

ENDLESS_MINUS 0x0004 Endless travel in the negative direction of rotation (direct specifica-

tion of a speed)

ADDITIVE 0x0006 Additive positioning to a calculated target position; a specified posi-

tion difference is added to the last target position

ABSOLUTE_CHANGE 0x1001

Standard Ext.

[}153]

Dynamic change of the target position during a travel command to a

new absolute position

RELATIVE_CHANGE 0x1002 Dynamic change of the target position during a travel command to a

new relative position (the current changing position value is used

here also)

ADDITIVE_CHANGE 0x1006 Dynamic change of the target position during a travel command to a

new additive position (the last target position is used here)

MODULO_SHORT 0x0105

Modulo [}155]

Modulo positioning along the shortest path to the modulo position

(positive or negative), calculated by the "Modulo factor" (Index

0x8020:0E)

MODULO_SHORT_EXT 0x0115 Modulo positioning along the shortest path to the modulo position;

the "Modulo tolerance window" (Index 0x8020:0F) is ignored

MODULO_PLUS 0x0205 Modulo positioning in the positive direction of rotation to the calcu-

lated modulo position

MODULO_PLUS_EXT 0x0215 Modulo positioning in the positive direction of rotation to the calcu-

lated modulo position; the "Modulo tolerance window" is ignored

MODULO_MINUS 0x0305 Modulo positioning in the negative direction of rotation to the calcu-

lated modulo position

MODULO_MINUS_EXT 0x0315 Modulo positioning in the negative direction of rotation to the calcu-

lated modulo position; the "Modulo tolerance window" is ignored

MODULO_CURRENT 0x0405 Modulo positioning in the last direction of rotation to the calculated

modulo position

MODULO_CURRENT_EXT 0x0415 Modulo positioning in the last direction of rotation to the calculated

modulo position; the "Modulo tolerance window" is ignored

CALI_PLC_CAM 0x6000

Calibration [}154]

Start a calibration with cam (digital inputs)

CALI_HW_SYNC 0x6100 Start a calibration with cam and HW sync pulse (C-track)

SET_CALIBRATION 0x6E00 Manually set the terminal to "Calibrated"

SET_CALIBRATION_AUTO 0x6E01 Automatically set the terminal to "Calibrated" on the first rising edge

on "Enable"

CLEAR_CALIBRATION 0x6F00 Manually delete the calibration

Table 2: Supported “Start types” of the “Positioning interface”

ABSOLUTE

The absolute positioning represents the simplest positioning case. A position B is specified and travelled to

from the start point A.

Fig.176: Absolute positioning

RELATIVE

In relative positioning, the user specifies a position delta S, which is added to the current position A,

producing the target position B.

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Beckhoff EL7031 Specifications

General

Product Name	EL7031
Category	Stepper Motor Terminal
Manufacturer	Beckhoff
Technology	Stepper Motor
Number of Motors/Channels	1
Communication Interface	EtherCAT
Protection Class	IP20
Height	100 mm
Supply Voltage	24 V DC
Step Modes	Full step, half step
Operating Temperature	0…+55 °C
Storage Temperature	-25 °C to +85 °C
Relative Humidity	95 %, no condensation