Beckhoff EL7031 User Manual

Commissioning
EL70x1168 Version: 4.4
Fig.191: Required libraries
Once this is done, certain global variables are declared (see Fig. Global variables). The data types
PLCTONC_AXLESTRUCT and NCTOPLC_AXLESTRUCT deal with the communication between the PLC
and the NC.
Fig.192: Global variables
Once the global variables have been declared, programming can commence. Start with declaring local
variables (see Fig. Local variables).
MC_Direction is an enumeration type that specifies the direction of movement for the MC_MoveVelocity
function block, which in turn initiates continuous travel of the motor.
An axis reset is carried out with the MC_Reset function block. Absolute positioning is carried out with the
MC_MoveAbsolute function block. The current axis position can be read with the MC_ActualPosition function
block.
MC_Power enables the axis; MC_Stop is required for stopping the axis.
Fig.193: Local variables
The program code is as follows (see Fig. Program code):

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

Summary

Foreword

Product overview Stepper motor terminals

Overview of EL7031 and EL7041 stepper motor terminals, their features, and quick links.

Safety instructions

General safety regulations, exclusion of liability, personnel qualification, and warning symbols.

Product overview

EL7031 - Introduction

Introduction to the EL7031 stepper motor terminal, its features, and quick links.

EL7031 - Technical data

Detailed technical specifications for the EL7031 stepper motor terminal.

EL7041 - Introduction

Introduction to the EL7041 stepper motor terminal, its types, and quick links.

EL7041-x00x - Technical data

Detailed technical specifications for the EL7041-x00x stepper motor terminals.

Technology

Mounting and wiring

Installation on mounting rails

Instructions for attaching Bus Couplers and Bus Terminals to 35 mm mounting rails.

Connection

Overview of different connection options for Bus Terminal systems: standard, pluggable, and high density.

Wiring

Instructions for connecting cables to terminal points using spring force technology and wire size guidelines.

Commissioning

TwinCAT Quick Start

Introduction to TwinCAT as a development environment for real-time control.

TwinCAT 2

Startup procedure for TwinCAT 2, including System Manager and PLC Control.

TwinCAT 3

Startup procedure for TwinCAT 3, highlighting its integration with Visual Studio.

TwinCAT Development Environment

Overview of TwinCAT 2 and TwinCAT 3 development environments and their features.

Installation of the TwinCAT real-time driver

Steps for installing the Beckhoff real-time driver on an IPC controller for real-time capability.

Notes regarding ESI device description

TwinCAT ESI Updater

OFFLINE configuration creation

ONLINE configuration creation

EtherCAT subscriber configuration

Diagnosis - Diag Messages

TwinCAT System Manager implementation

Interpretation

Appendix

Firmware compatibility

Firmware Update EL/ES/EM/EPxxxx

Describes the procedure for updating firmware on Beckhoff EtherCAT slaves.

Update of XML/ESI description

Changing the ESI slave identifier

Updating controller firmware *.efw

FPGA firmware *.rbf

Updating an EtherCAT device

Restoring the delivery state