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Stepper Slice IO module EL-7031 in a KAS ECAT Network

The attached KAS Project integrates a Beckhoff EL-7031 Stepper module into a KAS Ethercat network.

Product

KAS Controller AKD-M00306-MCEC-0000
Stepper (slice) Module EL 7031
EtherCAT coupler EK-1100
Motor CTP21NLF15NAA00

Control Panel

The following KAS Control Panel was created inside the KAS project to operate the Stepper Motor:
SMC.png

Ethercat Setup

The following EL7031 ESI file was loaded into the project:

Prop.png

Explorer.png

The EL7031 ESI file contains the list of standard PDOs. The following was chosen for the project and objects in the PDO were directly mapped to project Dictionary parameters:

PDO.png

PDO2.png

The Dictionary parameters are linked to the Control Panel in the project:
SMC2.png

To initialize the stepper module the following objects: restore to manual default settings and set opmode for positioning  were written to the stepper module when the ECAT network comes up:

InitComm.png

Restore.png

Example Operation

Here is the Control Panel setup to run a relative position move:

SMC3.png

Watch.png

Motor Specifications

Specs.png

CTM2.png

 Connections (Motor to EL 7031)

IO.png

A1 – Black Motor Wire

A2 – Orange Motor Wire

B1 – Red Motor Wire

B2 – Yellow Motor Wire

Attachment: