BECKHOFF EL70x7 Stepper Terminal Maintenance Guide

Only supports Beckhoff AS10xx motors.

Only valid within the medium to high speed range, automatically switches back to standard mode at low speeds. The switching speed can be set through the Cross over velocity parameter (0x0014:07-09).

The dynamic performance is slightly lower than the expansion mode, but it has high energy efficiency and low cost.

4.6 Positioning interface

Closed loop position control within the terminal, no TwinCAT NC license required.

Send travel commands through POS Output object (0x7020), supporting multiple Start types such as absolute, relative, incremental, modular, and zero return.

Status feedback through POS inputs (0x6020): Busy, In Target, Warning, Error, Accelerate, Decelerate.

Suitable for simple, cost sensitive single axis applications, but with lower synchronization accuracy and functional flexibility than NC control.

Troubleshooting: DiagMessages and Common Error Codes

EL70x7 supports the ETG.1020 diagnostic message system, where all events (warnings, errors, status changes) are stored in the CoE object 0x10F3 and can be viewed through the "Diag History" tab of TwinCAT. The following are the most common errors and solutions on site.

5.1 Terminal cannot enter OP state

Reason: PDO configuration and operation mode do not match; Watchdog triggered; E-bus power supply is insufficient.

Solution: Check if the PDO assignment in the "Process Data" tab is compatible with the selected operating mode (e.g. speed mode must include STM Velocity PDO). Check the E-bus current calculation and insert the EL9410 power supply input terminal if necessary. View the 'invalid SM cfg' information in the TwinCAT log.

5.2 Motor not rotating or shaking

Reason: Incorrect connection of motor winding (A1/B1 mixed connection); The power supply voltage is too low; Enable position not set; Encoder signal malfunction.

Solution: Verify the winding wiring (use a multimeter to measure resistance and distinguish phases). Check if the Enable bit (0x7010:01) is true. Check if the Power LED is on. If using the extended mode, confirm that the encoder signal is normal and the commutation angle measurement has been completed.

5.3 Overheating Warning/Error (Text ID 0x4101/0x8104)

Reason: The internal temperature of the terminal exceeds 80 ° C (warning) or 100 ° C (error).

Solution: Check if the installation position is correct (vertical ventilation). Reduce the motor current (0x8010:01) or enable static current reduction (0x8010:02). Installing the ZB8610 fan module can increase the rated current by 30%.

5.4 Overcurrent/Short Circuit (Error 0x8404, LED Error A/B constantly on)

Reason: Short circuit of motor winding or ground; The output stage is damaged.

Solution: Disconnect the motor and use a multimeter to measure the insulation resistance between the windings and the casing. If there is a short circuit on the terminal side, the terminal needs to be replaced. Check the load voltage fuse.

5.5 DC bus undervoltage/overvoltage (warning 0x4411/0x4412, error 0x8406/0x8407)

Reason: The supply voltage is lower than 7V or higher than 110% of the rated voltage.

Solution: Measure the motor supply voltage on the power terminal to ensure it is within the range of EL7037 (24V ± 20%) or EL7047 (8-48V). A very short deceleration slope may cause energy feedback boost, requiring parallel connection of buffer capacitor terminal EL9570.

5.6 Step Loss Detection (Warning 0x4416)

Reason: The load torque exceeds the motor's capacity; The acceleration and deceleration slope is too steep; Insufficient current setting.

Solution: Increase the current (0x8010:01), prolong the acceleration and deceleration time (0x8020:03-06), or choose a larger torque motor. If Error on step loss (0x8012:0A) is enabled, step loss will trigger an error and stop output.

5.7 Encoder Error (Text ID 0x8301~0x8312)

Common codes: 0x8302 (encoder amplitude too small), 0x8304 (communication error), 0x8309 (CRC error).

Solution: Check the encoder cable shielding and wiring, and confirm that the encoder power supply (+24V) is normal. For absolute value encoders such as EnDat, check protocol compatibility.

Firmware update and factory reset

6.1 Precautions for firmware update

Only use TwinCAT 3 for firmware updates, and the system is in Config/FreeRun mode (no license required).

It is necessary to ensure that EtherCAT communication has no CRC errors or frame loss.

During the update process, it is absolutely forbidden to disconnect the power or network, otherwise the terminals may be permanently damaged and need to be returned to the factory for repair.

6.2 Update Steps (Taking *. efw Controller Firmware as an Example)

Switch TwinCAT to Config/FreeRun mode with a cycle time of ≥ 1ms.

In the Online tab, switch the target terminal to the Initiat state and then to the BOOTSTRAP state.

Click on 'Download' and select the latest *. efw file. Usually no password is required.

After the download is complete, switch back to Initialize and then switch to PREOP.

Disconnect the power supply from the terminal and power it back on (non hot restart), then check if the firmware version number in CoE 0x100A has been updated.