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Raspberry, EK1100 and EL7041

  • igunadi

    igunadi - 2021-11-12

    Hi There,
    I am trying to get EL7041 Stepper Driver to work.

    My environment:
    Raspberry Pi MC
    EL7041, connected to Beckhoff Stepper Motor With Encoder

    Once I added the EL7041 1Ch Stepper Motor Rev24 with external Encoder, the EtherCAT bus stops working.

    On the log I get the attached error. Are there an implementation step that I can follow? Supposedly this is a supported drive for Softmotion. Thanks.

    Prior adding the EL7401 I am able to do motion with EL7221 with no issue


    Last edit: igunadi 2021-11-12
  • eschwellinger

    eschwellinger - 2021-11-12

    does a scan on Ethercat master lead to a valid/same configuration, there are many firmware revisions out in EL7041.

  • igunadi

    igunadi - 2021-11-12

    Hi Edwin,
    The one scanned only showed as a grey box and do not have SM_Drive on it. By itself it also does not have EtherCAT to scan. Do I need to connect to TwinCAT and change to certain configuration?

  • eschwellinger

    eschwellinger - 2021-11-12

    no, no twincat needed for 7041..but check the revision in the scan and plc log. Seems different device version, installed and real hardware


    Last edit: eschwellinger 2021-11-12
  • igunadi

    igunadi - 2021-11-12

    Hi Edwin,
    So I did rescan again. This time I did the Device XML install from Beckhoff and find that it's now EtherCAT network is back working.

    How do I make it such that Softmotion can use the drive?

    More detail on hardware:
    EL7041-0000 Revision 23

    Current Process Data:
    Used to be Velocity was checked, I change it to POS Control
    All other still default

    Saw on the EtherCAT I/O mapping that I am able to control with variables?

  • igunadi

    igunadi - 2021-11-15

    Hi Edwin,
    Somehow I cannot edit the EtherCAT I/O mapping in the EL7041.

    Any hint that you can give me on how to control the Stepper Driver?

    Ideally working in Softmotion be best case. Thanks.

  • igunadi

    igunadi - 2021-11-16

    Hi Edwin,
    Update on the troubleshooting.

    Got EL7041-0000 Revision 23 working with the following Softmotion Driver

    EL7041 1 Ch. Stepper motor output stage (50V, 5A) Rev22

    Is it good to assume that the hardware revision need to be higher than software revision for Softmotion to work.

    From initial testing looks like basic things like enable and basic motion (jog, move) seems to work.


    Last edit: igunadi 2021-11-16
  • eschwellinger

    eschwellinger - 2021-11-16

    great thanks for the feedback.


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