EPOS2 Application Notes Collection - Maxon Motor
EPOS2 Application Notes Collection - Maxon Motor
EPOS2 Application Notes Collection - Maxon Motor
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Device Programming<br />
In Brief<br />
8 Device Programming<br />
8.1 In Brief<br />
A wide variety of operating modes permit flexible configuration of drive and automation systems by<br />
using positioning, speed and current regulation. The built-in CANopen interface allows networking to<br />
multiple axes drives as well as online commanding by CAN bus master units.<br />
8.1.1 Objective<br />
The present <strong>Application</strong> Note explains typical commanding sequences for different operating modes.<br />
The explanations are based on writing/reading commands to access the Object Dictionary. For detailed<br />
information on the objects itself separate document «<strong>EPOS2</strong> Firmware Specification» (subsequently<br />
referred to as “FwSpec”). For detailed information on the command structure «EPOS Studio» (command<br />
analyzer).<br />
Contents<br />
8.2 First Step . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 8-102<br />
8.3 Homing Mode . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 8-103<br />
8.4 Profile Position Mode . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 8-105<br />
8.5 Profile Velocity Mode . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 8-107<br />
8.6 Interpolated Position Mode (PVT). . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 8-108<br />
8.7 Position Mode . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 8-108<br />
8.8 Velocity Mode . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 8-110<br />
8.9 Current Mode . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 8-112<br />
8.10 State Machine. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 8-114<br />
8.11 Motion Info . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 8-115<br />
8.12 Utilities . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 8-116<br />
8.1.2 Scope<br />
Hardware Order # Firmware Version Reference<br />
<strong>EPOS2</strong> 2110h Firmware Specification<br />
<strong>EPOS2</strong> 70/10 375711 2120h or higher<br />
<strong>EPOS2</strong> 50/5 347717 2110h or higher<br />
<strong>EPOS2</strong> Module 36/2 360665 2110h or higher<br />
<strong>EPOS2</strong> 24/5 367676 2110h or higher<br />
<strong>EPOS2</strong> 24/2<br />
380264<br />
390003<br />
390438<br />
2121h or higher<br />
Table 8-88<br />
Device Programming – covered Hardware and required Documents<br />
maxon motor control<br />
<strong>EPOS2</strong> Positioning Controllers Document ID: rel3956 8-101<br />
<strong>EPOS2</strong> <strong>Application</strong> <strong>Notes</strong> <strong>Collection</strong> Edition: April 2013<br />
© 2013 maxon motor. Subject to change without prior notice.
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