EPOS2 Application Notes Collection - Maxon Motor

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Device Programming Homing Mode 8.3.3 Stop Positioning Object Name Object User Value [Default Value] Controlword (Switch-on) or Controlword (Halt homing) or Controlword (Quick stop) 0x6040-00 0x6040-00 0x6040-00 0x000F 0x011F 0x000B Table 8-93 Device Programming – Homing Mode (Stop) maxon motor control 8-104 Document ID: rel3956 EPOS2 Positioning Controllers Edition: April 2013 EPOS2 Application Notes Collection © 2013 maxon motor. Subject to change without prior notice.
Device Programming Profile Position Mode 8.4 Profile Position Mode 8.4.1 Set Position The axis moves to an absolute or relative position using a motion profile. Object Name Object User Value [Default Value] Modes of Operation 0x6060-00 0x01 (Profile Position Mode) Max. Following Error Min. Position Limit Max. Position Limit Max. Profile Velocity Profile Velocity Profile Acceleration Profile Deceleration Quick Stop Deceleration Motion Profile Type 0x6065-00 0x607D-01 0x607D-02 0x607F-00 0x6081-00 0x6083-00 0x6084-00 0x6085-00 0x6086-00 User-specific [2000 qc] User-specific [-2147483648 qc] User-specific [2147483647 qc] Motor-specific [25000 rpm] Desired Velocity [1000 rpm] User-specific [10000 rpm/s] User-specific [10000 rpm/s] User-specific [10000 rpm/s] User-specific [0] Controlword (Shutdown) Controlword (Switch-on) 0x6040-00 0x6040-00 0x0006 0x000F Target Position 0x607A-00 Desired Position [qc] Controlword (absolute pos.) or Controlword (absolute pos., start immediately) or Controlword (relative pos., start immediately) or Controlword (relative positioning) 0x6040-00 0x6040-00 0x6040-00 0x6040-00 0x001F 0x003F 0x007F 0x005F Table 8-94 Device Programming – Profile Position Mode (Set) 8.4.2 Read Status Object Name Object User Value [Default Value] Statusword (Target reached) 0x6041-00 The axis is at target position if bit 10 is set. Table 8-95 Device Programming – Profile Position Mode (Read) maxon motor control EPOS2 Positioning Controllers Document ID: rel3956 8-105 EPOS2 Application Notes Collection Edition: April 2013 © 2013 maxon motor. Subject to change without prior notice.
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maxon motor control Application Not
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TABLE OF CONTENTS 1 About this Docu
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8 Device Programming 101 8.1 In Bri
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11 USB or RS232 to CAN Gateway 161
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About this Document 1 About this Do
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About this Document 1.5 Trademarks
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Digital Inputs & Outputs In Brief 2
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Digital Inputs & Outputs Functional
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Digital Inputs & Outputs Functional
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Digital Inputs & Outputs Connection
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Digital Inputs & Outputs Configurat
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Digital Inputs & Outputs Wiring Exa
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Analog Inputs & Outputs In Brief 3
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Analog Inputs & Outputs Functionali
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Analog Inputs & Outputs Connection
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Page 53 and 54: Analog Inputs & Outputs Connection
Page 55 and 56: Analog Inputs & Outputs Configurati
Page 57 and 58: Master Encoder Mode In Brief 4 Mast
Page 59 and 60: Master Encoder Mode System Structur
Page 61 and 62: Master Encoder Mode Configuration 4
Page 63 and 64: Master Encoder Mode Application Exa
Page 65 and 66: Step/Direction Mode In Brief 5 Step
Page 67 and 68: Step/Direction Mode System Structur
Page 69 and 70: Step/Direction Mode Configuration 5
Page 71 and 72: Step/Direction Mode Application Exa
Page 73 and 74: Interpolated Position Mode In Brief
Page 75 and 76: Interpolated Position Mode In Detai
Page 77 and 78: Interpolated Position Mode IPM Impl
Page 89 and 90: Interpolated Position Mode Configur
Page 91 and 92: Interpolated Position Mode Configur
Page 93 and 94: Regulation Tuning In Brief 7 Regula
Page 95 and 96: Regulation Tuning Working Principle
Page 97 and 98: Regulation Tuning Tuning Modes 7.5
Page 99 and 100: Regulation Tuning Tuning Modes 7.5.
Page 101 and 102: Device Programming In Brief 8 Devic
Page 103: Device Programming Homing Mode 8.3
Page 107 and 108: Device Programming Profile Velocity
Page 109 and 110: Device Programming Position Mode 8.
Page 111 and 112: Device Programming Velocity Mode 8.
Page 113 and 114: Device Programming Current Mode 8.9
Page 115 and 116: Device Programming Motion Info 8.11
Page 117 and 118: Controller Architecture In Brief 9
Page 119 and 120: Controller Architecture Regulation
Page 121 and 122: Controller Architecture Regulation
Page 123 and 124: Controller Architecture Dual Loop R
Page 125 and 126: Controller Architecture Dual Loop R
Page 127 and 128: Controller Architecture Application
Page 133 and 134: With incorrect Feedforward (acceler
Page 141 and 142: CANopen Basic Information In Brief
Page 143 and 144: 10.3 Configuration Follow below ste
Page 145 and 146: CANopen Basic Information Configura
Page 147 and 148: CANopen Basic Information Configura
Page 149 and 150: CANopen Basic Information SDO Commu
Page 151 and 152: 10.4.2 SDO Communication Examples R
Page 153 and 154: CANopen Basic Information PDO Commu
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CANopen Basic Information PDO Commu
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CANopen Basic Information Node Guar
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CANopen Basic Information Heartbeat
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USB or RS232 to CAN Gateway In Brie
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USB or RS232 to CAN Gateway Communi
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USB or RS232 to CAN Gateway Communi
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USB or RS232 to CAN Gateway Command
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USB or RS232 to CAN Gateway Conclus
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Data Recording In Brief 12 Data Rec
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Data Recording Overview 12.2.2 Cont
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Data Recording Data Recorder Config
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12.4 Example: Data Recording in “
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Data Recording Example: Data Record
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Data Recording Data Recorder Specif
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Extended Encoders Configuration In
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Extended Encoders Configuration Har
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Extended Encoders Configuration Sen
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13.3.1.3 Choice of Manufacturers fo
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Extended Encoders Configuration Con
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Extended Encoders Configuration App
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Extended Encoders Configuration App
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LIST OF FIGURES Figure 2-1 Digital
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Figure 9-88 Example1 - Position Con
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LIST OF TABLES Table 1-1 Notations
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Table 8-88 Device Programming - cov
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Table 13-178 Extended Encoders Conf
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INDEX A acceleration feedforward 12
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Buffer Position 86 COB-ID Time Stam
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EPOS2 Application Notes Collection - Maxon Motor

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