EPOS2 Application Notes Collection - Maxon Motor

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Device Programming State Machine 8.10 State Machine 8.10.1 Clear Fault Resetting “Fault” condition sends the Controlword with value 0x0080. Object Name Object User Value [Default Value] Controlword (Fault Reset) 0x6040-00 0x0080 Table 8-112 Device Programming – State Machine (Clear Fault) 8.10.2 Send NMT Service Object Name Object User Value [Default Value] Node ID (Unique Node ID or 0 for all nodes) Command specifier: Table 8-113 0x01 0x02 0x80 0x81 0x82 Start Remote Node Stop Remote Node Enter Pre-Operational Reset Node Reset Communication Device Programming – State Machine (Send NMT Service) maxon motor control 8-114 Document ID: rel3956 EPOS2 Positioning Controllers Edition: April 2013 EPOS2 Application Notes Collection © 2013 maxon motor. Subject to change without prior notice.
Device Programming Motion Info 8.11 Motion Info 8.11.1 Get Movement State Object Name Object User Value [Default Value] Read Statusword 0x6041-00 Bit 10 tells states that target is reached. For details FwSpec. Table 8-114 Device Programming – Motion Info (Get Movement State) 8.11.2 Read Position Object Name Object User Value [Default Value] Read Position 0x6064-00 Position [qc] Table 8-115 Device Programming – Motion Info (Read Position) 8.11.3 Read Velocity Object Name Object User Value [Default Value] Read Velocity 0x2028-00 Velocity [rpm] Table 8-116 Device Programming – Motion Info (Read Velocity) 8.11.4 Read Current Object Name Object User Value [Default Value] Read Current 0x6078-00 Current [mA] Table 8-117 Device Programming – Motion Info (Read Current) maxon motor control EPOS2 Positioning Controllers Document ID: rel3956 8-115 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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Analog Inputs & Outputs Configurati
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Master Encoder Mode In Brief 4 Mast
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Master Encoder Mode System Structur
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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 and 104: Device Programming Homing Mode 8.3
Page 105 and 106: Device Programming Profile Position
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: Device Programming Current Mode 8.9
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
Page 155 and 156: CANopen Basic Information PDO Commu
Page 157 and 158: CANopen Basic Information Node Guar
Page 159 and 160: CANopen Basic Information Heartbeat
Page 161 and 162: USB or RS232 to CAN Gateway In Brie
Page 163 and 164: 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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