EPOS2 Application Notes Collection - Maxon Motor
EPOS2 Application Notes Collection - Maxon Motor
EPOS2 Application Notes Collection - Maxon Motor
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Controller Architecture<br />
<strong>Application</strong> Examples<br />
9.6 <strong>Application</strong> Examples<br />
Please find below two “in practice examples” suitable for daily use.<br />
For comparability and validity reasons, the measured simulation results are converted to the<br />
units “mA”, “rpm” and “qc”!<br />
9.6.1 Example 1: System with high Inertia and low Friction<br />
System Components<br />
Item Description Setting<br />
Controller<br />
<strong>EPOS2</strong> 50/5 (347717)<br />
<strong>Motor</strong><br />
maxon EC 40 (118896)<br />
No load speed (line 2)<br />
No load current (line 3)<br />
Nominal current (line 6)<br />
Resistance phase to phase (line 10)<br />
Inductance phase to phase (line 11)<br />
Torque constant (line 12)<br />
n 0<br />
= 10’400 rpm<br />
I 0<br />
= 258 mA<br />
I n<br />
= 3.4 A<br />
R = 1.25 Ω<br />
L = 0.319 mH<br />
k M<br />
= 38.2 mNm/A<br />
Rotor inertia (line 16) J motor<br />
= 85 gcm 2<br />
Encoder<br />
HEDL 5540 (110516)<br />
Mechanical load<br />
Fly wheel<br />
Encoder pulse number 500<br />
Inertia J load<br />
= 5000 gcm 2<br />
Table 9-126<br />
Controller Architecture – Example 1: Components<br />
Model of the Plant<br />
The following parameters can be deduced:<br />
Figure 9-79<br />
Example1 – Block Diagram<br />
maxon motor control<br />
9-126 Document ID: rel3956 <strong>EPOS2</strong> Positioning Controllers<br />
Edition: April 2013<br />
<strong>EPOS2</strong> <strong>Application</strong> <strong>Notes</strong> <strong>Collection</strong><br />
© 2013 maxon motor. Subject to change without prior notice.
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