EPOS2 Application Notes Collection - Maxon Motor

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Controller Architecture Application Examples For numerical simulation, the conversion results from EPOS2 to SI units are as follows: Current Controller K P…EPOS2 = 832 K P…SI = 3.25Ω K I…EPOS2 = 209 K I…SI = 8.17 kΩ ------ s Velocity Controller mA K P…EPOS2 = 1575 K P…SI = 31.5------------------- ( rad) ⁄ s K I…EPOS2 = 257 K I…SI = 1.29------------------- A⁄ s ( rad) ⁄ s Position Controller K P…EPOS2 = 386 K P…SI = 3.86-------- A rad K I…EPOS2 = 1193 K I…SI = 93.1 A --------- ⁄ s rad K D…EPOS2 = 616 K D…SI = 49.3 mAs ---------- rad Positioning and Velocity Feedforward mA K ω…EPOS2 = 4426 K ϖ…SI = 4.42------------------- ( rad) ⁄ s μA K α…EPOS2 = 270 K α…SI = 270---------------------- ( rad) ⁄ s 2 Plausibility Check K a…SI r 1 K ω…SI ------ mA = = 4.13------------------- ( rad) ⁄ s k M – 7 172 ⋅ 10 ------------------- Nm ----- J ( rad) ⁄ s k -------------------------------------------- M 52.5 ⋅ 10 – 3 Nm 327 μA = = = ---------------------- 2 ------- ( rad) ⁄ s A maxon motor control 9-136 Document ID: rel3956 EPOS2 Positioning Controllers Edition: April 2013 EPOS2 Application Notes Collection © 2013 maxon motor. Subject to change without prior notice.
Controller Architecture Application Examples Verification of Current Control The plant is connected to the PI current controller. The controller is parameterized as described above. Figure 9-97 Example 2 – Current Regulation, Block Model Figure 9-98 Example 2 – Current Regulation, simulated Figure 9-99 Example 2 – Current Regulation, measured maxon motor control EPOS2 Positioning Controllers Document ID: rel3956 9-137 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
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Master Encoder Mode Application Exa
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Step/Direction Mode In Brief 5 Step
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Step/Direction Mode System Structur
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Step/Direction Mode Configuration 5
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Step/Direction Mode Application Exa
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Interpolated Position Mode In Brief
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Interpolated Position Mode In Detai
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Interpolated Position Mode IPM Impl
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Page 85 and 86: Interpolated Position Mode IPM Impl
Page 87 and 88: 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 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 135: Controller Architecture Application
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
Page 165 and 166: USB or RS232 to CAN Gateway Communi
Page 167 and 168: USB or RS232 to CAN Gateway Command
Page 169 and 170: USB or RS232 to CAN Gateway Conclus
Page 171 and 172: Data Recording In Brief 12 Data Rec
Page 173 and 174: Data Recording Overview 12.2.2 Cont
Page 175 and 176: Data Recording Data Recorder Config
Page 177 and 178: 12.4 Example: Data Recording in “
Page 179 and 180: Data Recording Example: Data Record
Page 181 and 182: 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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