EPOS2 Application Notes Collection - Maxon Motor

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Digital Inputs & Outputs Functionality Input Configuration Values Parameter “Configuration of Digital Input” defines bit position in “Digital Input Functionalities State”. Value Functionality Description 15 General Purpose A State can be read. 14 General Purpose B State can be read. 13 General Purpose C State can be read. 12 General Purpose D State can be read. 11 General Purpose E State can be read. 10 General Purpose F State can be read. 9 General Purpose G State can be read. 8 General Purpose H State can be read. 7 General Purpose I State can be read. 6 General Purpose J State can be read. 5 Quick Stop Set Quick Stop profile. 4 Device Enable Enables/disables device. 3 Position Marker Samples current position. 2 Home Switch Used in some homing modes. 1 Positive Limit Switch Generates limit error / used in some homing modes. 0 Negative Limit Switch Generates limit error / used in some homing modes. Table 2-9 Digital Input – Input Configuration Values Parameter Description Bit 15 Bit 14 Bit 13 Bit 12 Bit 11 Bit 10 Bit 9 Bit 8 General Purpose A General Purpose B General Purpose C General Purpose D General Purpose E General Purpose F General Purpose G General Purpose H Bit 7 Bit 6 Bit 5 Bit 4 Bit 3 Bit 2 Bit 1 Bit 0 General Purpose I General Purpose J Quick Stop Device Enable Position Marker Home Switch Pos. Limit Switch Neg. Limit Switch Table 2-10 Digital Input – Execution Mask Parameter Polarity Values Bit 0 1 associated pin high active low active Table 2-11 Digital Input – Polarity Values Note • “Digital Input Functionalities State” will only be displayed, if “Digital Input Functionalities Mask” is set to Enable. • “Digital Input Functionalities State” enables/disables the specific function. maxon motor control 2-16 Document ID: rel3956 EPOS2 Positioning Controllers Edition: April 2013 EPOS2 Application Notes Collection © 2013 maxon motor. Subject to change without prior notice.
Digital Inputs & Outputs Functionality 2.2.2 Digital Outputs Figure 2-2 Digital Output Functionality – EPOS2 Overview (default Configuration) Configuration Parameter Name Configuration of Digital Output 1 (Table 2-13) Configuration of Digital Output 2 (Table 2-13) Configuration of Digital Output 3 (Table 2-13) Configuration of Digital Output 4 (Table 2-13) Configuration of Digital Output 5 (Table 2-13) Digital Output Functionalities State (Table 2-14) Digital Output Functionalities Mask (Table 2-14) Digital Input Functionalities Polarity (Table 2-15) Index 0x2079 0x2079 0x2079 0x2079 0x2079 Subindex 0x01 0x02 0x03 0x04 0x05 Description Defines functionality assigned to DigOUT1. Not available with EPOS2 24/2! Defines functionality assigned to DigOUT2. Not available with EPOS2 24/2! Defines functionality assigned to DigOUT3. Not available with EPOS2 Module 36/2! Defines functionality assigned to DigOUT4. Not available with EPOS2 Module 36/2! Defines functionality assigned to DigOUT5. Not available with EPOS2 24/5 and EPOS2 24/2! 0x2078 0x01 State of digital outputs may be set. 0x2078 0x02 Digital outputs may be filtered. 0x2078 0x03 Change of polarity of digital output. Table 2-12 Digital Output – Configuration Parameter maxon motor control EPOS2 Positioning Controllers Document ID: rel3956 2-17 EPOS2 Application Notes Collection Edition: April 2013 © 2013 maxon motor. Subject to change without prior notice.
Page 1 and 2: maxon motor control Application Not
Page 3 and 4: TABLE OF CONTENTS 1 About this Docu
Page 5 and 6: 8 Device Programming 101 8.1 In Bri
Page 7 and 8: 11 USB or RS232 to CAN Gateway 161
Page 9 and 10: About this Document 1 About this Do
Page 11 and 12: About this Document 1.5 Trademarks
Page 13 and 14: Digital Inputs & Outputs In Brief 2
Page 15: Digital Inputs & Outputs Functional
Page 19 and 20: Digital Inputs & Outputs Connection
Page 33 and 34: Digital Inputs & Outputs Configurat
Page 35 and 36: Digital Inputs & Outputs Wiring Exa
Page 43 and 44: Analog Inputs & Outputs In Brief 3
Page 45 and 46: Analog Inputs & Outputs Functionali
Page 47 and 48: 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
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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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Interpolated Position Mode Configur
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Interpolated Position Mode Configur
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Regulation Tuning In Brief 7 Regula
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Regulation Tuning Working Principle
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Regulation Tuning Tuning Modes 7.5
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Regulation Tuning Tuning Modes 7.5.
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Device Programming In Brief 8 Devic
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Device Programming Homing Mode 8.3
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Device Programming Profile Position
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Device Programming Profile Velocity
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Device Programming Position Mode 8.
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Device Programming Velocity Mode 8.
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Device Programming Current Mode 8.9
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Device Programming Motion Info 8.11
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Controller Architecture In Brief 9
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Controller Architecture Regulation
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Controller Architecture Regulation
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Controller Architecture Dual Loop R
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Controller Architecture Dual Loop R
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Controller Architecture Application
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With incorrect Feedforward (acceler
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CANopen Basic Information In Brief
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10.3 Configuration Follow below ste
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CANopen Basic Information Configura
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CANopen Basic Information Configura
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CANopen Basic Information SDO Commu
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10.4.2 SDO Communication Examples R
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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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