EPOS2 Application Notes Collection - Maxon Motor

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Digital Inputs & Outputs Functionality Output Configuration Values Parameter “Configuration of Digital Output” defines bit position in “Digital Output 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…8 not used – 7…3 reserved – 2 Holding Brake Active output = activated brake Inactive output = deactivated brake 1 Position compare Trigger output of Position Compare. 0 Ready / Fault Active on Device Ready / Inactive on Fault Table 2-13 Digital Output – Output Configuration Values Parameter Description Bit 15 Bit 14 Bit 13 Bit 12 Bit 11 Bit 10…3 Bit 2 Bit 2 Bit 0 General Purpose A General Purpose B General Purpose C General Purpose D General Purpose E not used / reserved Holding Brake Position Compare Ready / Fault Table 2-14 Digital Output – Execution Mask Parameter Polarity Values Bit 0 1 associated pin not inverted 1 high 0 low inverted 0 high 1 low Table 2-15 Digital Output – Polarity Values Note A change in “Digital Output Functionalities State” is only of effect, if “Digital Output Functionalities Mask” is set to Enable. maxon motor control 2-18 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 Connection 2.3 Connection 2.3.1 EPOS2 70/10 EPOS Signal Cable 1 (275932) – Connector J5 Head A Head B Figure 2-3 EPOS Signal Cable 1 Cable cross-section 16 x 0.14 mm 2 Technical Data Length Head A 3 m Molex Micro-Fit 3.0 16 poles (430-25-1600) Molex Micro-Fit 3.0 female crimp terminals (43030-xxxx) Head B Cable end sleeves 0.14 mm 2 Table 2-16 EPOS Signal Cable 1 – Technical Data maxon motor control EPOS2 Positioning Controllers Document ID: rel3956 2-19 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 and 16: Digital Inputs & Outputs Functional
Page 17: Digital Inputs & Outputs Functional
Page 21 and 22: 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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Page 85 and 86:
Page 87 and 88:
Page 89 and 90:
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
Page 97 and 98:
Regulation Tuning Tuning Modes 7.5
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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
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Device Programming Profile Velocity
Page 109 and 110:
Device Programming Position Mode 8.
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Device Programming Velocity Mode 8.
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Device Programming Current Mode 8.9
Page 115 and 116:
Device Programming Motion Info 8.11
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Controller Architecture In Brief 9
Page 119 and 120:
Controller Architecture Regulation
Page 121 and 122:
Controller Architecture Regulation
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Controller Architecture Dual Loop R
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Controller Architecture Dual Loop R
Page 127 and 128:
Controller Architecture Application
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Page 133 and 134:
With incorrect Feedforward (acceler
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Page 141 and 142:
CANopen Basic Information In Brief
Page 143 and 144:
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
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
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Data Recording Data Recorder Config
Page 177 and 178:
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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Page 185 and 186:
Page 187 and 188:
Extended Encoders Configuration In
Page 189 and 190:
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
Page 211 and 212:
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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