EPOS2 Application Notes Collection - Maxon Motor

Extended Encoders Configuration
Configuration Objects
13.4 Configuration Objects
Note
The subsequent information is an extract of the separately available document «EPOS2 Firmware
Specification» showing the configuration objects for the extended encoders.
• Some combinations of sensors can only be configured if the controller structure is set to 1 (velocity
auxiliary controller).
• With a single loop structure, the main sensor will be used regardless if it is mounted to the motor or to
the load.
13.4.1 Controller Structure
Description
Used to define the dual loop controller structure. Without auxiliary controller, the structure is single loop.
Remarks
If a controller structure will be set to a value that is in conflict with the actual position sensor type, the
sensor type will be set to “0” (Unknown sensor).
Can only be changed in “Disable” state.
Name
Index
Subindex
Type
Access
Default Value –
Controller Structure
0x2220
0x00
UNSIGNED16
RW
Value Range Table 13-186
Value Description
0 no auxiliary controller
velocity auxiliary controller (available with EPOS2 70/10, EPOS2 50/5 and EPOS2
1
Module 36/2 only)
Table 13-186
Controller Structure
maxon motor control
13-198 Document ID: rel3956 EPOS2 Positioning Controllers
Edition: April 2013
EPOS2 Application Notes Collection
© 2013 maxon motor. Subject to change without prior notice.