EPOS2 Application Notes Collection - Maxon Motor

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Extended Encoders Configuration Configuration Objects Value Description Abbreviation 6 Incremental Encoder 2 with index (3-channel) *1) Inc Enc2 7 Incremental Encoder 2 without index (2-channel) *2) 8 Sinus Incremental Encoder 2 *1) Sin Inc Enc2 Remarks: *1) only available with EPOS2 70/10 and EPOS2 50/5 *2) only available with EPOS2 70/10, EPOS2 50/5 and EPOS2 Module Table 13-188 Supported Sensor Types Description Used to change the position sensor polarity. Remarks Can only be changed in “Disable” state. The absolute position may be corrupted after changing this parameter. Name Position Sensor Polarity Index 0x2210 Subindex 0x04 Type UNSIGNED16 Access RW Default Value 0x00 Value Range Table 13-189 Bit Value Name Description 0 1 2 3 0 Incremental normal Enc1 polarity (CCW counts positive) 1 Encoder 1 inverted Enc1 polarity (or encoder mounted on motor shaft) 0 normal Hall sensor polarity (maxon standard) Hall sensors 1 inverted Hall sensor polarity 0 normal SSI polarity (CCW counts positive) SSI Encoder 1 inverted SSI polarity 0 Incremental normal Enc2 polarity (CCW counts positive) 1 Encoder 2 *2) inverted Enc2 polarity (or encoder mounted on motor shaft) 0 Sinus normal Enc2Sin Encoder polarity (CCW counts positive) 4 Incremental 1 Encoder *1) inverted Enc2Sin Encoder polarity 5…15 (0) reserved – Remarks: *1) only available with EPOS2 70/10 and EPOS2 50/5 *2) only available with EPOS2 70/10, EPOS2 50/5 and EPOS2 Module 36/2 Table 13-189 Position Sensor Polarity maxon motor control 13-200 Document ID: rel3956 EPOS2 Positioning Controllers Edition: April 2013 EPOS2 Application Notes Collection © 2013 maxon motor. Subject to change without prior notice.
Extended Encoders Configuration Configuration Objects 13.4.3 SSI Encoder Configuration Description Used to configure the interpretation of the SSI Encoder. Remark Changes are only supported in “Disable” state. Name SSI Encoder Configuration Index 0x2211 Number of entries 4 Description SSI data rate (SSI clock frequency) in [kbit/s]. Remark The maximal data rate depends on the actual line length and the employed SSI encoders’ specifications. Typically are 400 kbit/s for cable lengths
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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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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
Page 149 and 150: CANopen Basic Information SDO Commu
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Page 153 and 154: CANopen Basic Information PDO Commu
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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
Page 187 and 188: Extended Encoders Configuration In
Page 189 and 190: Extended Encoders Configuration Har
Page 191 and 192: Extended Encoders Configuration Sen
Page 193 and 194: 13.3.1.3 Choice of Manufacturers fo
Page 199: Extended Encoders Configuration Con
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Page 205 and 206: Extended Encoders Configuration App
Page 207 and 208: Extended Encoders Configuration App
Page 209 and 210: LIST OF FIGURES Figure 2-1 Digital
Page 211 and 212: Figure 9-88 Example1 - Position Con
Page 213 and 214: LIST OF TABLES Table 1-1 Notations
Page 215 and 216: Table 8-88 Device Programming - cov
Page 217 and 218: Table 13-178 Extended Encoders Conf
Page 219 and 220: INDEX A acceleration feedforward 12
Page 221 and 222: Buffer Position 86 COB-ID Time Stam
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EPOS2 Application Notes Collection - Maxon Motor

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