EPOS2 Application Notes Collection - Maxon Motor

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Extended Encoders Configuration Configuration Objects Description Position received from encoder [Position units] (page 1-12). Name Index Subindex Type Access Default Value – SSI Encoder Actual Position 0x2211 0x03 INTEGER32 RO Value Range – – Description Defines the SSI’s encoding type. Name SSI Encoding Type Index 0x2211 Subindex 0x04 Type UNSIGNED16 Access RW Default Value 0 Value Range Table 13-191 Value Description 0 SSI Encoder binary type 1 SSI Encoder Gray coded Table 13-191 SSI Encoding Type maxon motor control 13-202 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 13.4.4 Incremental Encoder 2 Configuration Description Used to configure the interpretation of the Incremental Encoder 2. Remarks Can only be changed in “Disable” state. The absolute position may be corrupted after changing this parameter. Name Incremental Encoder 2 Configuration Index 0x2212 Number of entries 3 Description The encoder’s pulse number must be set to number of pulses per turn of the connected Incremental Encoder. Name Index Subindex Type Access Incremental Encoder 2 Pulse Number 0x2212 0x01 UNSIGNED32 RW Default Value 500 Value Range 16 2 500 000 Description Holds the internal counter register of the Incremental Encoder 2. It shows the actual encoder position in quad counts [qc]. Name Index Subindex Type Access Default Value – Incremental Encoder 2 Counter 0x2212 0x02 UNSIGNED32 RO Value Range – – Description Holds the Incremental Encoder 2 counter reached upon last detected encoder index pulse. It shows the actual encoder index position in quad counts [qc]. Name Index Subindex Type Access Default Value – Incremental Encoder 2 Counter at Index Pulse 0x2212 0x03 UNSIGNED32 RO Value Range – – maxon motor control EPOS2 Positioning Controllers Document ID: rel3956 13-203 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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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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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 and 200: Extended Encoders Configuration Con
Page 201: Extended Encoders Configuration Con
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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