EPOS2 Application Notes Collection - Maxon Motor

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Extended Encoders Configuration Configuration Objects 13.4.5 Sinus Incremental Encoder 2 Configuration Description Used to configure the Sinus Incremental Encoder 2 Configuration’s interpretation. Remarks Can only be changed in “Disable” state. The absolute position may be corrupted after changing this parameter. Name Index Number of entries 2 Sinus Incremental Encoder 2 Configuration 0x2213 Description Defines the resolution of “Sinus Incremental Encoder 2”. The parameter pulses per turn must be set to the number of pulses per revolution of the connected Sinus Incremental Encoder. This value multiplied by 2 number of interpolation bits is the total resolution of the Sinus Incremental Encoder. The values are further limited as follows: Max. resolution: 2 number of interpolation bits * pulses per turn ≤ 10 000 000 Min. resolution: 2 number of interpolation bits * pulses per turn ≥ 64 Name Sinus Incremental Encoder 2 Resolution Index 0x2213 Subindex 0x01 Type UNSIGNED32 Access RW Default Value 0x00800006 Value Range Table 13-192 Bit Name Value Minimal Maximal Default 15…8 pulses per turn 1 2 500 000 2048 7…0 number of interpolation bits 2 10 4 Table 13-192 Encoder 2 Resolution Description Position received from Sinus Incremental Encoder [Position units] (page 1-12). Name Sinus Incremental Encoder 2 Actual Position Index 0x2213 Subindex 0x02 Type INTEGER32 Access RO Default Value – Value Range – – maxon motor control 13-204 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 Application Examples 13.5 Application Examples Best Practice The system should work correct if you employ components as listed and configure them as described. If not the case, check the objects’ configuration after executing the described wizards and adjust/tune them according to the actual components employed. 13.5.1 Example 1: Single Loop DC Motor / Gear / SSI Absolute Encoder Equipment Type / Specifications Controller maxon motor controller EPOS2 70/10 (375711) Motor Gear Absolute SSI Encoder Table 13-193 maxon DC motor (any) maxon gear (any) reduction 23:1 (absolute 576:25), recommended input speed
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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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10.4.2 SDO Communication Examples R
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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
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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
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Page 193 and 194: 13.3.1.3 Choice of Manufacturers fo
Page 199 and 200: Extended Encoders Configuration Con
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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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