EPOS2 Application Notes Collection - Maxon Motor

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Digital Inputs & Outputs Connection Wire Head A Pin Head B Pin Twisted Pair Signal Description white 1 – IN_COM2 Common signal 2 for DigIN4…6 brown 2 – IN_COM1 Common signal 1 for DigIN1…3 green 3 – DigIN6 yellow 4 – DigIN5 Digital input 6 “Negative Limit Switch” Digital input 5 “Positive Limit Switch” grey 5 – DigIN4 Digital input 4 “Home Switch” pink 6 – DigIN3 Digital input 3 “General Purpose” blue 7 – DigIN2 Digital input 2 “General Purpose” red 8 – DigIN1 Digital input 1 “General Purpose” black 9 – +V Opto IN External supply input voltage for Digital Outputs (+12…24 VDC) violet 10 – DigOUT4 Digital output 4 “Brake” grey/ pink 11 – DigOUT3 Digital output 3 “General Purpose” red/blue 12 – DigOUT2 Digital output 2 “General Purpose” white/ green brown/ green white/ yellow 13 – DigOUT1 14 – DigOUT_Gnd 15 – DigIN11 Digital output 1 “General Purpose” Digital OUT ground reference to “+V Opto IN” Digital input 11 “Power Stage Enable” yellow/ brown 16 – IN_COM3 Common signal 3 for DigIN11 Table 2-17 EPOS Signal Cable 1 – Pin Assignment EPOS2 70/10 maxon motor control 2-20 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 EPOS Signal Cable 2 (300586) – Connector J5A Head A Head B Figure 2-4 EPOS Signal Cable 2 Cable cross-section 6 x 2 x 0.14 mm 2 Technical Data Length Head A 3.00 m Molex Micro-Fit 3.0 12 poles (430-25-1200) Molex Micro-Fit 3.0 female crimp terminals (43030-xxxx) Head B Cable end sleeves 0.14 mm 2 Table 2-18 EPOS Signal Cable 2 – Technical Data maxon motor control EPOS2 Positioning Controllers Document ID: rel3956 2-21 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 and 18: Digital Inputs & Outputs Functional
Page 19: Digital Inputs & Outputs Connection
Page 23 and 24: 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
Page 73 and 74:
Interpolated Position Mode In Brief
Page 75 and 76:
Interpolated Position Mode In Detai
Page 77 and 78:
Interpolated Position Mode IPM Impl
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Page 81 and 82:
Page 83 and 84:
Page 85 and 86:
Page 87 and 88:
Page 89 and 90:
Interpolated Position Mode Configur
Page 91 and 92:
Interpolated Position Mode Configur
Page 93 and 94:
Regulation Tuning In Brief 7 Regula
Page 95 and 96:
Regulation Tuning Working Principle
Page 97 and 98:
Regulation Tuning Tuning Modes 7.5
Page 99 and 100:
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
Page 107 and 108:
Device Programming Profile Velocity
Page 109 and 110:
Device Programming Position Mode 8.
Page 111 and 112:
Device Programming Velocity Mode 8.
Page 113 and 114:
Device Programming Current Mode 8.9
Page 115 and 116:
Device Programming Motion Info 8.11
Page 117 and 118:
Controller Architecture In Brief 9
Page 119 and 120:
Controller Architecture Regulation
Page 121 and 122:
Controller Architecture Regulation
Page 123 and 124:
Controller Architecture Dual Loop R
Page 125 and 126:
Controller Architecture Dual Loop R
Page 127 and 128:
Controller Architecture Application
Page 129 and 130:
Page 131 and 132:
Page 133 and 134:
With incorrect Feedforward (acceler
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Page 137 and 138:
Page 139 and 140:
Page 141 and 142:
CANopen Basic Information In Brief
Page 143 and 144:
10.3 Configuration Follow below ste
Page 145 and 146:
CANopen Basic Information Configura
Page 147 and 148:
CANopen Basic Information Configura
Page 149 and 150:
CANopen Basic Information SDO Commu
Page 151 and 152:
10.4.2 SDO Communication Examples R
Page 153 and 154:
CANopen Basic Information PDO Commu
Page 155 and 156:
CANopen Basic Information PDO Commu
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 183 and 184:
Page 185 and 186:
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 195 and 196:
Page 197 and 198:
Page 199 and 200:
Extended Encoders Configuration Con
Page 201 and 202:
Page 203 and 204:
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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