EPOS2 Application Notes Collection - Maxon Motor

Figure 9-88 Example1 – Position Control with Feedforward, simulated . . . . . . . . . . . . . . . . . . . .131
Figure 9-89 Example1 – Position Control with Feedforward, measured . . . . . . . . . . . . . . . . . . . .131
Figure 9-90 Example1 – Position Control without Feedforward, simulated . . . . . . . . . . . . . . . . . .132
Figure 9-91 Example1 – Position Control without Feedforward, measured. . . . . . . . . . . . . . . . . .132
Figure 9-92 Example1 – Position Control with incorrect Feedforward, simulated . . . . . . . . . . . . .133
Figure 9-93 Example1 – Position Control with incorrect Feedforward, measured. . . . . . . . . . . . .133
Figure 9-94 Controller Architecture – Example 2: System with low Inertia/high Friction . . . . . . . .134
Figure 9-95 Example 2 – Block Diagram . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .134
Figure 9-96 Example 2 – System Parameters, real . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .135
Figure 9-97 Example 2 – Current Regulation, Block Model. . . . . . . . . . . . . . . . . . . . . . . . . . . . . .137
Figure 9-98 Example 2 – Current Regulation, simulated . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .137
Figure 9-99 Example 2 – Current Regulation, measured. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .137
Figure 9-100 Example 2 – Velocity Regulation, Block Model . . . . . . . . . . . . . . . . . . . . . . . . . . . . .138
Figure 9-101 Example 2 – Velocity Regulation, simulated. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .138
Figure 9-102 Example 2 – Velocity Regulation, measured . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .138
Figure 9-103 Example 2 – Position Control with Feedforward, Block Model . . . . . . . . . . . . . . . . . .139
Figure 9-104 Example 2 – Position Control with Feedforward, simulated . . . . . . . . . . . . . . . . . . . .139
Figure 9-105 Example 2 – Position Control with Feedforward, measured. . . . . . . . . . . . . . . . . . . .139
Figure 9-106 Example 2 – Position Control without Feedforward, simulated . . . . . . . . . . . . . . . . .140
Figure 9-107 Example 2 – Position Control without Feedforward, measured . . . . . . . . . . . . . . . . .140
Figure 10-108 CANopen Network Structure (Example). . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .142
Figure 10-109 EPOS2 70/10 – DIP Switch . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .142
Figure 10-110 EPOS2 50/5 – DIP Switch . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .142
Figure 10-111 EPOS2 24/5 – DIP Switch . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .142
Figure 10-112 EPOS2 24/2 – DIP Switch . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .142
Figure 10-113 CAN Connector Types . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .144
Figure 10-114 Connector Array . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .144
Figure 10-115 D-Sub Connector . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .144
Figure 10-116 RJ45 Connector . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .144
Figure 10-117 DIP Switch EPOS2 70/10 & DIP Switch EPOS2 24/5 . . . . . . . . . . . . . . . . . . . . . . . .145
Figure 10-118 DIP Switch EPOS2 50/5 . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .145
Figure 10-119 DIP Switch EPOS2 24/2 . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .146
Figure 10-120 Example: Boot Up Message of Node 1 . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .148
Figure 10-121 SDO Communication . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .149
Figure 10-122 SDO Upload Protocol (Expedited Transfer) – Read. . . . . . . . . . . . . . . . . . . . . . . . . .149
Figure 10-123 SDO Upload Protocol (Expedited Transfer) – Write . . . . . . . . . . . . . . . . . . . . . . . . . .149
Figure 10-124 SDO Upload Protocol (Expedited Transfer) – Abort. . . . . . . . . . . . . . . . . . . . . . . . . .150
Figure 10-125 Network Management (NMT) . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .152
Figure 10-126 NMT Slave State Diagram . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .152
Figure 10-127 PDO Mapping . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .153
Figure 10-128 Node Guarding Protocol – Timing Diagram . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .156
Figure 10-129 Heartbeat Protocol – Timing Diagram . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .158
Figure 11-130 Gateway Communication Structure . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .162
Figure 11-131 Communication via USB (Example) . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .163
Figure 11-132 Communication via RS232 (Example) . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .165
maxon motor control
EPOS2 Positioning Controllers Document ID: rel3956 Z-211
EPOS2 Application Notes Collection Edition: April 2013
© 2013 maxon motor. Subject to change without prior notice.