EPOS2 Application Notes Collection - Maxon Motor

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Figure 12-133 Data Recorder Overview . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 172 Figure 12-134 Data Recording – “Configure Recorder” Dialog . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 175 Figure 12-135 Configure Data Recorder . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 177 Figure 12-136 Select Configuration Options . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .177 Figure 12-137 Execute Movement. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 178 Figure 12-138 Save recorded Data . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 178 Figure 12-139 Save recorded Data . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 178 Figure 12-140 Analyze recorded Data. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 179 Figure 12-141 Restart Data Recorder . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 179 Figure 12-142 Data Recorder Data Buffer – Segmentation. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 185 Figure 13-143 EPOS2 70/10 – Signal 2 Connector (J5A) . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 188 Figure 13-144 EPOS2 70/10 – Signal 3 Connector (J5B) . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 189 Figure 13-145 EPOS2 50/5 – Signal 1 Connector (J5) . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 189 Figure 13-146 SSI Principle. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 191 Figure 13-147 EPOS2 70/10 – SSI Encoder Connection . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 191 Figure 13-148 EPOS2 50/5 – SSI Encoder Connection . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 191 Figure 13-149 EPOS2 70/10 & EPOS2 50/5 – DigIN9 “Differential” Circuit . . . . . . . . . . . . . . . . . . . 192 Figure 13-150 EPOS2 70/10 & EPOS2 50/5 – DigOUT5 “Differential” Circuit . . . . . . . . . . . . . . . . . 192 Figure 13-151 EPOS2 70/10 – Incremental Encoder 2 Connection . . . . . . . . . . . . . . . . . . . . . . . . . 193 Figure 13-152 EPOS2 50/5 – Incremental Encoder 2 Connection . . . . . . . . . . . . . . . . . . . . . . . . . . 194 Figure 13-153 EPOS2 70/10 & EPOS2 50/5 – DigIN7 “Differential” Circuit (analogously valid also for DigIN8) . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 194 Figure 13-154 EPOS2 Module 36/2 – Incremental Encoder 2 Connection . . . . . . . . . . . . . . . . . . . . 194 Figure 13-155 EPOS2 Module 36/2 – DigIN7 “Differential” Circuit (analogously valid also for DigIN8) . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 195 Figure 13-156 Sinus Incremental Encoder Principle . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 196 Figure 13-157 EPOS2 70/10 – Sinus Incremental Encoder Connection . . . . . . . . . . . . . . . . . . . . . . 196 Figure 13-158 EPOS2 50/5 – Sinus Incremental Encoder Connection . . . . . . . . . . . . . . . . . . . . . . . 196 Figure 13-159 EPOS2 70/10 & EPOS2 50/5 – DigIN7/DigIN8 “Differential” Input Circuit of Sinus Incremental Encoder 2 . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 197 Figure 13-160 Regulation, Sensor and Gear Overview. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 199 Figure 13-161 Example 1 – Wiring Diagram . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 205 Figure 13-162 Example 1 – Object Configuration . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 206 Figure 13-163 Example 2 – Wiring Diagram . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 207 Figure 13-164 Example 2 – Object Configuration . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 208 maxon motor control Z-212 Document ID: rel3956 EPOS2 Positioning Controllers Edition: April 2013 EPOS2 Application Notes Collection © 2013 maxon motor. Subject to change without prior notice.
LIST OF TABLES Table 1-1 Notations used in this Document . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .9 Table 1-2 Brand Names and Trademark Owners. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .11 Table 1-3 Sources for additional Information . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .11 Table 1-4 Default Unit Dimensions . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .12 Table 2-5 Digital Inputs & Outputs – covered Hardware and required Documents . . . . . . . . . . .13 Table 2-6 Digital Inputs & Outputs – recommended Tools . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .13 Table 2-7 Digital Input – Configuration Parameter . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .15 Table 2-8 Digital Input – Input Parameter. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .15 Table 2-9 Digital Input – Input Configuration Values . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .16 Table 2-10 Digital Input – Execution Mask Parameter . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .16 Table 2-11 Digital Input – Polarity Values. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .16 Table 2-12 Digital Output – Configuration Parameter. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .17 Table 2-13 Digital Output – Output Configuration Values. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .18 Table 2-14 Digital Output – Execution Mask Parameter. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .18 Table 2-15 Digital Output – Polarity Values . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .18 Table 2-16 EPOS Signal Cable 1 – Technical Data . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .19 Table 2-17 EPOS Signal Cable 1 – Pin Assignment EPOS2 70/10 . . . . . . . . . . . . . . . . . . . . . . . .20 Table 2-18 EPOS Signal Cable 2 – Technical Data . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .21 Table 2-19 EPOS2 Signal Cable 2 – Pin Assignment EPOS2 70/10 . . . . . . . . . . . . . . . . . . . . . . .22 Table 2-20 EPOS2 Signal Cable 4 – Technical Data . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .23 Table 2-21 EPOS2 Signal Cable 4 – Pin Assignment EPOS2 70/10 . . . . . . . . . . . . . . . . . . . . . . .23 Table 2-22 EPOS Signal Cable 1 – Technical Data . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .24 Table 2-23 EPOS Signal Cable 1 – Pin Assignment EPOS2 50/5 . . . . . . . . . . . . . . . . . . . . . . . . .25 Table 2-24 EPOS Signal Cable 2 – Technical Data . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .26 Table 2-25 EPOS2 Signal Cable 3 – Pin Assignment EPOS2 50/5 . . . . . . . . . . . . . . . . . . . . . . . .27 Table 2-26 EPOS2 Module 36/2 – PCB Connectors . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .28 Table 2-27 EPOS2 Module 36/2 – Pin Assignment . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .28 Table 2-28 EPOS Signal Cable 1 – Technical Data . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .29 Table 2-29 EPOS Signal Cable 1 – Pin Assignment EPOS2 24/5 . . . . . . . . . . . . . . . . . . . . . . . . .30 Table 2-30 Connector J1 – Pin Assignment EPOS2 24/2 . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .31 Table 3-31 Analog Inputs & Outputs – covered Hardware and required Documents. . . . . . . . . . .43 Table 3-32 Analog Inputs & Outputs – recommended Tools . . . . . . . . . . . . . . . . . . . . . . . . . . . . .43 Table 3-33 Analog Input – Configuration Parameter . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .44 Table 3-34 Analog Input – Input Parameter . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .44 Table 3-35 Analog Input – Input Configuration Values . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .45 Table 3-36 Analog Input – Execution Mask Parameter . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .45 Table 3-37 Analog Output – Output Parameter . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .46 Table 3-38 EPOS Signal Cable 2 – Technical Data . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .47 Table 3-39 EPOS2 Signal Cable 2 – Pin Assignment EPOS2 70/10 . . . . . . . . . . . . . . . . . . . . . . .48 Table 3-40 EPOS2 Signal Cable 3 – Technical Data . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .49 Table 3-41 EPOS2 Signal Cable 3 – Pin Assignment EPOS2 50/5 . . . . . . . . . . . . . . . . . . . . . . . .49 Table 3-42 EPOS2 Module 36/2 – PCB Connectors . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .50 maxon motor control EPOS2 Positioning Controllers Document ID: rel3956 Z-213 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 and 20:
Digital Inputs & Outputs Connection
Page 21 and 22:
Page 23 and 24:
Page 25 and 26:
Page 27 and 28:
Page 29 and 30:
Page 31 and 32:
Page 33 and 34:
Digital Inputs & Outputs Configurat
Page 35 and 36:
Digital Inputs & Outputs Wiring Exa
Page 37 and 38:
Page 39 and 40:
Page 41 and 42:
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 49 and 50:
Page 51 and 52:
Page 53 and 54:
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
Page 135 and 136:
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 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 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: Figure 9-88 Example1 - Position Con
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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