EPOS2 Application Notes Collection - Maxon Motor
EPOS2 Application Notes Collection - Maxon Motor
EPOS2 Application Notes Collection - Maxon Motor
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Table 8-88 Device Programming – covered Hardware and required Documents . . . . . . . . . . . .101<br />
Table 8-89 Device Programming – recommended Tools . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .102<br />
Table 8-90 Device Programming – First Step. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .102<br />
Table 8-91 Device Programming – Homing Mode (Start). . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .103<br />
Table 8-92 Device Programming – Homing Mode (Read) . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .103<br />
Table 8-93 Device Programming – Homing Mode (Stop). . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .104<br />
Table 8-94 Device Programming – Profile Position Mode (Set) . . . . . . . . . . . . . . . . . . . . . . . . . .105<br />
Table 8-95 Device Programming – Profile Position Mode (Read) . . . . . . . . . . . . . . . . . . . . . . . .105<br />
Table 8-96 Device Programming – Profile Position Mode (Stop) . . . . . . . . . . . . . . . . . . . . . . . . .106<br />
Table 8-97 Device Programming – Profile Velocity Mode (Start) . . . . . . . . . . . . . . . . . . . . . . . . .107<br />
Table 8-98 Device Programming – Profile Velocity Mode (Read) . . . . . . . . . . . . . . . . . . . . . . . .107<br />
Table 8-99 Device Programming – Profile Velocity Mode (Stop) . . . . . . . . . . . . . . . . . . . . . . . . .107<br />
Table 8-100 Device Programming – Position Mode (Set). . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .108<br />
Table 8-101 Device Programming – Position Mode (Stop). . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .108<br />
Table 8-102 Device Programming – Position Mode (Set, analog) . . . . . . . . . . . . . . . . . . . . . . . . .109<br />
Table 8-103 Device Programming – Position Mode (Stop, analog) . . . . . . . . . . . . . . . . . . . . . . . .109<br />
Table 8-104 Device Programming – Velocity Mode (Set). . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .110<br />
Table 8-105 Device Programming – Velocity Mode (Stop). . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .110<br />
Table 8-106 Device Programming – Velocity Mode (Set, analog) . . . . . . . . . . . . . . . . . . . . . . . . .111<br />
Table 8-107 Device Programming – Velocity Mode (Stop, analog) . . . . . . . . . . . . . . . . . . . . . . . .111<br />
Table 8-108 Device Programming – Current Mode (Set) . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .112<br />
Table 8-109 Device Programming – Current Mode (Stop) . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .112<br />
Table 8-110 Device Programming – Current Mode (Set, analog). . . . . . . . . . . . . . . . . . . . . . . . . .113<br />
Table 8-111 Device Programming – Current Mode (Stop, analog). . . . . . . . . . . . . . . . . . . . . . . . .113<br />
Table 8-112 Device Programming – State Machine (Clear Fault) . . . . . . . . . . . . . . . . . . . . . . . . .114<br />
Table 8-113 Device Programming – State Machine (Send NMT Service) . . . . . . . . . . . . . . . . . . .114<br />
Table 8-114 Device Programming – Motion Info (Get Movement State) . . . . . . . . . . . . . . . . . . . .115<br />
Table 8-115 Device Programming – Motion Info (Read Position). . . . . . . . . . . . . . . . . . . . . . . . . .115<br />
Table 8-116 Device Programming – Motion Info (Read Velocity). . . . . . . . . . . . . . . . . . . . . . . . . .115<br />
Table 8-117 Device Programming – Motion Info (Read Current) . . . . . . . . . . . . . . . . . . . . . . . . . .115<br />
Table 8-118 Device Programming – Utilities (Store all Parameters) . . . . . . . . . . . . . . . . . . . . . . .116<br />
Table 8-119 Device Programming – Utilities (Restore all default Parameters). . . . . . . . . . . . . . . .116<br />
Table 8-120 Device Programming – Utilities (Restore default PDO COB-ID) . . . . . . . . . . . . . . . .116<br />
Table 9-121 Controller Architecture – covered Hardware and required Documents . . . . . . . . . . .117<br />
Table 9-122 Controller Architecture – recommended Tools . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .117<br />
Table 9-123 Current Regulation – Object Dictionary . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .119<br />
Table 9-124 Velocity Regulation – Object Dictionary . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .120<br />
Table 9-125 Position Regulation with Feedforward – Object Dictionary. . . . . . . . . . . . . . . . . . . . .121<br />
Table 9-126 Controller Architecture – Example 1: Components. . . . . . . . . . . . . . . . . . . . . . . . . . .126<br />
Table 9-127 Controller Architecture – Example 2: Components. . . . . . . . . . . . . . . . . . . . . . . . . . .134<br />
Table 10-128 CANopen Basic Information – covered Hardware and required Documents . . . . . . .141<br />
Table 10-129 CANopen Basic Information – recommended Tools. . . . . . . . . . . . . . . . . . . . . . . . . .141<br />
Table 10-130 DIP Switch Settings for CAN Bus Termination . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .142<br />
Table 10-131 CANopen Basic Information – recommended Components. . . . . . . . . . . . . . . . . . . .143<br />
Table 10-132 CAN Bus Wiring – Controller . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .144<br />
maxon motor control<br />
<strong>EPOS2</strong> Positioning Controllers Document ID: rel3956 Z-215<br />
<strong>EPOS2</strong> <strong>Application</strong> <strong>Notes</strong> <strong>Collection</strong> Edition: April 2013<br />
© 2013 maxon motor. Subject to change without prior notice.
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