EPOS2 Application Notes Collection - Maxon Motor

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Table 10-133 CAN Bus Wiring – CAN Bus Line. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 144 Table 10-134 EPOS2 70/10, EPOS2 50/5 & EPOS2 24/5 – CAN ID. . . . . . . . . . . . . . . . . . . . . . . . 145 Table 10-135 DIP Switch 1…7 Settings (Example) . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 145 Table 10-136 EPOS2 Module 36/2 – CAN ID . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 146 Table 10-137 EPOS2 24/2 – CAN ID . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 146 Table 10-138 Switch 1…4 Settings (Example). . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 146 Table 10-139 CAN Communication – Bit Rates and Line Lengths. . . . . . . . . . . . . . . . . . . . . . . . . . 147 Table 10-140 SDO Transfer Protocol – Legend. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 150 Table 10-141 Command Specifier (Overview) . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 150 Table 10-142 Example “Read” . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 151 Table 10-143 Example “Write” . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 151 Table 10-144 Example “Read” . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 151 Table 10-145 NMT Functionality . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 152 Table 10-146 COB-IDs – Default Values and Value Range. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 154 Table 10-147 Node Guarding Protocol – Data Field . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 156 Table 10-148 Heartbeat Protocol – Data Field . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 158 Table 11-149 USB or RS232 to CAN Gateway – covered Hardware and required Documents . . . 161 Table 11-150 USB or RS232 to CAN Gateway – recommended Tools . . . . . . . . . . . . . . . . . . . . . . 161 Table 11-151 Communication Data Exchange. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 162 Table 11-152 SDO Transfer Protocol – Legend. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 163 Table 11-153 Communication via USB (Example) – Steps 1/2 . . . . . . . . . . . . . . . . . . . . . . . . . . . . 164 Table 11-154 Communication via USB (Example) – Steps 3/4 . . . . . . . . . . . . . . . . . . . . . . . . . . . . 164 Table 11-155 Communication via RS232 (Example) – Steps 1/2 . . . . . . . . . . . . . . . . . . . . . . . . . . 166 Table 11-156 Communication via RS232 (Example) – Steps 3/4 . . . . . . . . . . . . . . . . . . . . . . . . . . 166 Table 11-157 Command Translation – USB/RS232 to CANopen Service . . . . . . . . . . . . . . . . . . . . 167 Table 11-158 USB or RS232 to CAN Gateway – Limiting Factors. . . . . . . . . . . . . . . . . . . . . . . . . . 167 Table 11-159 RS232 to CAN Gateway – Timing . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 168 Table 11-160 Timing – CAN Bus (CANopen SDO Services) . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 168 Table 11-161 Timing – USB . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 168 Table 11-162 Timing – RS232 (maxon-specific protocol) . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 169 Table 12-163 Data Recording – covered Hardware and required Documents. . . . . . . . . . . . . . . . . 171 Table 12-164 Data Recording – recommended Tools . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 172 Table 12-165 Data Recording – Title Bar . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 173 Table 12-166 Data Recording – Option Bar . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 173 Table 12-167 Data Recording – Display. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 174 Table 12-168 Data Recording – Context Menu . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 174 Table 12-169 “Configure Recorder” – Channel . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 175 Table 12-170 “Configure Recorder” – Data Sampling . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 175 Table 12-171 “Configure Recorder” – Trigger Configuration . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 176 Table 12-172 “Configure Recorder” – Trigger Time . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 176 Table 12-173 Data Recorder Control – Bits . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 180 Table 12-174 Data Recorder Configuration – Bits . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 181 Table 12-175 Data Recorder Status – Bits. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 183 Table 12-176 Data Recorder Max. Number of Samples – Example . . . . . . . . . . . . . . . . . . . . . . . . 184 Table 13-177 Extended Encoders Configuration – covered Hardware and required Documents . . 187 maxon motor control Z-216 Document ID: rel3956 EPOS2 Positioning Controllers Edition: April 2013 EPOS2 Application Notes Collection © 2013 maxon motor. Subject to change without prior notice.
Table 13-178 Extended Encoders Configuration – recommended Tools . . . . . . . . . . . . . . . . . . . . .187 Table 13-179 EPOS2 70/10 – Signal 2 Connector (J5A) . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .188 Table 13-180 EPOS2 70/10 – Signal 3 Connector (J5B) . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .189 Table 13-181 EPOS2 50/5 – Signal 1 Connector (J5) . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .189 Table 13-182 EPOS2 Module 36/2 – Pin Assignment Arrays A & B . . . . . . . . . . . . . . . . . . . . . . . .190 Table 13-183 SSI Absolute Encoder – Manufacturers (not concluding). . . . . . . . . . . . . . . . . . . . . .193 Table 13-184 Incremental Encoder 2 – Manufacturers (not concluding) . . . . . . . . . . . . . . . . . . . . .195 Table 13-185 Sinus Incremental Encoder 2 – Manufacturers (not concluding) . . . . . . . . . . . . . . . .197 Table 13-186 Controller Structure . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .198 Table 13-187 Position Sensor Type – Bits . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .199 Table 13-188 Supported Sensor Types . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .200 Table 13-189 Position Sensor Polarity . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .200 Table 13-190 SSI Encoder Number of Data Bits . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .201 Table 13-191 SSI Encoding Type. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .202 Table 13-192 Encoder 2 Resolution . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .204 Table 13-193 Example 1 – Setup . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .205 Table 13-194 Example 2 – Setup . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .207 maxon motor control EPOS2 Positioning Controllers Document ID: rel3956 Z-217 EPOS2 Application Notes Collection Edition: April 2013 © 2013 maxon motor. Subject to change without prior notice.
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maxon motor control Application Not
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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 and 212: Figure 9-88 Example1 - Position Con
Page 213 and 214: LIST OF TABLES Table 1-1 Notations
Page 215: Table 8-88 Device Programming - cov
Page 219 and 220: INDEX A acceleration feedforward 12
Page 221 and 222: Buffer Position 86 COB-ID Time Stam
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