EPOS2 Application Notes Collection - Maxon Motor

sinus incremental encoder connection 196
SSI encoder connection 191
wiring examples 35
EPOS2 Module 36/2 28
analog inputs 50
CAN bus wiring 144
CAN Node ID 146
incremental encoder 2 connection 194
limitations in Master Encoder Mode 64
limitations in Step/Direction Mode 72
wiring examples 37
error handling
CANopen Basic Information 157
Interpolated Position Mode 91
examples
setting CAN IDs 146
Expert Tuning 97
extended encoders configuration 187
F
feedforward acceleration
Position Control 95
Velocity Control 94
feedforward, in Position Regulation 121
feedforward, in Velocity Regulation 120
FIFO (organization) 78
fine tuning 99
friction, compensation of 98
FSA (states, functions) 78
H
Heartbeat Consumer Time, calculation of 158
Heartbeat Protocol 158
Homing Mode (Device Programming) 103
how to
access CAN bus via USB or RS232 162
connect extended encoders 188
interpret icons (and signs) used in the document 9
launch the Data Recorder 172
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I
I/O configuration in
Master Encoder Mode 61
Step/Direction Mode 69
identification (Regulation Tuning) 95
informatory signs 10
IPM (data buffer structure) 77
IPM commanding sequence 88
L
limiting factors
in Master Encoder Mode 64
in Step/Direction Mode 72
of USB/RS232 to CAN Gateway 167
line length and bit rate 147
M
mandatory action signs 10
Manual Tuning 99
Manually Dimensioned (status in Regulation Tuning) 97
mapping (Regulation Tuning) 95
methods of regulation 119
modelling (Regulation Tuning) 95
motion clock synchronization 76
Motion Info (Device Programming) 115
N
Network Management (NMT) 152
NMT (Network Management) 152
NMT State
Heartbeat 158
Node Guarding 156
Node Guard Time, calculation of 156
Node Guarding Protocol 156
Node ID, set 145
nodes, # of addressable 145
non-compliance of surrounding system 2, 179
number of addressable nodes 145
O
object descriptions
Data Recording
Data Recorder Configuration 181
Data Recorder Control 180
Data Recorder Data Buffer 185
Data Recorder Index of Variables 182
Data Recorder max. Number of Samples 184
Data Recorder Number of Preceding Samples 181
Data Recorder Number of recorded Samples 184
Data Recorder Number of Sampling Variables 182
Data Recorder Sampling Period 181
Data Recorder Status 183
Data Recorder Subindex of Variables 183
Extended Encoders Configuration
Controller Structure 198
Incremental Encoder 2 Configuration 203
Incremental Encoder 2 Counter 203
Incremental Encoder 2 Counter at Index Pulse 203
Incremental Encoder 2 Pulse Number 203
Position Sensor Polarity 200
Position Sensor Type 199
Sensor Configuration 199
Sinus Incremental Encoder 2 Actual Position 204
Sinus Incremental Encoder 2 Configuration 204
Sinus Incremental Encoder 2 Resolution 204
SSI Encoder Actual Position 202
SSI Encoder Configuration 201
SSI Encoder Datarate 201
SSI Encoder Number of Data Bits 201
SSI Encoding Type 202
Interpolated Position Mode
Actual Buffer Size 86
Buffer Clear 87
Buffer Organization 86
maxon motor control
Z-220 Document ID: rel3956 EPOS2 Positioning Controllers
Edition: April 2013
EPOS2 Application Notes Collection
© 2013 maxon motor. Subject to change without prior notice.