EPOS2 Application Notes Collection - Maxon Motor

More documents

Recommendations

Info

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 read this document 2 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.
Buffer Position 86 COB-ID Time Stamp Object 81 High Resolution Time Stamp 81 Interpolation Buffer Overflow Warning 84 Interpolation Buffer Status 82 Interpolation Buffer Underflow Warning 83 Interpolation Data Configuration 85 Interpolation Data Record 82 Interpolation Status 82 Interpolation Sub Mode Selection 84 Interpolation Time Index 85 Interpolation Time Period 85 Interpolation Time Period Value 85 Maximum Buffer Size 85 Size of Data Record 87 optimization of behavior 99 P PC/CAN Interface Card (list of manufacturers) 143 PC/CAN Interface, wiring 144 PDO (Process Data Object) 152 PDO mapping 153 permanent magnet brake how to connect to EPOS2 50/5 37 how to connect to EPOS2 70/10 36 PLC (list of manufacturers) 143 PLC, connection to CAN bus 144 position (interpolated value) 75 Position Control (Regulation Tuning) 95 Position Mode (Device Programming) 108 Position Profile Mode (Device Programming) 105 Position Regulation (Controller Architecture) 121 prerequisites prior programming 102 Process Data Object (PDO) 152 Profile Velocity Mode (Device Programming) 107 programming 101 Current Mode 112 Homing Mode 103 initial steps 102 Interpolated Position Mode (PVT) 108 Motion Info 115 Position Mode 108 Profile Position Mode 105 Profile Velocity Mode 107 State Machine 114 Utilities 116 Velocity Mode 110 prohibitive signs 10 proximity switches how to connect to EPOS2 24/2 41 how to connect to EPOS2 24/5 39 how to connect to EPOS2 50/5 36 how to connect to EPOS2 70/10 35 how to connect to EPOS2 Module 36/2 37 purpose of this document 9 PVT (position, velocity, time) principle 75 R regulation methods 119 RS232 to CANopen Service 167 RS232, communication via 165 S safety alerts 9 SDO (Service Data Object 149 sensor types, supported 200 Service Data Object (SDO) 149 signs informative 10 mandatory 10 prohibitive 10 signs used 9 slave axis Master Encoder Mode 63 Step/Direction Mode 71 SSI data rate (typical) 201 State Machine (Device Programming) 114 status in Regulation Tuning 97 supported sensor types 200 symbols used 9 synchronization of motion clock 76 T termination resistor (CAN bus) 142 timing values in CAN network 168 torque compensation 98 transfer protocols 149 transmission types 153 tuning, automated 96 U unbalanced friction, compensation of 98 Undimensioned (status in Regulation Tuning) 97 USB to CANopen Service 167 USB, communication via 163 Utilities (Device Programming) 116 V velocity (interpolated value) 75 velocity acceleration Position Control 95 Velocity Control 94 velocity calculation Master Encoder Mode 63 Step/Direction Mode 71 Velocity Control (Regulation Tuning) 94 Velocity Feedforward 122 Velocity Mode (Device Programming) 110 Velocity Regulation (Controller Architecture) 120 verification (Regulation Tuning) 95 maxon motor control EPOS2 Positioning Controllers Document ID: rel3956 Z-221 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
Page 79 and 80:
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 and 216: Table 8-88 Device Programming - cov
Page 217 and 218: Table 13-178 Extended Encoders Conf
Page 219: INDEX A acceleration feedforward 12
show all

EPOS2 Application Notes Collection - Maxon Motor

You also want an ePaper? Increase the reach of your titles

Delete template?

Save as template?