EPOS2 Application Notes Collection - Maxon Motor

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5 Step/Direction Mode 65 5.1 In Brief . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 65 5.2 System Structure . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 66 5.3 Configuration . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 68 5.4 Application Examples . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 71 6 Interpolated Position Mode 73 6.1 In Brief . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 73 6.2 In Detail . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 74 6.2.1 Introductory Analogy . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 74 6.2.2 General Description . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 74 6.2.3 Spline Interpolation . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 75 6.2.4 SYNC Time Stamp Mechanism . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 76 6.3 IPM Implementation by maxon. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 77 6.3.1 Interpolated Position Data Buffer. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 77 6.3.2 Interpolated Position Mode FSA . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 78 6.3.3 Configuration Parameters . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 79 6.3.4 Commanding Parameters . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 80 6.3.5 Output Parameters . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 80 6.3.6 Object Description in Detail . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 81 6.3.7 Typical IPM Commanding Sequence . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 88 6.4 Configuration . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 89 6.4.1 Motion Synchronization . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 91 6.4.2 Interruption in Case of Error . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 91 7 Regulation Tuning 93 7.1 In Brief . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 93 7.2 Regulation Structures. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 94 7.2.1 Current Control . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 94 7.2.2 Velocity Control (with Velocity and Feedforward Acceleration) . . . . . . . . . . . . . . . . . . . 94 7.2.3 Position Control (with Velocity and Feedforward Acceleration) . . . . . . . . . . . . . . . . . . . 95 7.3 Working Principle . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 95 7.3.1 Identification and Modelling . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 95 7.3.2 Mapping . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 95 7.3.3 Verification . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 95 7.4 Regulation Tuning Wizard . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 96 7.5 Tuning Modes. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 97 7.5.1 Auto Tuning . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 97 7.5.2 Expert Tuning . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 97 7.5.3 Manual Tuning . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 99 maxon motor control A-4 Document ID: rel3956 EPOS2 Positioning Controllers Edition: April 2013 EPOS2 Application Notes Collection © 2013 maxon motor. Subject to change without prior notice.
8 Device Programming 101 8.1 In Brief . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 101 8.2 First Step . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 102 8.3 Homing Mode . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 103 8.3.1 Start Homing . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 103 8.3.2 Read Status . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 103 8.3.3 Stop Positioning . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 104 8.4 Profile Position Mode. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 105 8.4.1 Set Position . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 105 8.4.2 Read Status . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 105 8.4.3 Stop Positioning . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 106 8.5 Profile Velocity Mode . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 107 8.5.1 Start Velocity . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 107 8.5.2 Read Status . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 107 8.5.3 Stop Velocity . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 107 8.6 Interpolated Position Mode (PVT) . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 108 8.7 Position Mode . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 108 8.7.1 Set Position . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 108 8.7.2 Stop Positioning . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 108 8.7.3 Set Position with analog Setpoint . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 109 8.7.4 Stop Positioning from analog Setpoint. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 109 8.8 Velocity Mode . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 110 8.8.1 Set Velocity . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 110 8.8.2 Stop Velocity . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 110 8.8.3 Set Velocity with analog Setpoint. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 111 8.8.4 Stop Velocity from analog Setpoint . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 111 8.9 Current Mode. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 112 8.9.1 Set Current. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 112 8.9.2 Stop Motion . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 112 8.9.3 Set Current with analog Setpoint . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 113 8.9.4 Stop Motion from analog Setpoint . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 113 8.10 State Machine . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 114 8.10.1 Clear Fault . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 114 8.10.2 Send NMT Service. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 114 8.11 Motion Info . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 115 8.11.1 Get Movement State . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 115 8.11.2 Read Position. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 115 8.11.3 Read Velocity. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 115 8.11.4 Read Current . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 115 8.12 Utilities . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 116 8.12.1 Store all Parameters . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 116 8.12.2 Restore all default Parameters. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 116 8.12.3 Restore default PDO COB-ID . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 116 maxon motor control EPOS2 Positioning Controllers Document ID: rel3956 A-5 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: TABLE OF CONTENTS 1 About this Docu
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 33 and 34: Digital Inputs & Outputs Configurat
Page 35 and 36: Digital Inputs & Outputs Wiring Exa
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 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 183 and 184:
Page 185 and 186:
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 195 and 196:
Page 197 and 198:
Page 199 and 200:
Extended Encoders Configuration Con
Page 201 and 202:
Page 203 and 204:
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 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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