EPOS2 Application Notes Collection - Maxon Motor

More documents

Recommendations

Info

Master Encoder Mode System Structure 4.2 System Structure Figure 4-42 Master Encoder Mode – System Structure Quadrature Counter EPOS2 70/10, EPOS2 50/5 & EPOS2 Module 36/2 Channel A Digital Input 8 Channel A\ Digital Input 8\ Channel B Digital Input 7 Channel B\ Digital Input 7\ Digital Position Desired Value (Polarity = 0) Table 4-50 Quadrature Counter – EPOS2 70/10, EPOS2 50/5 & EPOS2 Module 36/2 EPOS2 24/5 & EPOS2 24/2 Channel A Digital Input 3 Channel B Digital Input 2 Digital Position Desired Value (Polarity = 0) Table 4-51 Quadrature Counter – EPOS2 24/5 & EPOS2 24/2 Value EPOS2 70/10 EPOS2 50/5 EPOS2 Module 36/2 EPOS2 24/5 EPOS2 24/2 Input Voltage 0…5 VDC 0…5 VDC 0…24 VDC 0…24 VDC Max. Input Voltage -12…+12 VDC -24…+24 VDC -30…+30 VDC -30…+30 VDC Logic 0 typical 2.4 V Max. Input Frequency 5 MHz (differential) 2.5 MHz (single-ended) 5 MHz (differential) 2.5 MHz (single-ended) 100 kHz 500 kHz Table 4-52 Master Encoder Mode – Hardware Description (Digital Inputs) maxon motor control 4-58 Document ID: rel3956 EPOS2 Positioning Controllers Edition: April 2013 EPOS2 Application Notes Collection © 2013 maxon motor. Subject to change without prior notice.
Master Encoder Mode System Structure Input Parameter Name Digital Position Scaling Numerator Digital Position Scaling Denominator Index 0x2300 0x2300 0x02 0x03 Digital Position Polarity 0x2300 0x04 Digital Position Offset 0x2300 0x05 Minimum Position Limit 0x607D 0x01 Maximum Position Limit 0x607D 0x02 Maximum ProfileVelocity 0x607F 0x00 Maximum Acceleration 0x60C5 0x00 Description Numerator of the scaling factor. Can be used for electronic gearing or to reduce to input frequency. Denominator of the scaling factor. Can be used for electronic gearing or to reduce to input frequency. Polarity of the direction input. The direction can be changed (0 = positive, 1 = negative). Gives a dynamic displacement in reference to the encoder’s desired position. Defines the negative position limit for the position demand value. Defines the positive position limit for the position demand value. This value is used as velocity limit in a position (or velocity) profile mode. Allows to limit the acceleration to prevent mechanical damages. Represents the limit of the other acceleration/deceleration objects. Table 4-53 Master Encoder Mode – Input Parameter Output Parameter Name Index Subindex Subindex Digital Position Desired Value 0x2300 0x01 Position Demand Value 0x6062 0x00 Description Counter value of the up/down counter. Serves as base for the scaling and limiting functions. The Master Encoder Mode’s output after scaling and limiting. It is the setting value for the position regulator. Table 4-54 Master Encoder Mode – Output Parameter Best Practice • Use a scaling factor ≤1 for better behavior. Due to the fact that no interpolation is implemented, movements with factors >1 will result in bigger position jumps, thus producing current peaks. • Switch off software position limitation and set maximum /minimum position limits to INT32_MAX, respectively to INT32_MIN! maxon motor control EPOS2 Positioning Controllers Document ID: rel3956 4-59 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 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: Master Encoder Mode In Brief 4 Mast
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 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
show all

EPOS2 Application Notes Collection - Maxon Motor

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

Delete template?

Save as template?