EPOS2 Application Notes Collection - Maxon Motor
EPOS2 Application Notes Collection - Maxon Motor
EPOS2 Application Notes Collection - Maxon Motor
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Master Encoder Mode<br />
System Structure<br />
Input Parameter<br />
Name<br />
Digital Position Scaling<br />
Numerator<br />
Digital Position Scaling<br />
Denominator<br />
Index<br />
0x2300<br />
0x2300<br />
0x02<br />
0x03<br />
Digital Position Polarity 0x2300 0x04<br />
Digital Position Offset 0x2300 0x05<br />
Minimum Position Limit 0x607D 0x01<br />
Maximum Position Limit 0x607D 0x02<br />
Maximum ProfileVelocity 0x607F 0x00<br />
Maximum Acceleration 0x60C5 0x00<br />
Description<br />
Numerator of the scaling factor.<br />
Can be used for electronic gearing or to<br />
reduce to input frequency.<br />
Denominator of the scaling factor.<br />
Can be used for electronic gearing or to<br />
reduce to input frequency.<br />
Polarity of the direction input. The direction can<br />
be changed (0 = positive, 1 = negative).<br />
Gives a dynamic displacement in reference to the<br />
encoder’s desired position.<br />
Defines the negative position limit for the position<br />
demand value.<br />
Defines the positive position limit for the position<br />
demand value.<br />
This value is used as velocity limit in a position (or<br />
velocity) profile mode.<br />
Allows to limit the acceleration to prevent<br />
mechanical damages. Represents the limit of the<br />
other acceleration/deceleration objects.<br />
Table 4-53<br />
Master Encoder Mode – Input Parameter<br />
Output Parameter<br />
Name<br />
Index<br />
Subindex<br />
Subindex<br />
Digital Position Desired Value 0x2300 0x01<br />
Position Demand Value 0x6062 0x00<br />
Description<br />
Counter value of the up/down counter.<br />
Serves as base for the scaling and limiting<br />
functions.<br />
The Master Encoder Mode’s output after scaling<br />
and limiting.<br />
It is the setting value for the position regulator.<br />
Table 4-54<br />
Master Encoder Mode – Output Parameter<br />
Best Practice<br />
• Use a scaling factor ≤1 for better behavior. Due to the fact that no interpolation is implemented,<br />
movements with factors >1 will result in bigger position jumps, thus producing current peaks.<br />
• Switch off software position limitation and set maximum /minimum position limits to INT32_MAX,<br />
respectively to INT32_MIN!<br />
maxon motor control<br />
<strong>EPOS2</strong> Positioning Controllers Document ID: rel3956 4-59<br />
<strong>EPOS2</strong> <strong>Application</strong> <strong>Notes</strong> <strong>Collection</strong> Edition: April 2013<br />
© 2013 maxon motor. Subject to change without prior notice.
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