EPOS2 Application Notes Collection - Maxon Motor

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Master Encoder Mode Configuration 4.3.4 Step 4: Master Encoder Mode Activate and configure Master Encoder Mode using «EPOS Studio». Figure 4-46 Master Encoder Mode – Configuration 4.3.5 Step 5: Save all Parameters 1) Click right on used node (Navigation Window -> Workspace or Communication). 2) Click menu item ¤Save All Parameter¤. maxon motor control 4-62 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 Application Examples 4.4 Application Examples A typical application for the Master Encoder Mode is a dual axes system. • The master axis is configured, enabled and commanded via the serial interface (RS232, USB or CAN bus) and is working in “ProfilePosition Mode” or “Profile Velocity Mode”. • The slave axis is working in “Master Encoder Mode”. • The CAN bus interface is only used for configuration, monitoring and enabling. • The set values for the slave axis are calculated using the encoder signals of the master axis. Figure 4-47 Master Encoder Mode – Application Example: Dual Axes System Calculation of Velocity of Slave Axis The velocity of the slave axis is not only defined by the scaling factor, but also by the ratio of the encoder resolution of the master and slave axes. EncRes MasterAxis ScalingNumerator Velocity SlaveAxis Velocity MasterAxis ------------------------------------------- SlaveAxis = ⋅ ⋅Polarity[ 1, – 1] ⋅ ---------------------------------------------------------------------------- EncRes SlaveAxis ScalingDenominator SlaveAxis EncRes [pulses per turn] Velocity [rpm] maxon motor control EPOS2 Positioning Controllers Document ID: rel3956 4-63 EPOS2 Application Notes Collection Edition: April 2013 © 2013 maxon motor. Subject to change without prior notice.
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maxon motor control Application Not
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TABLE OF CONTENTS 1 About this Docu
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8 Device Programming 101 8.1 In Bri
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11 USB or RS232 to CAN Gateway 161
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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: Master Encoder Mode Configuration 4
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.
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Device Programming Current Mode 8.9
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Device Programming Motion Info 8.11
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Controller Architecture In Brief 9
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Controller Architecture Regulation
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Controller Architecture Regulation
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Controller Architecture Dual Loop R
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Controller Architecture Dual Loop R
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Controller Architecture Application
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With incorrect Feedforward (acceler
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CANopen Basic Information In Brief
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10.3 Configuration Follow below ste
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CANopen Basic Information Configura
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CANopen Basic Information Configura
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CANopen Basic Information SDO Commu
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10.4.2 SDO Communication Examples R
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CANopen Basic Information PDO Commu
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CANopen Basic Information PDO Commu
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CANopen Basic Information Node Guar
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CANopen Basic Information Heartbeat
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USB or RS232 to CAN Gateway In Brie
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USB or RS232 to CAN Gateway Communi
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USB or RS232 to CAN Gateway Communi
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USB or RS232 to CAN Gateway Command
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USB or RS232 to CAN Gateway Conclus
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Data Recording In Brief 12 Data Rec
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Data Recording Overview 12.2.2 Cont
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Data Recording Data Recorder Config
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12.4 Example: Data Recording in “
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Data Recording Example: Data Record
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Data Recording Data Recorder Specif
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Extended Encoders Configuration In
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Extended Encoders Configuration Har
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Extended Encoders Configuration Sen
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13.3.1.3 Choice of Manufacturers fo
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Extended Encoders Configuration Con
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Extended Encoders Configuration App
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Extended Encoders Configuration App
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LIST OF FIGURES Figure 2-1 Digital
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Figure 9-88 Example1 - Position Con
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LIST OF TABLES Table 1-1 Notations
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Table 8-88 Device Programming - cov
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Table 13-178 Extended Encoders Conf
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INDEX A acceleration feedforward 12
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Buffer Position 86 COB-ID Time Stam
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EPOS2 Application Notes Collection - Maxon Motor

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