EPOS2 Application Notes Collection - Maxon Motor

More documents

Recommendations

Info

Master Encoder Mode Application Examples Limiting Factors Maximal permitted Motor Speed Below figures represent theoretical achievable speeds. For applicable maximum permissible speed of the employed motor catalog motor data! Main limiting factor is the input frequency of the encoder signals. Master Axis Encoder [pulse/turn] 500 1000 EPOS2 70/10 EPOS2 50/5 Slave Axis Max. Input Frequency Master Axis Max. Velocity [rpm] (Scaling Factor 1) differential 5 MHz 600 000 single-ended 2.5 MHz 300 000 differential 5 MHz 600 000 single-ended 2.5 MHz 300 000 EPOS2 Module 36/2 differential 5 MHz 600 000 single-ended 2.5 MHz 300 000 EPOS2 24/5 100 kHz 12 000 EPOS2 24/2 500 kHz 60 000 EPOS2 70/10 EPOS2 50/5 differential 5 MHz 300 000 single-ended 2.5 MHz 150 000 differential 5 MHz 300 000 single-ended 2.5 MHz 150 000 EPOS2 Module 36/2 differential 5 MHz 300 000 single-ended 2.5 MHz 150 000 EPOS2 24/5 differential 100 kHz 6 000 EPOS2 24/2 differential 500 kHz 30 000 EPOS2 70/10 differential 5 MHz 60 000 single-ended 2.5 MHz 30 000 5000 EPOS2 50/5 differential 5 MHz 60 000 single-ended 2.5 MHz 30 000 EPOS2 Module 36/2 differential 5 MHz 60 000 single-ended 2.5 MHz 30 000 EPOS2 24/5 100 kHz 1 200 EPOS2 24/2 500 kHz 3 000 Limitations: – EC motor, sinusoidal commutation: max. 25 000 rpm – EC motor, block commutation: max. 100 000 rpm Table 4-57 Master Encoder Mode – Limiting Factors Note Higher velocities can be reached by increasing the scaling factor >1. Thereby consider applicable restrictions (“Best Practice” on page 4-59). maxon motor control 4-64 Document ID: rel3956 EPOS2 Positioning Controllers Edition: April 2013 EPOS2 Application Notes Collection © 2013 maxon motor. Subject to change without prior notice.
Step/Direction Mode In Brief 5 Step/Direction Mode 5.1 In Brief A wide variety of operating modes permit flexible configuration of drive and automation systems by using positioning, speed and current regulation. The built-in CANopen interface allows networking to multiple axes drives as well as online commanding by CAN bus master units. Alternatively, EPOS2 can also be commanded by digital position values. Used are either an incremental encoder (Master Encoder Mode) for setting the values of the device, or PLC-generating step pulses (Step/Direction Mode) can be used to command the device. Inputs and outputs can easily be configured using the «Configuration Wizard» and may be changed online via CANopen or serial bus. 5.1.1 Objective In «Step/Direction Mode», the motor axis follows a digital signal step-by-step. This mode can replace stepper motors. It can also be used to control the EPOS2 by a PLC without CAN interface. The present Application Note explains structure, functionality and use of the operation mode «Step/ Direction Mode» and features “in practice examples” suitable for daily use. Contents 5.2 System Structure . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 5-66 5.3 Configuration . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 5-68 5.4 Application Examples . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 5-71 5.1.2 Scope Hardware Order # Firmware Version Reference EPOS2 2110h Firmware Specification EPOS2 70/10 375711 2120h or higher EPOS2 50/5 347717 2110h or higher EPOS2 Module 36/2 360665 2110h or higher EPOS2 24/5 367676 2110h or higher EPOS2 24/2 380264 390003 390438 2121h or higher Table 5-58 Step/Direction Mode – covered Hardware and required Documents 5.1.3 Tools Tools Software Table 5-59 Description «EPOS Studio» Version 2.00 or higher Step/Direction Mode – recommended Tools maxon motor control EPOS2 Positioning Controllers Document ID: rel3956 5-65 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 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: Master Encoder Mode Application Exa
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

Create successful ePaper yourself

Delete template?

Save as template?