EPOS2 Application Notes Collection - Maxon Motor

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Step/Direction Mode System Structure 5.2 System Structure Figure 5-48 Step/Direction Mode – System Structure Up/Down Counter EPOS2 70/10, EPOS2 50/5 & EPOS2 Module 36/2 Step Digital Input 8 Step\ Digital Input 8\ Direction Digital Input 7 Direction\ Digital Input 7\ Digital Position Desired Value (Polarity = 0) Table 5-60 Up/Down Counter – EPOS2 70/10, EPOS2 50/5 & EPOS2 Module 36/2 EPOS2 24/5 & EPOS2 24/2 Step Digital Input 3 Direction Digital Input 2 Digital Position Desired Value (Polarity = 0) Table 5-61 Up/Down 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 typically 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 5-62 Step/Direction Mode – Hardware Description (Digital Inputs) maxon motor control 5-66 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 System Structure Definition of Direction of Rotation As seen towards motor output flange, definition is as follows: Direction Input Low: CCW Direction Input High: CW 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 5-63 Step/Direction 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 Step/Direction Mode’s output after scaling and limiting. It is the setting value for the position regulator. Table 5-64 Step/Direction 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 5-67 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
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About this Document 1.5 Trademarks
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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: Step/Direction Mode In Brief 5 Step
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
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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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