EPOS2 Application Notes Collection - Maxon Motor
EPOS2 Application Notes Collection - Maxon Motor
EPOS2 Application Notes Collection - Maxon Motor
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Interpolated Position Mode<br />
In Brief<br />
6 Interpolated Position Mode<br />
6.1 In Brief<br />
A wide variety of operating modes permit flexible configuration of drive and automation systems by<br />
using positioning, speed and current regulation. The built-in CANopen interface allows networking to<br />
multiple axes drives as well as online commanding by CAN bus master units.<br />
For fast communication with several EPOS devices, use the CANopen protocol. The individual devices<br />
of a network are commanded by a CANopen master.<br />
6.1.1 Objective<br />
«Interpolated Position Mode» is used to control multiply coordinated axes or a single axis with the need<br />
for time interpolation of setpoint data. The trajectory is calculated by the CANopen master and passed<br />
on to the controller's interpolated position buffer as a set of points. The controller then reads the points<br />
from the buffer and performs linear or cubic interpolation between them.<br />
The present <strong>Application</strong> Note explains structure, functionality and use of the operation mode «Interpolated<br />
Position Mode» and features “in practice examples” suitable for daily use.<br />
Contents<br />
6.2 In Detail. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 6-74<br />
6.3 IPM Implementation by maxon . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 6-77<br />
6.4 Configuration . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 6-89<br />
6.1.2 Scope<br />
Hardware Order # Firmware Version Reference (page 1-11)<br />
<strong>EPOS2</strong><br />
2101h<br />
Firmware Specification<br />
Communication Guide ([ 6 ])<br />
<strong>EPOS2</strong> 70/10 375711 2120h or higher<br />
<strong>EPOS2</strong> 50/5 347717 2110h or higher<br />
<strong>EPOS2</strong> Module 36/2 360665 2110h or higher<br />
<strong>EPOS2</strong> 24/2<br />
380264<br />
390003<br />
390438<br />
2121h or higher<br />
CANopen Network<br />
CiA 301 V4.2 ([ 1 ])<br />
CiA 402 V3.0 ([ 2 ])<br />
Table 6-68<br />
Interpolated Position Mode – covered Hardware and required Documents<br />
6.1.3 Tools<br />
Tools<br />
Software<br />
Table 6-69<br />
Description<br />
«EPOS Studio» Version 2.00 or higher<br />
Interpolated Position Mode – recommended Tools<br />
maxon motor control<br />
<strong>EPOS2</strong> Positioning Controllers Document ID: rel3956 6-73<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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