EPOS2 Application Notes Collection - Maxon Motor

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Interpolated Position Mode In Detail 6.2.4 SYNC Time Stamp Mechanism Can be used to synchronize the motion clock of the drive with a master clock in the network. Figure 6-55 Interpolated Position Mode – Clock Synchronization The synchronisation method is similar to IEEE 1588 and uses the CANopen CiA 301 SYNC Service (COB-Id 0x80) and “High Resolution Time Stamp” on page 6-81. The SYNC Frame will be transmitted periodically by the SYNC master. The exact transmitting time (Tm1) may be stored by latching an internal 1 us timer. The reception time (Td1) of the SYNC message will be stored by latching the device-internal motion clock timer. As a follow-up, the measured transmitting time (Tm1) will be sent to the drive using the High Resolution Time Stamp. The device then adjusts its internal motion clock time in relation to the time latched in the last SYNC. By sending a CANopen CiA 301 TIME Service (by default COB-Id 0x100, or defined as to “COB-ID Time Stamp Object” on page 6-81), the device-internal motion clock timer can be reset to “0”. maxon motor control 6-76 Document ID: rel3956 EPOS2 Positioning Controllers Edition: April 2013 EPOS2 Application Notes Collection © 2013 maxon motor. Subject to change without prior notice.
Interpolated Position Mode IPM Implementation by maxon 6.3 IPM Implementation by maxon The Interpolated Position Mode is implemented in the EPOS2 as an additional operational mode (operating mode 7 as specified in CiA 402 V3.0). Figure 6-56 Interpolated Position Mode – Interpolation Controller 6.3.1 Interpolated Position Data Buffer PVT reference points will be sent in a manufacturer-specific 64 bit data record of a complex data structure to a FIFO object. 6.3.1.1 Definition of complex Data Structure 0x0040 MSB Time (unsigned8) Velocity (signed24) Position (signed32) LSB Table 6-70 Interpolated Position Mode – IPM Data Buffer Structure maxon motor control EPOS2 Positioning Controllers Document ID: rel3956 6-77 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
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Digital Inputs & Outputs Functional
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Digital Inputs & Outputs Functional
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Digital Inputs & Outputs Connection
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Page 25 and 26: 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 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: Interpolated Position Mode In Detai
Page 79 and 80: 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
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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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