EPOS2 Application Notes Collection - Maxon Motor

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Interpolated Position Mode Configuration 6) Enter settings for “Transmit PDO1”: a) Tick “PDO is valid”. b) Set Transmission Type to “Asynchronous”. c) Set Inhibit Time (e.g. 5.0 ms). d) Click ¤Next¤. Figure 6-61 CANopen Wizard #13 7) Change Mapping: a) Delete all mapped objects. b) Select “Interpolation Buffer Status” from Mappable Objects and add to Mapped Objects No 1 using ¤>>¤. c) Select “StatusWord” from Mappable Objects and add to Mapped Objects No 2 using ¤>>¤. d) Click ¤OK¤. Figure 6-62 Change Mapping Transmit PDO1 8) Complete CANopen Wizard. maxon motor control 6-90 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 Configuration 6.4.1 Motion Synchronization Interpolated Position Mode enables the synchronized motion of multiple axes. The movement of a number of slave axes can be synchronized if they all run in IPM, and if they all possess the same time. To start a number of slave axes synchronously, map the controlword to a synchronous RPDO, then use the mapped controlword to enable interpolation for all axes. There will be no reaction until next SYNC. Then, all drives will enable interpolated motion at once, setting the SYNC arrival time as the path specification’s “zero” time. If the axes have been synchronized by the SYNC Time Stamp Mechanism, the moving axes will run synchronous within an accuracy of microseconds. If the CAN (SYNC) master is not able to produce the high resolution time stamp, an EPOS2 might be used as clock master. Do so by mapping “High Resolution Time Stamp” object (0x1013) to a synchronous transmit PDO in the “clock master EPOS2”. Other EPOS2s in the system must be configured as clock slaves with the “High Resolution Time Stamp” object mapped to an asynchronous receive PDO with identical COB-ID as the clock master’s transmit PDO. Note The resolution of the EPOS2 internal microsecond timer depends on the CAN bitrate since a CAN controller-internal hardware counter is used as timing reference. This hardware counter will be incremented by the bit time. 6.4.2 Interruption in Case of Error If a currently running interpolation (index 0x20C4, subindex 0x03 “Interpolation Status” bit 15 “ip mode active” set) will be interrupted by an occurring error, the EPOS2 will react accordingly (i.e. disabling the controller and changing to state switch on disabled). The interpolation can only be restarted by re-synchronization due to the fact that state “Operation enable” must be entered again, whereby the bit “ip mode active” will be cleared. maxon motor control EPOS2 Positioning Controllers Document ID: rel3956 6-91 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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Digital Inputs & Outputs Configurat
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Digital Inputs & Outputs Wiring Exa
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Digital Inputs & Outputs Wiring Exa
Page 39 and 40: Digital Inputs & Outputs Wiring Exa
Page 41 and 42: 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 and 76: Interpolated Position Mode In Detai
Page 77 and 78: Interpolated Position Mode IPM Impl
Page 89: 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 133 and 134: 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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