EPOS2 Application Notes Collection - Maxon Motor

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Regulation Tuning Regulation Structures 7.2 Regulation Structures EPOS2 can be interconnected within three essential regulation structures. 7.2.1 Current Control To provide accurate motion control, given forces and/or torques within the drive system need to be compensated. Hence, EPOS2 offers a current control loop. The current controller is implemented as a PI controller. Figure 7-63 Regulation Tuning – Current Control Current control can be operated either directly as the main regulator, or it serves as subordinated regulator in one of the two following cascade regulation structures. 7.2.2 Velocity Control (with Velocity and Feedforward Acceleration) Based on the subordinated current control, a velocity control loop can be established. The velocity controller is implemented as a PI controller. Figure 7-64 Regulation Tuning – Velocity Control maxon motor control 7-94 Document ID: rel3956 EPOS2 Positioning Controllers Edition: April 2013 EPOS2 Application Notes Collection © 2013 maxon motor. Subject to change without prior notice.
Regulation Tuning Working Principle 7.2.3 Position Control (with Velocity and Feedforward Acceleration) Based on the subordinated current control, a position control loop can be established. The position controller is implemented as a PID controller. Figure 7-65 Regulation Tuning – Position Control To improve the reference action of the motion system, position control is supplemented by feedforward control. Velocity feedforward compensates for speed-proportional friction, whereas known inertia can be taken into account by acceleration feedforward. 7.3 Working Principle «Regulation Tuning» is based on three features: 1) Identification and modelling of the plant. 2) Mapping model parameters of the plant to derivate controller parameters (PI, PID, feedforward). 3) Verification of the resulting regulation structure. 7.3.1 Identification and Modelling For identification, the plant is activated by a two-point element – positive and negative current of varying amplitudes, which are based on motor parameters – until a stable oscillation of a fixed amplitude is achieved. This experiment is repeated at a different frequency. The characteristics of the oscillations represent substantial properties of the plant. Hence, the modeling parameters of a simple mathematical model of the plant can be calculated. 7.3.2 Mapping Now, the model parameters serve for calculation of controller parameters (PI or PID, respectively) and of feedforward velocity and acceleration parameters. The validity range of the regulation parameters is characterized, among other aspects, by the regulation bandwidth which is determined as well. 7.3.3 Verification To achieve proper operation with the gained motion control parameters, the system reaction is verified with a motion profile corresponding to the calculated bandwidth. maxon motor control EPOS2 Positioning Controllers Document ID: rel3956 7-95 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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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 and 90: Interpolated Position Mode Configur
Page 91 and 92: Interpolated Position Mode Configur
Page 93: Regulation Tuning In Brief 7 Regula
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
Page 141 and 142: CANopen Basic Information In Brief
Page 143 and 144: 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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