EPOS2 Application Notes Collection - Maxon Motor

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Regulation Tuning Tuning Modes Identification Figure 7-69 Expert Tuning – Identification Tick ¤Identify¤ if identification of a new plant is necessary (e.g. if the plant properties have changed). In this case, the status of the corresponding controller, as well as all controllers of higher regulation hierarchy, will change to “Undimensioned” (red). By adjusting the identification amplitude, nonlinear properties (e.g. Coulomb Friction) can be simulated appropriately and can be considered in the plant model by means of harmonic linearization. However, presetting already offers a good basis for plant identification for most applications. Parameterization Figure 7-70 Expert Tuning – Parameterization The calculated controller parameters can be modified to match given requirements by means of sliders: • “Soft” means: slow regulation behavior, but well dampened. • “Hard” means: quick regulation behavior, but less dampened. Tick ¤Respect Cogging Torque¤ to achieve a hard, nevertheless well dampened motion regulation, which brings particular advantages for motors with high cogging torque. In case of unbalanced friction, the regulation behavior can be improved with this adjustment as well. Verification The verification of the resulting control system – including feedforward – permits examination of the overall performance. The verification can either take place with a movement profile (which takes bandwidth of the position regulation into account), or a step response. As interesting feature; in addition to the position, the corresponding current is recorded, too. To zoom the recorded diagrams, crop the “area of interest” and click right. Figure 7-71 Expert Tuning – Verification The parameters “Position Step”, “Velocity”, “Acceleration” and “Deceleration” are computed automatically. They can be adjusted only if the positioning controller is in state “Manually Dimensioned” (grey). The parameter “Max. Recording Time” limits the time interval for data acquisition. This can be useful, if details concerning the beginning of the movement profile are of interest. ¤Start¤ launches Expert Tuning. ¤Finish¤ will save the obtained feedback and feedforward parameters in the EPOS2 and make them valid for all operation modes. ¤Cancel¤ will reject the results and returns to the starting situation. maxon motor control 7-98 Document ID: rel3956 EPOS2 Positioning Controllers Edition: April 2013 EPOS2 Application Notes Collection © 2013 maxon motor. Subject to change without prior notice.
Regulation Tuning Tuning Modes 7.5.3 Manual Tuning In certain conditions, you might wish to change control parameters manually to see how the system reacts without performing automated system identification and modelling. Also, the manual mode can be used… • for fine tuning and optimization in very demanding applications, or • if the outcome of Auto Tuning/Expert Tuning is not satisfactory. Initiate Manual Tuning by selecting ¤Manually Dimensioned¤ in ¤Show Parameter¤ dialog (“Cascade” on page 7-97). As a result, the status will switch to “Manually Dimensioned” (grey), thus neither automated identification nor parameterization will be carried out. In addition, you can define the motion profile (“Verification” on page 7-98). After ticking ¤Identify¤, or if you make any changes (“Parameterization” on page 7-98), Manual Tuning is terminated showing status “Undimensioned” (red). maxon motor control EPOS2 Positioning Controllers Document ID: rel3956 7-99 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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Analog Inputs & Outputs In Brief 3
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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 and 94: Regulation Tuning In Brief 7 Regula
Page 95 and 96: Regulation Tuning Working Principle
Page 97: 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
Page 145 and 146: CANopen Basic Information Configura
Page 147 and 148: 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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