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maxon motor EPOS2 70/10 Getting Started

Positioning controller
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maxon motor control
EPOS2 Positioning Controller
Getting Started
Edition May 2016
Positioning Controller
Getting Started
Document ID: rel5892
maxon motor ag Brünigstrasse 220 P.O.Box 263 CH-6072 Sachseln Phone +41 41 666 15 00 Fax +41 41 666 16 50 www.maxonmotor.com

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  • Page 1 EPOS2 Positioning Controller Getting Started Edition May 2016 Positioning Controller Getting Started Document ID: rel5892 maxon motor ag Brünigstrasse 220 P.O.Box 263 CH-6072 Sachseln Phone +41 41 666 15 00 Fax +41 41 666 16 50 www.maxonmotor.com...
  • Page 2 ERMISSION TO COMMENCE NSTALLATION The EPOS2 70/10 is considered as partly completed machinery according to EU directive 2006/42/EC, Article 2, Clause (g) and therefore is intended to be incorporated into or assembled with other machinery or other partly completed machinery or equipment.

  • Page 3: Table Of Contents

    3.5.2 Auto Tuning the Current, Velocity and Position Regulators ..... . 24 maxon motor control EPOS2 Positioning Controller Document ID: rel5892 EPOS2 70/10 Getting Started Edition: May 2016 © 2016 maxon motor. Subject to change without prior notice.
  • Page 4 • • p a g e i n t e n t i o n a l l y l e f t b l a n k • • maxon motor control Document ID: rel5892 EPOS2 Positioning Controller Edition: May 2016 EPOS2 70/10 Getting Started © 2016 maxon motor. Subject to change without prior notice.
  • Page 5 Use for other and/or additional purposes is not permitted. maxon motor, the manufacturer of the equip- ment described, does not assume any liability for loss or damage that may arise from any other and/or additional use than the intended purpose.

  • Page 6: Table 1-2 Symbols & Signs

    Indicates information particular to possible damage Damage of the equipment. Table 1-2 Symbols & Signs maxon motor control Document ID: rel5892 EPOS2 Positioning Controller Edition: May 2016 EPOS2 70/10 Getting Started © 2016 maxon motor. Subject to change without prior notice.
  • Page 7 The present document – including all parts thereof – is protected by copyright. Any use (including repro- duction, translation, microfilming and other means of electronic data processing) beyond the narrow restrictions of the copyright law without the prior approval of maxon motor ag, is not permitted and sub- ject to persecution under the applicable law.
  • Page 8 • • p a g e i n t e n t i o n a l l y l e f t b l a n k • • maxon motor control Document ID: rel5892 EPOS2 Positioning Controller Edition: May 2016 EPOS2 70/10 Getting Started © 2016 maxon motor. Subject to change without prior notice.

  • Page 9: Documentation Structure

    EPOS2 70/10 system. maxon motor control’s EPOS2 70/10 is a small-sized, full digital smart motion control unit. Due to its flexible and high efficient power stage, the EPOS2 70/10 drives brushed DC motors with digital encoder as well as brushless EC motors with digital Hall sensors and encoder.

  • Page 10: Safety Precautions

    – and be kept – in a safe operating mode. • Be aware that you are not entitled to perform any repair on components supplied by maxon motor. Best Practice •...

  • Page 11: Important Notice: Prerequisites For Permission To Commence Installation

    Installation and Configuration Important Notice: Prerequisites for Permission to commence Installation The EPOS2 70/10 is considered as partly completed machinery according to EU directive 2006/42/EC, Article 2, Clause (g) and therefore is only intended to be incorporated into or assembled with other machinery or other partly completed machinery or equipment.

  • Page 12: Installation

    3) View new shortcuts and items in the start menu • The files have been copied to the menu «maxon motor ag», where you can access the pro- gram as well as the entire documentation set. •...

  • Page 13: Minimum Wiring For Maxon Ec Motor

    Table 3-5 Minimum Wiring: maxon EC motor Figure 3-2 Minimum Wiring: maxon EC motor maxon motor control 3-13 EPOS2 Positioning Controller Document ID: rel5892 EPOS2 70/10 Getting Started Edition: May 2016 © 2016 maxon motor. Subject to change without prior notice.

  • Page 14: Minimum Wiring For Maxon Dc Motor

    Table 3-6 Minimum Wiring: maxon DC motor Figure 3-3 Minimum Wiring: maxon DC motor maxon motor control 3-14 Document ID: rel5892 EPOS2 Positioning Controller Edition: May 2016 EPOS2 70/10 Getting Started © 2016 maxon motor. Subject to change without prior notice.

  • Page 15: Step 3: System Configuration

    Click ¤Finish¤ to create new project. Figure 3-5 Project Path and Name maxon motor control 3-15 EPOS2 Positioning Controller Document ID: rel5892 EPOS2 70/10 Getting Started Edition: May 2016 © 2016 maxon motor. Subject to change without prior notice.
  • Page 16 Click ¤Next¤ to proceed. Figure 3-8 Startup Wizard Dialog: Minimum external Wiring maxon motor control 3-16 Document ID: rel5892 EPOS2 Positioning Controller Edition: May 2016 EPOS2 70/10 Getting Started © 2016 maxon motor. Subject to change without prior notice.
  • Page 17 Select ¤None¤. b) Click ¤Next¤ to proceed. Figure 3-11 Startup Wizard Dialog: Auxiliary Regulation maxon motor control 3-17 EPOS2 Positioning Controller Document ID: rel5892 EPOS2 70/10 Getting Started Edition: May 2016 © 2016 maxon motor. Subject to change without prior notice.
  • Page 18 Proceed to chapter “3.4.3 Configuration of DC Motors” on page 3-21, then continue with chapter “3.4.4 General closing Steps” on page 3-23. maxon motor control 3-18 Document ID: rel5892 EPOS2 Positioning Controller Edition: May 2016 EPOS2 70/10 Getting Started © 2016 maxon motor. Subject to change without prior notice.

  • Page 19: Configuration Of Ec Motors

    Click ¤Next¤ to proceed. Figure 3-15 Startup Wizard Dialog for EC Motors: Motor Data maxon motor control 3-19 EPOS2 Positioning Controller Document ID: rel5892 EPOS2 70/10 Getting Started Edition: May 2016 © 2016 maxon motor. Subject to change without prior notice.
  • Page 20 If configuration is correct: Click ¤Finish¤ to close the startup wizard. Figure 3-18 Startup Wizard Dialog for EC Motors: Configuration Summary maxon motor control 3-20 Document ID: rel5892 EPOS2 Positioning Controller Edition: May 2016 EPOS2 70/10 Getting Started © 2016 maxon motor. Subject to change without prior notice.

  • Page 21: Configuration Of Dc Motors

    Click ¤Next¤ to proceed. Figure 3-21 Startup Wizard Dialog for DC Motors: Motor Data maxon motor control 3-21 EPOS2 Positioning Controller Document ID: rel5892 EPOS2 70/10 Getting Started Edition: May 2016 © 2016 maxon motor. Subject to change without prior notice.
  • Page 22 If configuration is correct: Click ¤Finish¤ to close the startup wizard. Figure 3-24 Startup Wizard Dialog for DC Motors: Configuration Summary maxon motor control 3-22 Document ID: rel5892 EPOS2 Positioning Controller Edition: May 2016 EPOS2 70/10 Getting Started © 2016 maxon motor. Subject to change without prior notice.

  • Page 23: General Closing Steps

    If other errors or warnings appear, check wiring and startup configuration (for details on errors and warnings separate document «EPOS2 Firmware Specification»). Figure 3-26 CAN Passive Mode Error 3) Your EPOS2 70/10 is now ready for regulation gains tuning. maxon motor control 3-23 EPOS2 Positioning Controller...

  • Page 24: Step 4: Regulation Gains Tuning

    Step 4: Regulation Gains Tuning EPOS2 70/10 offers a fast and reliable way to automatically tune the regulation gains of current, velocity and position regulators. The function provides a good starting point for further manual tuning. Best Practice • The Auto Tuning function is a good way to start, nevertheless optimal regulation parameters cannot be guaranteed.
  • Page 25 (Figure 3-31, right). maxon motor control 3-25 EPOS2 Positioning Controller Document ID: rel5892 EPOS2 70/10 Getting Started Edition: May 2016 © 2016 maxon motor. Subject to change without prior notice.
  • Page 26 8) Click ¤Yes¤ to accept and save the parameters. Figure 3-33 Save/activate configured Parameters maxon motor control 3-26 Document ID: rel5892 EPOS2 Positioning Controller Edition: May 2016 EPOS2 70/10 Getting Started © 2016 maxon motor. Subject to change without prior notice.
  • Page 27 Should the error persist, use Expert Tuning (for details separate document «Application Note EPOS2 Regulation Tuning»). Figure 3-34 Confirm Tuning Error 10) The EPOS2 70/10 is now ready for operation in one of the supported regulation modes. maxon motor control 3-27 EPOS2 Positioning Controller...
  • Page 28 • • p a g e i n t e n t i o n a l l y l e f t b l a n k • • maxon motor control 3-28 Document ID: rel5892 EPOS2 Positioning Controller Edition: May 2016 EPOS2 70/10 Getting Started © 2016 maxon motor. Subject to change without prior notice.

  • Page 29: Epos2 Positioning Controller Document Id: Rel5892 Epos2 70/10 Getting Started Edition: May

    • • p a g e i n t e n t i o n a l l y l e f t b l a n k • • maxon motor control 3-29 EPOS2 Positioning Controller Document ID: rel5892 EPOS2 70/10 Getting Started Edition: May 2016 © 2016 maxon motor. Subject to change without prior notice.
  • Page 30 • • p a g e i n t e n t i o n a l l y l e f t b l a n k • • maxon motor control 3-30 Document ID: rel5892 EPOS2 Positioning Controller Edition: May 2016 EPOS2 70/10 Getting Started © 2016 maxon motor. Subject to change without prior notice.
  • Page 31 • • p a g e i n t e n t i o n a l l y l e f t b l a n k • • maxon motor control 3-31 EPOS2 Positioning Controller Document ID: rel5892 EPOS2 70/10 Getting Started Edition: May 2016 © 2016 maxon motor. Subject to change without prior notice.
  • Page 32 Confirm Tuning Error ..........27 maxon motor control Z-32 Document ID: rel5892 EPOS2 Positioning Controller Edition: May 2016 EPOS2 70/10 Getting Started © 2016 maxon motor. Subject to change without prior notice.
  • Page 33 Minimum Wiring: maxon DC motor........14 maxon motor control Z-33 EPOS2 Positioning Controller Document ID: rel5892 EPOS2 70/10 Getting Started Edition: May 2016 © 2016 maxon motor. Subject to change without prior notice.
  • Page 34 11 prohibitive signs 6 purpose of the device 9 of this document 5 maxon motor control Z-34 Document ID: rel5892 EPOS2 Positioning Controller Edition: May 2016 EPOS2 70/10 Getting Started © 2016 maxon motor. Subject to change without prior notice.
  • Page 35 • • p a g e i n t e n t i o n a l l y l e f t b l a n k • • maxon motor control Z-35 EPOS2 Positioning Controller Document ID: rel5892 EPOS2 70/10 Getting Started Edition: May 2016 © 2016 maxon motor. Subject to change without prior notice.
  • Page 36 The present document – including all parts thereof – is protected by copyright. Any use (including reproduction, translation, microfilming and other means of electronic data processing) beyond the narrow restrictions of the copyright law without the prior approval of maxon motor ag, is not permitted and subject to persecution under the applicable law. maxon motor ag Brünigstrasse 220...

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