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Summary of Contents for maxon motor MCD EPOS 60 W
- Page 1 MCD EPOS 60 W Getting Started December 2008 Edition 60 W Positioning Compact Drive Documentation Getting Started maxon document number: 791292-02...
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Page 2: Table Of Contents
EPOS Positioning Compact Drive MCD EPOS 60 W Getting Started Table of contents Table of contents ........................2 Table of figures ........................3 Introduction ..........................4 How to use this guide ......................4 Safety Instructions .........................5 Installation and Configuration ....................6 Step 1: Software Installation ....................6 Step 2: Minimum External Wiring ..................7... -
Page 3: Table Of Figures
Figure 2: MCD EPOS 60 W documentation hierarchy................4 Figure 3: EPOS CD-ROM ........................6 Figure 4: Minimum wiring for MCD EPOS 60 W ..................8 Figure 5: Startup wizard dialog for minimum external wiring ..............9 Figure 6: Startup wizard dialog for communication setting ..............10 Figure 7: 'Search Nodes' dialog ...................... -
Page 4: Introduction
This documentation ‘Getting Started’ provides the first steps in using the maxon compact drive MCD EPOS 60 W positioning compact drive. It describes the standard procedure when the device is put into operation. The document facilitates the installation and configuration of a basic MCD EPOS 60 W system. -
Page 5: Safety Instructions
MCD EPOS 60 W Getting Started EPOS Positioning Compact Drive Safety Instructions Skilled Personnel Installation and starting of the equipment shall only be performed by experienced, skilled personnel. Statutory Regulations The user must ensure that the positioning controller and the components belonging to it are assembled and connected according to local statutory regulations. -
Page 6: Installation And Configuration
EPOS controllers (Manuals, Firmware, Tools and Windows DLLs). Figure 3: EPOS CD-ROM The latest edition of the software to the MCD EPOS 60 W positioning controller may be downloaded from the maxon motor homepage http://www.maxonmotor.com category <Service &... -
Page 7: Step 2: Minimum External Wiring
6.2 Step 2: Minimum External Wiring Install the MCD EPOS 60W hardware. Use the maxon cable assemblies below for wiring. You should have: MCD EPOS 60 W positioning controller…….… order number 326343 MCD EPOS Power / RS232-CAN Cable (Connector J2)…………………………………… order number 325939 The MCD EPOS Power / RS232-CAN cable (Order No. -
Page 8: Figure 4: Minimum Wiring For Mcd Epos 60 W
EPOS Positioning Comp act Drive MCD EPOS 60 W Getting Started Figure 4: Minimum wiring for MCD EPOS 60 W maxon motor control December 2008 Edition / document number 791292-02 / subject to change... -
Page 9: Step 3: System Configuration
MCD EPOS 60 W Getting Started EPOS Positioning Compact Drive 6.3 Step 3: System Configuration In this section you will configure the MCD EPOS 60 W for your drive system. Please note: • The EPOS_UserInterface provides an online help. It contains all available documentation. -
Page 10: Figure 6: Startup Wizard Dialog For Communication Setting
EPOS Positioning Compact Drive MCD EPOS 60 W Getting Started 4. ‘Startup Wizard’ Step 2: Communication Setting! a) Verify that your wiring is correct. Please refer to chapter ‘6.2 Step 2: Minimum External Wiring’. b) Click on the button 'Search Nodes' to search the nodes of the selected communication. -
Page 11: Figure 9: Startup Wizard Dialog For Choosing Motor Type
MCD EPOS 60 W Getting Started EPOS Positioning Compact Drive ‘Startup Wizard’ Step 3: Motor Type a) The MCD EPOS 60 W contains a maxon EC motor. No other motor type can be selected. Figure 9: Startup wizard dialog for choosing motor type b) Click on the button ‘Next’... -
Page 12: Figure 12: Startup Wizard Dialog For Choosing Ec Motor Position Sensor Type
EPOS Positioning Compact Drive MCD EPOS 60 W Getting Started 7. ‘Startup Wizard ’Step 5: Motor Data a) Select the maximum permitted speed. b) Select the nominal current (maximum continuous current). c) The thermal time constant of the winding of the used motor is 2.7 s and can not be changed. - Page 13 MCD EPOS 60 W Getting Started EPOS Positioning Compact Drive 9. ‘Startup Wizard’ Step 7: Position Resolution a) The resolution of the used encoder is 1000 pulse per turn. No other encoder resolution can be set. Figure 13: Startup wizard dialog for sett ng EC motor encoder resolution b) Click the button ‘Next’...
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Page 14: Figure 15: Save & Activate The Configured Parameters
EPOS Positioning Compact Drive MCD EPOS 60 W Getting Started 11. Save and activate parameters Figure 15: Save & Activate the configured parameters a) Click the button ‘Yes’ to accept the parameters. Figure 16: Confirm parameter activation b) Confirm by clicking the ‘OK’ button. -
Page 15: Figure 17: Clear Can Error
MCD EPOS 60 W Getting Started EPOS Positioning Compact Drive 12. Clear CAN error Now, the object dictionary will be loaded. In case of not connected CAN communication, the error ‘CAN in Error Passive Mode’ appears. a) Click on button ‘Clear Errors’ to clear the error ‘CAN in Passive Error Mode’. -
Page 16: Step 4: Regulation Gains Tuning
MCD EPOS 60 W Getting Started 6.4 Step 4: Regulation Gains Tuning The MCD EPOS 60 W offers a possibility to perform auto-tuning of the regulation gains. You can tune the current, velocity and position gains on the regulators. The auto-tuning function is a good help, but optimal regulation parameters can't be guaranteed. -
Page 17: Auto-Tuning Of The Current Regulator
MCD EPOS 60 W Getting Started EPOS Positioning Compact Drive 6.4.2 Auto-tuning of the Current Regulator In a first step, tune the current regulator. a) Leave all settings to default values. Figure 19: Auto-tuning of current regulator b) Click on ‘Start Tuning’ button to start the auto-tuning. -
Page 18: Figure 22: Confirm End Of Tuning
EPOS Positioning Compact Drive MCD EPOS 60 W Getting Started e) Now, auto-tuning will start. It is searching suitable regulation gains for current regulation mode automatically. This procedure can take a few minutes. All tuning steps will be displayed for further analysis. -
Page 19: Auto-Tuning Of The Velocity Regulator
MCD EPOS 60 W Getting Started EPOS Positioning Compact Drive 6.4.3 Auto-tuning of the Velocity Regulator Now tune the velocity regulator. a) Select the menu item ‘Velocity Regulator‘ in the menu ‘Regulator to Tune’. b) Leave all other settings to default values. -
Page 20: Figure 28: Confirm End Of Tuning
EPOS Positioning Compact Drive MCD EPOS 60 W Getting Started Now, auto-tuning will start. It is searching suitable regulation gains for velocity regulation mode automatically. This procedure can take a few minutes. During this procedure the motor is performing some rotations to both directions. -
Page 21: Auto-Tuning Of The Position Regulator
MCD EPOS 60 W Getting Started EPOS Positioning Compact Drive 6.4.4 Auto-tuning of the Position Regulator Now tune the position regulator. a) Select the menu item ‘Position Regulator’ in the menu ‘Regulator to Tune’. b) Leave all other settings to default values. -
Page 22: Figure 34: Confirm End Of Tuning
EPOS Positioning Compact Drive MCD EPOS 60 W Getting Started Now, auto-tuning will start. It is searching suitable regulation gains for position regulation mode automatically. This procedure can take a few minutes. During this procedure the motor is performing some rotations to both directions. -
Page 23: Manual Tuning
MCD EPOS 60 W Getting Started EPOS Positioning Compact Drive 6.4.5 Manual Tuning If the auto-tuning shows an error or the result of the auto-tuning is not sufficient, you have to tune the appropriate regulator manually. You have to start an iterative search of the regulation gains. -
Page 24: Save All Regulation Gains
Close regulation tuning by clicking on ‘Close Regulation Tuning’ button. Conclusion Now the MCD EPOS 60 W is ready for operation in one of the supported regulation modes! For further settings and more detailed information’s, use online help by...
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