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Related Manuals for maxon motor EPOS 24/1
Summary of Contents for maxon motor EPOS 24/1
- Page 1 EPOS Positioning Controller Getting Started Edition July 2007 24/1 Positioning Controller Documentation Getting Started maxon document number 573049-08...
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Page 2: Table Of Contents
6.2.1 EPOS 24/1 for maxon DC motor with integrated motor/encoder ribbon cable ....7 6.2.2 EPOS 24/1 for maxon EC 6 motor with Hall sensor and digital MR-Encoder....9 6.2.3 EPOS 24/1 for maxon EC16/EC22 motor with Hall sensor and digital Encoder...11 6.2.4... -
Page 3: Table Of Figures
EPOS 24/1 Getting Started EPOS Positioning Controller Table of figures Figure 1: EPOS 24/1 photo ......................4 Figure 2: EPOS documentation hierarchy..................4 Figure 3: EPOS CD-ROM ........................6 Figure 4: Minimum wiring for DC-Motor with integrated motor/encoder ribbon cable......8 Figure 5: Minimum wiring for EC 6-Motor ..................10 Figure 6: Minimum wiring for EC16/EC22-Motor ................12... -
Page 4: Introduction
The document facilitates the installation and configuration of a basic EPOS 24/1 system. maxon motor EPOS 24/1 is a small-sized full digital smart motion controller. Due the flexible and high efficient power stage the... -
Page 5: Safety Instructions
Danger Do ensure that during the installation of the EPOS 24/1 no apparatus is connected to the electrical supply. After switching on, do not touch any live parts! Max. -
Page 6: Installation And Configuration
C:\Programme\maxon motor EPOS CD-ROM) 4. Check the new shortcuts and items in the start menu All necessary files are copies to the hard drive ‘maxon motor EPOS CD-ROM’ item allows accessibility to all ‘Contents’. On the desktop, a new shortcut to the ‘EPOS_UserInterface.exe’ will be added. Check the new shortcuts in the start menu and on the desktop. -
Page 7: Step 2: Minimum External Wiring
'6.2.1 EPOS 24/1 for maxon DC motor with integrated motor/encoder ribbon cable' • EPOS 24/1 order number 317270 see section '6.2.2 EPOS 24/1 for maxon EC 6 motor with Hall sensor and digital MR-Encoder' • EPOS 24/1 order number 302267 see section '6.2.3 EPOS 24/1 for maxon EC16/EC22 motor with Hall sensor and digital Encoder'... -
Page 8: Figure 4: Minimum Wiring For Dc-Motor With Integrated Motor/Encoder Ribbon Cable
EPOS Positioning Controll EPOS 24/1 Getting Started Figure 4: Minimum wiring for DC-Motor with integrated motor/encoder ribbon cable maxon motor control Edition July 2007 / Subject to chan... -
Page 9: Epos 24/1 For Maxon Ec 6 Motor With Hall Sensor And Digital Mr-Encoder
EPOS 24/1 Getting Started EPOS Positioning Controller 6.2.2 EPOS 24/1 for maxon EC 6 motor with Hall sensor and digital MR-Encoder Install the EPOS 24/1 hardware. Use the maxon cable assemblies below for wiring. You should have: EPOS 24/1 positioning controller for maxon EC 6 motor .......... -
Page 10: Figure 5: Minimum Wiring For Ec 6-Motor
EPOS Positioning Controll EPOS 24/1 Getting Started Figure 5: Minimum wiring for EC 6-Motor maxon motor control Edition July 2007 / Subject to chan... -
Page 11: Epos 24/1 For Maxon Ec16/Ec22 Motor With Hall Sensor And Digital Encoder
EPOS 24/1 Getting Started EPOS Positioning Controller 6.2.3 EPOS 24/1 for maxon EC16/EC22 motor with Hall sensor and digital Encoder Next option allows hardware installation of EPOS 24/1 for maxon EC16/EC22 motor (Order No. 302267). Follow the steps and see also figure 1. -
Page 12: Figure 6: Minimum Wiring For Ec16/Ec22-Motor
EPOS Positioning Controll EPOS 24/1 Getting Started Figure 6: Minimum wiring for EC16/EC22-Motor maxon motor control Edition July 2007 / Subject to chan... -
Page 13: Epos 24/1 For Maxon Dc/Ec Motor (Molex Connectors) With Hall Sensor And Digital Encoder
4. Connect EPOS RS232-COM cable Connect the RS232-COM cable (Order No. 275900) to the connector J12 of the EPOS 24/1. On the opposite side connect to a free RS-232 port of your computer. Note! If you do not use the maxon cables, you have to do the wiring using the ‘EPOS 24/1 Cable Starting Set’... -
Page 14: Figure 7: Minimum Wiring For Dc/Ec-Motor With Molex Connectors
EPOS Positioning Controll EPOS 24/1 Getting Started Figure 7: Minimum wiring for DC/EC-Motor with Molex connectors maxon motor control Edition July 2007 / Subject to chan... -
Page 15: Step 3: System Configuration
EPOS 24/1 Getting Started EPOS Positioning Controller 6.3 Step 3: System Configuration In this section you will configure the EPOS 24/1 for your drive system. Please note: • The EPOS User Interface provides an online help. It contains all available documentation. -
Page 16: Figure 9: Startup Wizard Dialog For Setting Rs-232 Communication
It is also possible to run ‘EPOS User Interface’ via CANopen communication. In this case, a PC CAN- interface card from IXXAT or Vector has to be used. For correct wiring please see ‘EPOS 24/1 Hardware Reference’ document. maxon motor control... -
Page 17: Figure 12: Startup Wizard Dialog For Choosing Ec Motor Pole Pairs
EPOS 24/1 Getting Started EPOS Positioning Controller 6. ‘Startup Wizard’ Step 4 for EC motors: ‘Startup Wizard’ Step 4 for DC motors: Motor Pole Pair Motor Data a) Select the correct number of pole pairs. Select the maximum permissible speed. -
Page 18: Figure 16: Startup Wizard Dialog For Choosing Ec Motor Position Sensor Type
EPOS Positioning Controller EPOS 24/1 Getting Started 8. ‘Startup Wizard’ Step 6 for EC motors: ‘Startup Wizard’ Step 6 for DC motors: Position Sensor Type Position Resolution a) Select the used position sensor type Enter the resolution of the used encoder... -
Page 19: Figure 19: Startup Wizard Dialog For Setting Ec Motor Encoder Resolution
EPOS 24/1 Getting Started EPOS Positioning Controller 9. ‘Startup Wizard’ Step 7 for EC motors: 9. ‘Startup Wizard’ Step 7 for DC motors: Position Resolution Summary a) Enter the resolution of the used encoder A short summary of the most important configuration values is displayed in this window. -
Page 20: Figure 21: Startup Wizard Dialog For Setting Ec Motor Encoder Resolution
EPOS Positioning Controller EPOS 24/1 Getting Started 10. ‘Startup Wizard’ Step 8 for EC motors: Summary A short summary of the most important configuration values is displayed in this window. If there are any mistakes in the configuration, you can go back and modify the values by clicking on the button ‘Zurück’. -
Page 21: Figure 24: Clear Can Error
EPOS 24/1 Getting Started EPOS Positioning Controller 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. Click on button ‘Clear Errors’ to clear the error ‘CAN in Passive Error Mode’. -
Page 22: Step 4: Regulation Gains Tuning
EPOS 24/1 Getting Started 6.4 Step 4: Regulation Gains Tuning The EPOS 24/1 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 23: Auto-Tuning Of The Current Regulator
EPOS 24/1 Getting Started EPOS Positioning Controller 6.4.2 Auto-tuning of the Current Regulator In a first step, tune the current regulator. Leave all settings to default values. Figure 26: Auto-tuning of current regulator Figure 27: Auto-tuning button Click on ‘Start Tuning’ button to start the auto-tuning. -
Page 24: Figure 29: Confirm End Of Tuning
EPOS Positioning Controller EPOS 24/1 Getting Started 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 25: Auto-Tuning Of The Velocity Regulator
EPOS 24/1 Getting Started EPOS Positioning Controller 6.4.3 Auto-tuning of the Velocity Regulator Now tune the velocity regulator. Select the menu item ‘Velocity Regulator’ in the menu ‘Regulator to Tune’. Leave all other settings to default values. Figure 32: Auto-tuning of velocity regulator Figure 33: Auto-tuning button Click on ‘Start Tuning’... -
Page 26: Figure 35: Confirm End Of Tuning
EPOS Positioning Controller EPOS 24/1 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. All tuning steps will be displayed and recorded for further analysis. -
Page 27: Auto-Tuning Of The Position Regulator
EPOS 24/1 Getting Started EPOS Positioning Controller 6.4.4 Auto-tuning of the Position Regulator Now tune the position regulator. Select the menu item ‘Position Regulator’ in the menu ‘Regulator to Tune’. Leave all other settings to default values. Figure 38: Auto-tuning of position regulator Figure 39: Auto-tuning button Click on ‘Start Tuning’... -
Page 28: Figure 41: Confirm End Of Tuning
EPOS Positioning Controller EPOS 24/1 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. All tuning steps will be displayed and recorded for further analysis. -
Page 29: Manual Tuning
EPOS 24/1 Getting Started EPOS Positioning Controller 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. Change the system parameters manually, start a single step movement and check the recorded data. -
Page 30: Save All Regulation Gains
Figure 49: Confirm saving of all parameters Confirm saving of all parameters by clicking on ‘OK’ button. Conclusion Now the EPOS 24/1 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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