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maxon motor EPOS 24/5 Getting Started

Positioning controller
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EPOS Positioning Controller
Getting Started
December 2008 Edition
24/5
Positioning Controller
Documentation
Getting Started
maxon document number 573050-07

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Summary of Contents for maxon motor EPOS 24/5

  • Page 1 EPOS Positioning Controller Getting Started December 2008 Edition 24/5 Positioning Controller Documentation Getting Started maxon document number 573050-07...

  • Page 2: Table Of Contents

    Step 3: Minimum External Wiring ..................8 6.3.1 EPOS 24/5 for maxon EC motor ..................8 6.3.2 EPOS 24/5 for maxon DC motor with separated motor and encoder cable....10 6.3.3 EPOS 24/5 for maxon DC motor with integrated motor/encoder ribbon cable .....12 Step 4: System Configuration....................14 Step 5: Regulation Gains Tuning..................21...

  • Page 3: Table Of Figures

    EPOS 24/5 Getting Started EPOS Positioning Controller Table of figures Figure 1: EPOS 24/5 photo ......................4 Figure 2: EPOS documentation hierarchy..................4 Figure 3: EPOS CD-ROM ........................6 Figure 4: Location JP2 and JP3 (factory setting) ................7 Figure 5: Configuration JP2 and JP3 ....................7 Figure 6: Minimum wiring for maxon EC motor................9...

  • Page 4: Introduction

    EPOS 24/5 is a small-sized full digital smart motion controller. Due to the flexible and high efficient power stage the EPOS 24/5 drives brushed DC motors with digital encoder as well as brushless EC motors with digital Hall sensors and encoder.

  • Page 5: Safety Instructions

    Danger Do ensure that during the installation of the EPOS 24/5 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 copied 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: Hardware Presetting

    Using EPOS 24/5 for maxon EC motor, no presetting is necessary. 6.2.2 maxon DC motor with separated motor and encoder cable Using EPOS 24/5 for maxon DC motor with separated motor and encoder cable, no presetting is necessary. 6.2.3 maxon DC motor with integrated motor/encoder ribbon cable Using EPOS 24/5 for maxon DC motor with integrated motor/encoder ribbon cable an additional presetting has to be done.

  • Page 8: Step 3: Minimum External Wiring

    5. Connect EPOS RS232-COM cable Connect the RS232-COM cable (Order No. 275900) to the connector J6 of the EPOS 24/5. 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 ‘Cable Starting Set’...
  • Page 9 EPOS Positioning Controll EPOS 24/5 Getting Started Figure 6: Minimum wiring for maxon EC motor maxon motor control December 2008 Edition / document number 573050-07 / subject to change...

  • Page 10: Epos 24/5 For Maxon Dc Motor With Separated Motor And Encoder Cable

    3. Connect EPOS encoder cable Connect the encoder cable (Order No. 275934) to the connector J4 of the EPOS 24/5. On the opposite side connect to the encoder of the motor. 4. Connect EPOS RS232-COM cable Connect the RS232-COM cable (Order No. 275900) to the connector J6 of the EPOS 24/5.
  • Page 11 EPOS Positioning Controll EPOS 24/5 Getting Started Figure 7: Minimum wiring for maxon DC motor with separated motor and encoder cable maxon motor control December 2008 Edition / document number 573050-07 / subject to change...

  • Page 12: Epos 24/5 For Maxon Dc Motor With Integrated Motor/Encoder Ribbon Cable

    3. Connect EPOS encoder cable Connect the encoder cable (Order No. 275934) to the connector J4 of the EPOS 24/5. On the opposite side connect to the encoder of the motor. 4. Connect EPOS RS232-COM cable Connect the RS232-COM cable (Order No. 275900) to the connector J6 of the EPOS 24/5.
  • Page 13 EPOS Positioning Controll EPOS 24/5 Getting Started Figure 8: Minimum wiring for maxon DC motor with integrated motor/encoder ribbon cable maxon motor control December 2008 Edition / document number 573050-07 / subject to change...

  • Page 14: Step 4: System Configuration

    EPOS Positioning Controller EPOS 24/5 Getting Started 6.4 Step 4: System Configuration In this section you will configure the EPOS 24/5 for your drive system. Please note: • The EPOS User Interface provides an online help. It contains all available documentation.
  • Page 15 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 24/5 Hardware Reference’ document. December 2008 Edition / document number 573050-07 / subject to change...
  • Page 16 EPOS Positioning Controller EPOS 24/5 Getting Started 6. ‘Startup Wizard’ 6. ‘Startup Wizard’ Step 4 for EC motors: Motor Pole Pair Step 4 for DC motors: Motor Data a) Select the correct number of pole pairs. a) Select the maximum permissible speed.
  • Page 17 EPOS 24/5 Getting Started EPOS Positioning Controller 8. ‘Startup Wizard’ 8. ‘Startup Wizard’ Step 6 for EC motors: Position Sensor Step 6 for DC motors: Position Type Resolution a) Select the used position sensor type a) Enter the resolution of the used encoder.
  • Page 18 EPOS Positioning Controller EPOS 24/5 Getting Started 9. ‘Startup Wizard’ 9. ‘Startup Wizard’ Step 7 for EC motors: Position Step 7 for DC motors: Summary a) A short summary of the most important Resolution configuration values is displayed in this a) Enter the resolution of the used encoder.
  • Page 19 EPOS 24/5 Getting Started EPOS Positioning Controller 10. ‘Startup Wizard’ Step 8 for EC motors: Summary a) A short summary of the most important configuration values is displayed in this window. b) If there are any mistakes in the...
  • Page 20 EPOS Positioning Controller EPOS 24/5 Getting Started 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 21: Step 5: Regulation Gains Tuning

    EPOS Positioning Controller 6.5 Step 5: Regulation Gains Tuning The EPOS 24/5 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 22: Auto-Tuning Of The Current Regulator

    EPOS Positioning Controller EPOS 24/5 Getting Started 6.5.2 Auto-tuning of the Current Regulator In a first step, tune the current regulator. a) Leave all settings to default values. Figure 27: Auto-tuning of current regulator Figure 28: Auto-tuning button b) Click on ‘Start Tuning’...
  • Page 23 EPOS 24/5 Getting Started EPOS Positioning Controller 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 24: Auto-Tuning Of The Velocity Regulator

    EPOS Positioning Controller EPOS 24/5 Getting Started 6.5.3 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 25 EPOS 24/5 Getting Started EPOS Positioning Controller 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 26: Auto-Tuning Of The Position Regulator

    EPOS Positioning Controller EPOS 24/5 Getting Started 6.5.4 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 27 EPOS 24/5 Getting Started EPOS Positioning Controller 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 28: Manual Tuning

    EPOS Positioning Controller EPOS 24/5 Getting Started 6.5.5 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 29: Save All Regulation Gains

    Figure 50: Confirm saving of all parameters c) Confirm saving of all parameters by clicking on ‘OK’ button. Conclusion Now the EPOS 24/5 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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