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maxon motor EPOS4 Manual

Gateway / can configuration
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maxon motor ag
Brünigstrasse 220
CH – 6072 Sachseln
www.maxonmotor.com

EPOS4 CAN Network with Gateway functionality

General Remarks

If the gateway functionality of EPOS4 is in use, there must be a couple of key points be considered to ensure
that scanning and communication of EPOS4 within the CAN network will be possible.

Hardware Setup

USB or
RS232

CAN Bus Hardware and Parameter Configuration

CAN bus topology
The CAN bus wiring always have to be a daisy-chain from one CANopen device to the next one.
 There is no star wiring allowed!
 There are no stub lines (longer than 30 cm) allowed!
Node ID configuration
Configure an
unique Node ID for each device
 The Node ID can be configured by DIP switches located on the EPOS4 (or EPOS2) device
in case of housed or compact product types.
 Please refer to the "Hardware Reference" of your controller to find more information about
these DIP switches and the configuration.
 In case of "Module" product types the motherboard or connector board must take care about
the correct wiring of the module's pins assigned to the CAN ID.
Document: EPOS4-Gateway_CAN-Network-Configuration.docx
maxon motor control
EPOS4 Gateway / CAN
Configuration
Configure
EPOS4
CANopen
Node ID = 1
Configure
Fixed CAN bit rate
Version:
Author:
EPOS4
Node ID = 2
(e.g. EPOS2, EPOS4, ...) in the CANopen network.
2018-02-22
ROMA
Configure
bus termination!
CANopen
EPOS4
Node ID = n
Page: 1 / 6

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Summary of Contents for maxon motor EPOS4

  • Page 1 EPOS4 CAN Network with Gateway functionality General Remarks If the gateway functionality of EPOS4 is in use, there must be a couple of key points be considered to ensure that scanning and communication of EPOS4 within the CAN network will be possible.
  • Page 2 CAN bus and require the bus termination.  The EPOS4 in use as the gateway is typically one physical end point of the CAN bus, i.e. add or configure the bus termination for this EPOS4 in that common case.
  • Page 3 USBx (or RS232)  e.g. EPOS4 [Node 1]  Press “OK”.  The detected EPOS4 device will be added to the communication tree.  Establish the connection of the EPOS4 device.  Right click on the EPOS4 and select “Connect”.
  • Page 4 Brünigstrasse 220 CH – 6072 Sachseln Configuration Author: ROMA www.maxonmotor.com Configuration of the CAN Bitrate of the EPOS4 Gateway  The EPOS “Gateway” device has to be present by the “Device Selection”  e.g. “EPOS4 CAN [Node 1]  Open the “Tools” overview.
  • Page 5 Author: ROMA www.maxonmotor.com Scanning the Devices in the CANopen Network  Right-click on the “CAN” branch of the EPOS4 (in use as the gateway)  Execute “Scanning Devices” of the CAN network.  The additional EPOS4(s) present on the CANopen network will be listed up.
  • Page 6 CAN network is persistently saved.  Right-click on any of the EPOS4.  Select “Save All Parameter”.  When all parameters are saved persistently, the EPOS4 can be switched on and off at any time later on. Document: EPOS4-Gateway_CAN-Network-Configuration.docx Page: 6 / 6...

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