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Maxon MiniMACS6-AMP4 Getting Started

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Getting Started:
MiniMACS6-AMP4
with ApossIDE / ApossC / SDK
Date
Document number
Document index
Specific use
Content
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MiniMACS6-AMP4_GettingStarted_11645158-01.docx
Printed: 2025-01-20 10:51:57 Document: 11645158/en/01/Released/Public
10. September 2024
11645158
01
Document for external use
zub machine control AG
Buzibachstrasse 31
6023 Rothenburg
Schweiz
Telefon +41 (0)41 541 50 40
info@zub.ch
www.zub.ch
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Summary of Contents for Maxon MiniMACS6-AMP4

  • Page 1: Table Of Contents

    AG Buzibachstrasse 31 6023 Rothenburg Schweiz Telefon +41 (0)41 541 50 40 info@zub.ch www.zub.ch Getting Started: MiniMACS6-AMP4 with ApossIDE / ApossC / SDK Date 10. September 2024 Document number 11645158 Document index Specific use Document for external use...

  • Page 2: About This Document

    This document shows how a MiniMACS6-AMP4 motion controller from maxon | zub is used. We cover the basic workflow on how to connect and run one motor on a MiniMACS6-AMP4 controller with help of the ApossIDE and ApossC programs. The use of the ApossC SDK (software development kit) is described and the use of the ApossIDE tool “Oscilloscope”, for monitoring process...

  • Page 3: Software And Hardware

    “Difference of ApossC and C”. The ApossIDE provides a Code Editor with syntax highlighting and different tools. picture 1: Overview ApossIDE The ApossIDE (ApossIDE.zip) can be downloaded from the maxon website following this link: https://www.maxongroup.com/maxon/view/product/control/Motion- Control/MiniMacs/001755?download=show Extract the zip-file and Install this ApossIDE on a Windows PC with a USB Interface available.
  • Page 4 Control/MiniMacs/001755?download=show Read and understand the Hardware Reference manual. Make sure you can connect the MiniMACS6-AMP4 to the ApossIDE using the USB interface. Then you must power the MiniMACS6-AMP4 with the logic supply 24V on the connector X1. Hot plugging the USB interface may cause hardware damage...
  • Page 5 2: MiniMACS6-AMP4 with correct wiring It is highly recommended to use a motor that can spin freely for the first commissioning. The MiniMACS6-AMP4 can also operate with DC motors, stepper motors, or other EC motor commutating types (BLDC and PMSM). MiniMACS6-AMP4_GettingStarted_11645158-01.docx...

  • Page 6: Information About Motor And Encoder

    Information about motor and encoder Some information about the motor and the encoder are needed, before we can setup the correct configuration for the MiniMACS6-AMP4. Motor information The following motor information are needed:  Number of pole pairs  Maximum Speed ...

  • Page 7: Apossc Application Program

    ApossC application program The MiniMACS6-AMP4 is a fully programmable motion controller. That means that a compiled application program can be downloaded and executed on the controller. The programming language is ApossC which is an extended C syntax. All parameter settings are normally done in the ApossC code.
  • Page 8 The axis then is moved in a back-and-forth motion using ApossC positioning commands. It also shows a simple error handler and how to use an internal data recorder. For using a motor with the internal amplifier of the MiniMACS6-AMP4 we must set some parameters correctly, including amplifier parameters (HWAMP), encoder parameters (HWENC and VIRTCOUNTIN) and axis parameter (AXE_PARAM).
  • Page 9 sdkSetupPositionPIDControlExt(…) sdkSetupAxisUserUnits(…) sdkSetupVirtualI2T(…) A full list of all SDK functions and the description can be found in the document “ApossC_SDK_Help_V0x.xx.pdf” or “ApossC_SDK_Help_V0x.xx.html” in the ApossC_SDK/Help/ folder. Check the next chapters for information on finding settings for the current controller, position controller and settings for user units and control modes.

  • Page 10: Special Axis Settings

    Special axis settings Mode of operation In this example we run the motor in the most used way – in the position-controlled mode. The setting of this mode is done with HWAMP_MODE_POS_CUR in the #define EC_i30_CONTROLMODE. The commanded position is generated by the internal trajectory generator. That allows us to move the axis to a target position with a given acceleration and velocity.

  • Page 11: Current Controller

    Current Controller The current controller is a PI controller. There is a proportional-gain value and integral-gain value that must be set by the user. In the program we can use the SDK function “sdkSetupCurrentPIControl”. The PI values of the current controller can be calculated with the motor’s winding resistance and the winding inductance using the tool “Current Regulator Calculator”.

  • Page 12: Position Controller

    Encoder and User Unit settings Encoder Settings In this example we use the incremental encoder as position counter. The unit of this counter is quadcounts [qc]. Note, that the datasheet of the encoder shows counts per turn of one channel. So quadcounts are 4 times higher than the encoder counts.
  • Page 13 The MiniMACS6-AMP4 offers no auto tuning algorithm. That means, the position controller must be tuned manually. For tuning the positioning PID controller with its values:  KPROP  KINT  KDER use an endless back-and-forth motion of the axis (as in the example program) and the controller must be activated in the application program with the command AxisControl(axis, ON).
  • Page 14 Good practice is to disturb the motor during motion and position reached phase. An optimized controller is stable without starting to oscillate. The quality of the positioning controller dispends on the needs of the application. The oscilloscope tool, which is part of the ApossIDE, may help to visualize the actual tuning process.

  • Page 15: Using The Oscilloscope

    Using the oscilloscope There is an oscilloscope in the ApossIDE, which is helpful to display values over time. picture 7: Oscilloscope The oscilloscope can be found under “Tools” or just use the icon in the icon bar. The “Free Run” oscilloscope is easy to use. Just add values of your choice to the value list. Use the icon “Add curve”...

  • Page 16: Move On

    Do Marker synchronization with reach features as marker window and marker FIFO. And many more. Please find more information in in the ApossIDE help file. Visit the maxon support page for general motion control topics or get some help from the maxon support team.

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