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maxon motor

maxon motor control

EPOS Positioning Controller

Getting Started

December 2008 Edition

maxon document number 573050-07



24/5

Positioning Controller

Documentation

Getting Started

Summary of Contents for EPOS 24/5

Page 1: ...maxon motor maxon motor control EPOS Positioning Controller Getting Started December 2008 Edition maxon document number 573050 07 24 5 Positioning Controller Documentation Getting Started...

Page 2: ...e 7 6 3 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 integ...

Page 3: ...setting DC motor encoder resolution 17 Figure 20 Startup wizard dialog for setting EC motor encoder resolution 18 Figure 21 Startup wizard configuration summary 18 Figure 22 Startup wizard dialog for...

Page 4: ...low noise The integrated position velocity and current control functionality allows sophisticated positioning applications It is specially designed being commanded and controlled as a slave node in th...

Page 5: ...ndent monitoring and safety equipment If the equipment breaks down if it is operated incorrectly if the control unit breaks down or if the cables break etc it must be ensured that the drive or the com...

Page 6: ...r computer 2 Start the installation program EPOS_CD ROM exe Normally the installation program starts automatically after inserting EPOS CD ROM Alternatively double click the item in the explorer to st...

Page 7: ...POS 24 5 for maxon DC motor with integrated motor encoder ribbon cable an additional presetting has to be done The jumper JP2 and JP3 can be found on board by opening the housing cover Figure 4 Locati...

Page 8: ...EPOS 24 5 On the opposite side connect to a power supply 11 24 VDC The necessary output current is depending on load Continuous max 5 A acceleration short time max 10 A Note Make sure that the supply...

Page 9: ...maxon motor EPOS Positioning Controll 9 er EPOS 24 5 Getting Started maxon motor control December 2008 Edition document number 573050 07 subject to change Figure 6 Minimum wiring for maxon EC motor...

Page 10: ...1 of the EPOS 24 5 On the opposite side connect to a power supply 11 24 VDC The necessary output current is depending on load Continuous max 5 A acceleration short time max 10 A Note Make sure that th...

Page 11: ...sitioning Controll 11 er EPOS 24 5 Getting Started maxon motor control December 2008 Edition document number 573050 07 subject to change Figure 7 Minimum wiring for maxon DC motor with separated motor...

Page 12: ...described in chapter 6 2 3 maxon DC motor with integrated motor encoder ribbon cable 2 Connect EPOS power cable Connect the power cable Order No 275829 to the connector J1 of the EPOS 24 5 On the oppo...

Page 13: ...tioning Controll 13 er EPOS 24 5 Getting Started maxon motor control December 2008 Edition document number 573050 07 subject to change Figure 8 Minimum wiring for maxon DC motor with integrated motor...

Page 14: ...rsion 2 00 or higher Double click on the item EPOS UserInterface exe on the desktop to start the graphical user interface GUI By starting the EPOS User Interface the Startup Wizard will be started aut...

Page 15: ...he following dialog is displayed Figure 11 Communication settings found d Click on the OK button to confirm and accept the values e Click on the button Weiter for the next step 5 Startup Wizard Step 3...

Page 16: ...wizard dialog for setting DC motor data d Click the button Weiter for the next step 7 Startup Wizard Step 5 for EC motors Motor Data a Select the maximum permissible speed b Select the nominal current...

Page 17: ...function of the regulation please be aware of the following restrictions Figure 18 Recommendations for using Hall sensors as position sensors d Please consider this warning carefully before clicking t...

Page 18: ...configuration values is displayed in this window b If there are any mistakes in the configuration you can go back and modify the values by clicking on the button Zur ck c If you will not start the sta...

Page 19: ...nning of every EPOS user interface session you have to deselect the option Always start this wizard after program start Figure 22 Startup wizard dialog for setting EC motor encoder resolution d If all...

Page 20: ...to clear the error CAN in Passive Error Mode Figure 25 Clear CAN error b If other errors occurred please check wiring and startup configuration For more information s about errors refer to EPOS firmw...

Page 21: ...nction is a good help but optimal regulation parameters can t be guaranteed The auto tuning is a good starting point for a manual tuning The following procedure is recommended for the tuning of the re...

Page 22: ...values Figure 27 Auto tuning of current regulator Figure 28 Auto tuning button b Click on Start Tuning button to start the auto tuning c Block the motor shaft continuously until current regulator auto...

Page 23: ...rther analysis Figure 30 Confirm end of tuning f Confirm the end of tuning by clicking on No button g If an error occurs and the auto tuning will not start please confirm and clear the error Next adju...

Page 24: ...gulator to Tune b Leave all other settings to default values t Figure 33 Auto tuning of velocity regula or Figure 34 Auto tuning button c Click on Start Tuning button to start the auto tuning d Be sur...

Page 25: ...ing steps will be displayed and recorded for further analysis Figure 36 Confirm end of tuning g Confirm the end of tuning by clicking on No button h If an error occurs and the auto tuning will not sta...

Page 26: ...egulator to Tune b Leave all other settings to default values Figure 39 Auto tuning of position regulator Figure 40 Auto tuning button c Click on Start Tuning button to start the auto tuning d Be sure...

Page 27: ...ing steps will be displayed and recorded for further analysis Figure 42 Confirm end of tuning g Confirm the end of tuning by clicking on No button h If an error occurs and the auto tuning will not sta...

Page 28: ...ate regulator Figure 46 Manual tuning mode Hints Start values for current and velocity regulator are normally not difficult to find For positioning regulator following rule of thumb will be helpful St...

Page 29: ...ins Figure 49 Confirm regulation gains saving b Confirm the saving of regulation gains by clicking on Ja button Figure 50 Confirm saving of all parameters c Confirm saving of all parameters by clickin...

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