maxon motor EPOS 24/5, Getting Started

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maxon motor
EPOS Positioning Controller EPOS 24/5 Getting Started
1 Table of contents
1 Table of contents ...................................................................................................................2
2 Table of figures ......................................................................................................................3
3 Introduction ............................................................................................................................4
4 How to use this guide ............................................................................................................4
5 Safety Instructions .................................................................................................................5
6 Installation and Configuration ................................................................................................6
6.1 Step 1: Software Installation ................................................................................................6
6.2 Step 2: Hardware Presetting ...............................................................................................7
6.2.1 maxon EC motor..............................................................................................................7
6.2.2 maxon DC motor with separated motor and encoder cable ............................................7
6.2.3 maxon DC motor with integrated motor/encoder ribbon cable ........................................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 integrated motor/encoder ribbon cable .............12
6.4 Step 4: System Configuration ............................................................................................14
6.5 Step 5: Regulation Gains Tuning.......................................................................................21
6.5.1 Start the Auto-tuning Tool..............................................................................................21
6.5.2 Auto-tuning of the Current Regulator.............................................................................22
6.5.3 Auto-tuning of the Velocity Regulator ............................................................................24
6.5.4 Auto-tuning of the Position Regulator............................................................................26
6.5.5 Manual Tuning ...............................................................................................................28
6.5.6 Save all Regulation Gains .............................................................................................29
7 Conclusion ...........................................................................................................................29
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maxon motor control December 2008 Edition / document number 573050-07 / subject to change