Typically, the following are configured as digital inputs: A Home Switch can also be configured. Home Switch Positive Speed & Index Scribd is the world's largest social reading and publishing site. The EPOS4 Compact 50/5 CAN is a dynamic, ready-to-connect positioning controller in a compact design. The motor will be at risk of overload if the nominal current and thermal time constant winding is incorrect and overestimated. The combination of a wide variety of operating modes and state-of-the-art control characteristics like Field Oriented Control (FOC) with multiple analog and digital I/O along with various command options enables applications in a large number of fields from medical technology to robotics. Following this you will be asked to define your motor parameters. The final step within the regulation section is defining the main sensor within the system. USB (english, ZIP 41 MB), Digital incremental encoder (2-channel, single-ended), Digital incremental encoder (2-channel, differential), Digital incremental encoder (3-channel, differential), Analog incremental encoder (2-channel, differential), Max. (english, PDF 4 MB), EPOS4 Firmware Specification This is where the control loop structure can be defined with regards to current, velocity and position. Before you receive your EPOS4 it is a good idea to download the EPOS Studio to establish some familiarity with the software. The EPOS4 will supply the required voltage to the motor based on the speed requirement and the torque being applied, assuming there is no limitation from the power supply. These values, along with values and index notations for other variables, can be found in the EPOS4 Firmware Specification. The maximum profile velocity should consider the following: The Following Error is defined as the maximum allowed difference between the actual position and demand position. The quick stop deceleration value is typically a lot higher than the profile deceleration rate, however, it is important the power supply is able to deal with such a high rate. When a high load is brought to a halt at a quick rate, there is reversed energy which goes back through the system. For more information on the EPOS position controller series of maxon motor, please see It is important that the brake is triggered AFTER the standstill window has been reached by the motor. Here you can select which EPOS you are using. Once this initial configuration of controller and communication has been completed, you will see one of two options on the left-hand navigation pane, under the Communication window. force) and PX401 slot 3 (analog signals +/-10V or +/-20mA). This should be analysed prior to selecting the sensor to be used for the application. In addition to PID position regulation, the functionalities of the built-in acceleration and velocity feedfor- ward are described. The following is a guide to configuring the EPOS4 to suit your motor and application by using the EPOS Studio graphical user interface (GUI) interface. www.maxongroup.co.uk/maxon/view/content/overview-dc-motor, www.maxongroup.co.uk/maxon/view/content/catalog_request. This is typical in applications where there is a high acceleration rate or if there is a frequent spike in torque demand from the motor. The codes are P0300 misfire, P0017, p0365, & P0000A. EtherCAT. The watchdog timer in a Beckhoff PLC is a last resort if everything else fails. If a secondary encoder is in use, or if there is only one form of feedback and it is not a digital incremental encoder, then this must be configured through connector X6. Designed for use with brushed DC motors with encoders and brushless EC motors (BLDC) with Hall sensors and encoders up to 250 W / 750 W. . Within the EPOS Studio there are limited options in terms of defining units. (deutsch, PDF 46 MB), Catalog page This is where you can define the motor and sensor combination, its parameters and the system limitations, as well as analog and digital I/O selection. As the number of pole pair increases, the max speed decreases at the same rate - to calculate, divide the max speed (based on which method of commutation you use) by the number of pole pairs to find the maximum speed for your motor. www.maxongroup.co.uk/maxon/view/content/overview-dc-motor) or in the catalogue ( The specification for these can be found under the relevant EPOS4 Hardware Reference, including information regarding the maximum input voltage. If this is not possible there are various options: Within the device control there is also the possibility to configure the Standstill Window and corresponding Time. Please note that some processing of your personal data may not require your consent, but you have a right to object to such processing. The PMX is equipped with EtherCat interface PX01EC (Slot 0) and measuring boards PX878 slot 1, PX455 slot 2 (strain gauge sensors e.g. %PDF-1.6 % Typically, it comes down to the final load and the permissible motion it can follow. The sensor should be chosen based on the feedback resolution required. Values such as velocity and position are derived from the main sensor, also a holding brake output works based on information from the main sensor. Providing there is an additional sensor, as well as the Hall sensors mounted to the motor shaft, the motor can operate using sinusoidal commutation. Compressed air and fluid power specialist Thorite has appointed Jim Allen as business development manager to support its 10 million growth plan, bringing the nationwide team to 13. Supply voltage To build upon this success, the Swiss drive specialist launches the EPOS4 as the next generation of positioning controllers. As it stands, with the current firmware (0x0150), the analogue outputs can only be configured with general-purpose functionality. Add to cart. Edition: November 2016 EPOS4 Application Notes 2.2 Overview The EPOS4 controller architecture contains three built-in control loops. If this value has been exceeded, a following value error (0x6065) will be triggered. There are two options with regards to the velocity control loop, one of which is low-pass filter and the other is observer. Mode 2: Show freeze frame data. If the application requires smooth control, especially at low speeds, then sinusoidal commutation is recommended, along with a high resolution sensor. There are two ways of starting your project, choosing EPOS4 Project, takes you to the next screen where you can name your project and save it. Your preferences will apply to this website only. This cannot be stored in the EPOS so it must go back through to the power supply. The EPOS4 can take up to eight digital inputs, four of which being standard and the remaining four being high-speed digital inputs. The default value for the maximum acceleration is set at 4294967295rpm/s as standard. If you require help or require further information on any maxon controllers or the EPOS studio software please contact us on +44 (0)1189 733337 or Mode 3: Show stored trouble codes . Using the current firmware (0x0150), the analog outputs can only be configured with general purpose functionality. If there is only one encoder, and it is mounted to the load (main encoder), then there is only the option to select block commutation. (english, PDF 581 KB), EPOS Command Library Documentation Commanding Maxon EPOS 4 Motor Controller (s) from MATLAB matlab ieee matlab-library maxon epos4 epos-studio hermesteam epos-on-matlab Updated on Feb 9, 2021 C Hapyr / Epos4-for-arduino-and-zephyr Star 4 Code Issues Pull requests C++ Libary for communication with the EPOS4 motor controller. Dual-loop is typically used when high position accuracy is required. . This should be analysed prior to selecting the sensor to be used for the application. It Is always recommended to use encoders with differential signals as a method of protection against electrical interference, as well as using three-channel encoders. Additional information: Please find more information about EPOS4's RS232 protocol and the differences compared to EPOS2 here: "EPOS4 Communication Guide.pdf" -> Chapter 2 "USB & RS232 Communication" IMA Active, a division of IMA Group dedicated to the production of automated systems and machinery for the pharmaceutical industry, has upgraded its continuous tablet-coating solution with the installation of Omrons vision system equipped with a high-speed colour camera and dome light. This is where the control loop structure can be defined with regards to current, velocity and position. Max encoder input frequency. Registered Office: Table 1-1 Notations used In the later course of the present document, the following abbreviations and acronyms will be used: There are various factors that influence the following error value. Making productivity sustainable with Pharma 4.0. (english, PDF 11 MB), EPOS Windows 32-Bit and 64-Bit DLL NOTE: If you are using a CAN interface to communicate to your PC, the EPOS Command Library section 9.2.1.1 shows interfaces and drivers that have been tested by maxon. Here you can select which EPOS you are using. Share: Learn how straightforward it is to configure a maxon EPOS4 positioning controller using EPOS Studio. The final step within the regulation section is defining the main sensor within the system. Entdecken Sie die Welt der Antriebstechnik von maxon | maxon group (franaise, PDF 2 MB), Setup EPOS, IDX - Studio 3.7 (english, ZIP 19 MB), EPOS Linux Library (ARM/Intel 32/64-Bit) If there is a gearhead on the front of the motor for maximum accuracy it is important to configure the gearbox as an absolute ratio rather than a x:1 format as this has been simplified. This is not to be confused with nominal speed or no-load speed, as these are defined assuming nominal voltage is applied to the motor. The device control is where the EPOS4 is configured to perform certain actions based on the given conditions. A low following error value can be entered if a high resolution encoder is used. hWmOH+1Qz_/*$MI[GUBluNNU&NB)w%3c%&"B1D0 If this value has been exceeded, a following value error (0x6065) will be triggered. Select the communication interface you will be using: NOTE: If you are using a CAN interface to communicate to your PC, the EPOS Command Library section 9.2.1.1 shows interfaces and drivers that have been tested by maxon. sales.uk@maxongroup.com . The EPOS4 Hardware Reference for the relevant EPOS4 has information on the specification of the feedback sensor connectors which the sensors must conform to, such as power requirements and the EPOS4 Firmware Specification has information on the data of the sensors, such as SSI Data Rate, number of data bits and other limitations. The maxon EPOS4 digital positioning controller is the next generation of powerful CANopen controllers. Low-pass filter is typically used if a high resolution encoder is available. The limits section is where parameters are defined as a safety function for the entire system, not just the motor. on Monday, September 16, 2019 Slow Down on Deceleration: Drive will slow down according to pre-defined deceleration rate. However, if a brushless motor is in use, there are two options available, depending on the feedback which has been configured. This is typically the encoder mounted on the motor. The latest EPOS version is the EPOS4 and this is suitable for most applications. The default value for the maximum acceleration is set at 4294967295 rpm/s as standard. CANopen Please read the safety instructions carefully and confirm you have read and understood. This is very useful for applications where there may be excessive backlash or torsional elasticity to be accounted for. It Is always recommended to use encoders with differential signals as a method of protection against electrical interference, as well as using 3 channel encoders. It is configured as a digital input meaning it can be used in all applications. maxon motor's EPOS range of controllers has been very successful in the marketplace. 1-4 Document ID: rel6422 EPOS4 Positioning Controllers Edition: May 2016 EPOS4 Application Notes 1.1.3 How to use Take note of the following notations and codes which will be used throughout the document. If a secondary encoder is in use, or if there is only one form of feedback and it is not a digital incremental encoder, then this must be configured through connector X6. New robotics sales engineer for the North East. This is typical in applications where there is a high acceleration rate or if there is a frequent spike in torque demand from the motor. When the EPOS Studio has been downloaded and installed, the initial screen gives the option to create a new project based on the range of EPOS models. If the motor is overloaded for too long there will be irreversible damage to the internal winding. EPOS2 Application Notes, Feature Chart, Firmware Specification EPOS2 24/2 Hardware Reference / EPOS2 50/5 Ha rdware Reference / EPOS2 70/10 Hardware Ref-erence EPOS4 Application Notes, Communication Guide, Feature Chart, Firmware Specification, Firmware Version Readme All EPOS4 Hardware References USB supply is not enough even for configuration. To calculate your power requirements from your power supply, please see the EPOS4 Hardware Reference where you can find an equation with variables such as torque requirements, speed requirements and motor data. The link below goes to the EPOS homepage where the download link for the EPOS Studio can be found towards the bottom of the page: bit.do/EPOS4. Hall sensors offer 6 pulses per electrical turn (pole pair) so is not sufficient in most applications which require position control. Within the navigation pane, there is a section named Wizards under this there are various step by step options. See hardware reference for wiring information. This cannot be stored in the EPOS so it must go back through to the power supply. These values, along with values and index notations for other variables, can be found in the EPOS4 Firmware Specification. Implement a maxon shunt regulator (Part number 235811 or 309687). For example, running a motor with four pole pairs using block commutation results in a max speed of 25000rpm. Drive Enable EPOS4 Feature Chart, Firmware Specification, Firmware Version Readme, Communica-tion Guide, and Application Notes All EPOS4 Hardware References Edition 32 (2018-12) Features Software Release of EPOS Studio 3.5 Release of EPOS Windows DLL 6.5.1.0 (including .Net library, LabVIEW instrument driver) Release of EPOS Linux Library 6.5.1.0 Current regulation is used in all modes. The EPOS4 has 3 available digital outputs, 1 of which being a high speed digital output. TMI Group turns to Kawasaki for milling machine automation. See "Ordering and activation of TwinCAT 3 standard licenses". With over 15 years of valuable experience in business, James is sure to hit the ground running, knowing what it takes to lead a team and exceed its targets. Quick Stop: As mentioned earlier in this document. Within the EPOS Studio there are limited options in terms of defining units. As standard this is in revolutions/min however, it can be changed all the way down to 0.000001 rpm. The absolute reduction can be found on the gearbox data sheet, along with the maximum continuous input speed which is defined to prevent any damage to the gearbox and the teeth of the individual gears. Increase power supply available there is an option to configure the hall sensors as inverted which simply shifts all hall sensor phases by 180 degrees. On the next screen confirm the EPOS being used and click the >> button. It is important to understand how the max speed available from the EPOS4 varies with the number of pole pairs of the motor. This is not to be confused with nominal speed or no-load speed, as these are defined assuming nominal voltage is applied to the motor. As standard, this is in revolutions/min(rpm) but it can be changed all the way down to 0.000001rpm. Igus says its RBTX online marketplace, which helps users looking for cost-effective automation solutions, brings over 100 cost-effective automation solutions to your fingertips, and includes new functions and automation feasibility demonstrations. 1-6 Document ID: rel7205 EPOS4 Positioning Controllers Edition: November 2017 EPOS4 Application Notes 1.1.3 How to use Take note of the following notations and codes which will be used throughout the document. EPOS4 Positioning Controllers Document ID: rel6637 1-3 EPOS4 Application Notes Edition: November 2016 1 About 1.1 About this Document 1.1.1 Intended Purpose The purpose of the present document is to provide you specific information to cover particular cases or scenarios that might come in handy during commissioning of your drive system.. "/> The following are actions that can be configured according to certain conditions: The profile deceleration is pre-defined and is used in various operating modes except for the cyclic synchronous modes (CSV, CST, CSP). Position or velocity regulation is only used in position-based or velocity-based modes, respec-tively. EPOS4 Positioning Controller. Negative Limit Switch: Limit switch when motor is rotating in other direction If this value is exceeded, a software position error is triggered. Thus, the power sup-ply to the motor is cut by stopping the switching process of the output transistors in a safe way. (english, PDF 20 MB), EPOS4 Communication Guide hbbd```b``.A$d"E %`]Wd7i``A/`v V$3$;jw.HD Katalogseiten See hardware reference for wiring information. Since its launch in 2005, more than 100,000 units are in use worldwide. EPOS4 Application Notes (May 2016) EPOS4 Firmware Version Readme (June 2016) EPOS4 Module/Compact 50/8 Hardware Reference (May 2016) EPOS4 Module/Compact 50/15 Hardware Reference (May 2016) maxon motor control EPOS Positioning Controller Document ID: rel7119 3 Technical The following are actions that can be configured according to certain conditions: Disable Drive Function: Power stage is disabled, drive will slow down according to friction within the system. maxon motors can be overloaded beyond their nominal torque for a duration that corresponds with the thermal time constant winding. Digital Outputs 1 and 2 have an open drain circuit and an internal pull up resistor with a diode bringing the voltage up to 5.45V DC. EPOS4 Application Notes Edition: November 2016 2.3 Regulation Methods 2.3.1 Current Regulation During a movement within a drive system, forces and/or torques must be controlled. (espaol, PDF 500 KB), Page de catalogue The maximum profile velocity should consider the following: Maximum gearbox input speed He joins BFPA from Woodway Engineering, where he was managing director for the Coventry based company, and brings over 25 years of experience in the fluid power industry. If you opt for this method, the EPOS Studio will assume you are connecting via USB. It is important to make sure the information filled out is correct. Alternatively, if you choose Create New Project you can name your project and save it. maxon motor control's EPOS4 products are small-sized, full digital, smart positioning control units. This may be an encoder on a DC motor or even Hall sensors on an EC (brushless DC motor). The maximum output current limit should be less than the short-term peak current provided from the controller, and also should be less than the current available from the power supply. Therefore, as a principal regulation structure, EPOS4 offers current-based control. As always, maxon relies on integrated protective devices like the Safe Torque Off (STO) functionality. If you have your EPOS4 connected to your PC, your communication tree will be all clear and there will no red crosses. Since its launch in 2005, more than 100,000 units are in use worldwide. EPOS4 Positioning Controllers Document ID: rel6422 2-9 EPOS4 Application Notes Edition: May 2016 Interrupting the current to either STO1 or STO2 input will disable the drive output. The first product in maxon's new line is the high-performance EPOS4 module with detachable pin headers and two different power ratings. Figure 2-3 Controller architecture | Current regulator CONSTANTS If you are using a maxon motor select maxon polarity, however, if you are using a third-party motor you would need to confirm the sequence of the hall sensors with respect to the windings. On the next screen confirm the EPOS being used and click the >> button. If you are using a maxon motor select maxon polarity. Values such as velocity and position are derived from the main sensor, also a holding brake output works based on information from the main sensor. For example, if the load applied to the motor does not fluctuate. packages, with practical examples using the NVIDIA Jetson TX2 and Raspberry Pi embedded computers. PPMA appointments James Causebrook as new chairman. The EPOS4 Hardware Reference for the relevant EPOS4 has information on the specification of the feedback sensor connectors which the sensors must conform to, such as power requirements and the EPOS4 Firmware Specification has information on the data of the sensors, such as SSI Data Rate, number of data bits and other limitations. AH) pIF" Connectors X5 and X6 can both be configured as sensors (X5 must be a digital incremental encoder), giving the option of running in Dual-Loop Mode which means the EPOS4 takes feedback from the sensor on the motor and an additional sensor anywhere else within the system, typically on the load. Within the navigation pane, there is a section named Wizards; under this there are various step-by-step options. BFPA has announced the appointment of Chris Butcher as managing director. On the sensors section of the Start-up Wizard, there is an option to configure hall sensors (for brushless motors). The Following Error is defined as the maximum allowed difference between the actual position and demand position. The present application note explains the EPOS4 controller architecture. One common digital output which is configured is a motor holding brake. The profile deceleration is pre-defined and is used in various operating modes except for the cyclic synchronous modes (CSV, CST, CSP). It is important to know that the acceleration object is not used in certain operating modes (Cyclic Synchronous Torque, Cyclic Synchronous Velocity and Cyclic Synchronous Mode) as the trajectory path for these modes is defined by the master system. It is important to make sure the information filled out is correct. For more information on Dual-Loop Encoder Mode, see EPOS4 Application Notes, section 9. (english, ZIP 32 MB), EPOS LabVIEW VIs for PC Once this initial configuration of controller and communication has been completed, you will see one of two options on the left-hand navigation pane, under the Communication window. maxon motor's EPOS range of controllers has been very successful in the marketplace. It is important that the window is not too high, as it may not be a good indicator of whether the motor is truly at the 0 rpm mark. ( The next section within the Start-up Wizard is Regulation. |, +0 tT Posted to To build upon this success, the Swiss drive specialist launches the EPOS4 as the next generation of positioning controllers. It contains a complete tutorial on how to setup both the EPOS4 controllers and ROS1 along with ros_canopen and MoveIt! maxon's EPOS Studio software is used to configure initial parameters and set up drive systems for commissioning. As these values have been defined, an output current limit can be configured and it can be higher than the maximum continuous current. If there is a high ratio gearhead used, the following error can be increased, and also the resolution of the feedback sensor will dictate the magnitude of the error. Customers are free to fully dedicate themselves to their real task developing their devices. *.esi file (Electronic Data Sheet) If a gearhead is in use the maximum current should fall in line with the maximum continuous torque of the gearhead. If you are unsure, please get in touch and we can help on +44 (0)1189 733337. EPOS4 / IDX: Important steps during initial commissioning EPOS4 / IDX: Control design, Operating modes and Bus cycle rates CANopen basics and links EPOS2 / EPOS4 / IDX: Commanding by Python -> ctypes EPOS / IDX: Export of parameter configuration in a *.dcf file EPOS / IDX: Export of the *.eds resp. (english, ZIP -1 bytes), EPOS IDX Setup Release Notes (english, PDF 1 MB), Catlogo Pagina The absolute reduction can be found on the gearbox data sheet, along with the maximum continuous input speed which is defined to prevent any damage to the gearbox and the teeth of the individual gears. (english, PDF 13 MB), EPOS4 Application Notes Collection endstream endobj 61 0 obj <>>> endobj 62 0 obj <> endobj 63 0 obj <>/ExtGState<>/Font<>/ProcSet[/PDF/Text/ImageC]/Properties<>/XObject<>>>/Rotate 0/TrimBox[0.0 0.0 595.275 841.89]/Type/Page>> endobj 64 0 obj <>stream EPOS4 position controller Compact power for your motion control application. Depending on the feedback sensors which have been configured, there is the option for either PID position controller if one encoder is available, or dual-loop position controller. All these innovations are based on the successful principle of our Easy to use POsitioning System. The EPOS4 will supply the required voltage to the motor based on the speed requirement and the torque being applied, assuming there is no limitation from the power supply. Motor control becomes a secondary concern, as the EPOS comes with maxon's comprehensive know-how in drive technology. EPOS4 Application Notes Collection (english, PDF 29 MB) Version March 2021; EPOS4 Firmware Version . #8O`\,{| xE8.4qt`|)Yn9@4x]( {RL4nLk#-F(O#$17O@d@|LN.7t! The EPOS4 Compact 50/5 CAN is a dynamic, ready-to-connect positioning controller in a compact design. 100 million seals made from 45% recycled plastics. An encoder can be configured for connector X5. Within the device control there is also the possibility to configure the standstill window and corresponding time. A home switch can also be configured however it is dependant on which homing mode is chosen, the following can be triggered by a digital input: Home Switch Positive Speed The EPOS4 uses the same protocol for USB and RS232 which helps to reduce the effort of protocol implementations. A low following error value can be entered if a high-resolution encoder is used. EPOS4 Module 50/8 EPOS4 Module 50/8,maxon motor,EPOS4 - Maxon Motors,Maxon motor EPOS4 50/5 Manuals ,10 OFF EPOS4 Module 50/8 . The last screen is where you select the device in your network, choose EPOS4 to complete the Network Structure. To create and configure an EtherCAT task: In TwinCAT 3, add an item to your system task list. Their high power density allows flexible use for brushed DC and brushless EC (BLDC) motors up to approximately 750 Watts with various feedback options, such as Hall sensors, incremental encoders as well as absolute sensors in a multitude of drive applications. Overview. Alternatively, if you choose Create New Project you can name your project and save it. The torque constant, which can be found on the motor data sheet, can be used to determine the maximum output current based on the maximum output torque. There is also the choice to implement a software position limit, meaning the motor can only operate between two points. A sophisticated automatic process for controller tuning has also been part of the package for years. This is useful if there is a holding brake in use that is configured as a digital output in order to co-ordinate when the brake becomes active, as this must be when the motor has reached a halt. In short, observer is typically used if there is a low-resolution sensor in use, and if the mechanical parameters are consistent. On the sensors section of the Start-up Wizard, there is an option to configure Hall sensors (for brushless motors). Please read the safety instructions carefully and confirm you have read and understood. The EPOS4 Application Notes, section 9, go into further detail about dual-loop position control. The following is a guide to configuring the EPOS4 to suit your motor and application by using the EPOS Studio graphical user interface (GUI) interface. . If your EPOS4 is not connected there will be red crosses over the communication interface and the chosen EPOS. 60 0 obj <> endobj Home Switch Negative Speed & Index. The last screen is where you select the device in your network, choose EPOS4 to complete the Network Structure. Low-pass filter is typically used if a high resolution encoder is available. BFPA appoints Chris Butcher as managing director. https://www.maxongroup.co.uk/maxon/view/content/overview-dc-motor, https://www.maxongroup.co.uk/maxon/view/content/catalog_request, Implement a maxon shunt regulator (Part number 235811 or 309687), Positive Limit Switch: Limit switch when motor is rotating in one direction, Negative Limit Switch: Limit switch when motor is rotating in other direction. With Mitsubishi Electric having written a white paper looking at robotics in the pharmaceutical sector, solutions manager David Bean highlights how industrial automation can improve the environmental footprint of pharmaceutical manufacturing activities. Detailed information can be found in the EPOS4 Application Notes, section 2.6. Robot marketplace makes individual low-cost automation even easier. The maximum output current limit should be less than the short term peak current provided from the controller, and also should be less than the current available from the power supply. 0 Any time after the engine is at full operating temperature and it is in drive. More performance and additional functionality. Depending on the feedback sensors which have been configured, there is the option for either PID position controller if one encoder is available, or dual-loop position controller. Each unit option has its own value which can be defined in the Object Dictionary of the EPOS4. "/> Typically, one motor turn is sufficient (encoder resolution * 4). 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