If the application requires smooth control, especially at low speeds, then sinusoidal commutation is recommended, along with a high resolution sensor. When configuring a holding brake the rise time and fall time are defined by the user. 87 0 obj <>/Filter/FlateDecode/ID[<14E3A29DA03F3E49B53D7755351EF2F2>]/Index[60 59]/Info 59 0 R/Length 131/Prev 860327/Root 61 0 R/Size 119/Type/XRef/W[1 3 1]>>stream BFPA appoints Chris Butcher as managing director. www.maxongroup.co.uk/maxon/view/content/catalog_request). Therefore, as a principal regulation structure, EPOS4 offers current-based control. NOTE: In order for the EPOS Studio to recognise the EPOS4, the controller MUST be powered on with an external supply. Dutch integrator RFA Rijlaarsdam Factory Automation has installed a Kawasaki Robotics EMEA RS020N robot with an Okuma Benelux Genos M460V-5AX milling machine at TMI Group Nederland in Hengelo. A sophisticated automatic process for controller tuning has also been part of the package for years. In short, observer is typically used if there is a low-resolution sensor in use, and if the mechanical parameters are consistent. Copyright 2022 maxon. Each unit option has its own value which can be defined in the Object Dictionary of the EPOS4. 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. 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. force) and PX401 slot 3 (analog signals +/-10V or +/-20mA). ~#~J 70eR UIim(PT1h"D zRrM2[tax0.,Cx \&t0q09 c_u^i^YL+^imbrfl9LfvYg0z u2G- t4MN&Zw@` Home Switch Negative Speed & Index. 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. See "Ordering and activation of TwinCAT 3 standard licenses". "/> Mode 2: Show freeze frame data. Start-up and parameterization are performed with an advanced, intuitive graphical user interface called EPOS Studio and user-friendly menu-controlled wizards. As standard, all EPOS4 models offer a max speed of 50000 rpm when running in sinusoidal commutation, and 100000 rpm when running in block commutation, this is for a motor with 1 pole pair. Within the EPOS Studio there are limited options in terms of defining units. (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. 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. Overview. 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. 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. 8+Tg`: z on Monday, September 16, 2019 Hall sensors offer 6 pulses per electrical turn (pole pair) so is not sufficient in most applications which require position control. If the motor is overloaded for too long there will be irreversible damage to the internal winding. If your EPOS4 is not connected there will be red crosses over the communication interface and the chosen EPOS. 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). Dual-loop is typically used when high position accuracy is required. 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. Quick Stop: As mentioned earlier in this document. Alternatively, if you choose Create New Project you can name your project and save it. Web. As it stands, with the current firmware (0x0150), the analogue outputs can only be configured with general-purpose functionality. The final step within the regulation section is defining the main sensor within the system. When initializing the epos4 object the configPDO function is called which sets the TxPDOs and RxPDOs according to the variables in the epos4.h file. USB supply is not enough even for configuration. As standard, all EPOS4 models offer a max speed of 50000rpm when running in sinusoidal commutation, and 100000rpm when running in block commutation; this is for a motor with one pole pair. As these values have been defined, an output current limit can be configured and it can be higher than the maximum continuous current. EPOS4 Application Notes Collection en | PDF | Computing And Information Technology EPOS4-Application-Notes-Collection-En - Read online for free. This can be mounted on either the motor shaft or the load, however, if there is not an encoder present on the motor, there is only the option to operate the motor using block commutation (for brushless motors). If your EPOS4 is not connected there will be red crosses over the communication interface and the chosen EPOS. Additional sensors available are digital incremental encoder 2 (mounted to load), Analog Incremental Encoder (on motor or on load) and SSI Absolute Encoder (on motor or on load). For more information on the EPOS position controller series of maxon motor, please see The EPOS4 has 3 available digital outputs, 1 of which being a high speed digital output. Vision systems help IMA Group raise industry standards. (english, PDF 1 MB), Catlogo Pagina 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. Each unit option has its own value which can be defined in the Object Dictionary of the EPOS4. It is important to make sure the information filled out is correct. If your EPOS4 is not connected there will be red crosses over the communication interface and the chosen EPOS. This cannot be stored in the EPOS so it must go back through to the power supply. James Causebrook, managing director at Grunwald UK, has been appointed as the new chairman of the PPMA. The EPOS4 Compact 50/5 CAN is a dynamic, ready-to-connect positioning controller in a compact design. See hardware reference for wiring information. Essentra Components is expanding the ranges of security seals that it will manufacture using a minimum of 45% recycled material, after a successful 100 million piece initial phase. If a brushed DC motor is in use one form of feedback is required and that can be on the load. Firstly, the Start-up Wizard should be used. 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. If you have your EPOS4 connected to your PC, your communication tree will be all clear and there will no red crosses. 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. This is typically the encoder mounted on the motor. Low-pass filter is typically used if a high resolution encoder is available. 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. The EPOS4 Compact 50/5 CAN is a dynamic, ready-to-connect positioning controller in a compact design. The specification for these can be found under the relevant EPOS4 Hardware Reference, including information regarding the maximum input voltage. 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. (english, PDF 11 MB), EPOS Windows 32-Bit and 64-Bit DLL (deutsch, PDF 46 MB), Catalog page speed (EC; 1 pole pair) sinusoidal commutation, A, A\, B, B\, I, I\, Clock, Clock\, Data, Data\, limit switch, reference switch, general purpose, touch probe, General Purpose, Set Value Current, Set Value Velocity, CAN Node-ID, Autobitrate, CAN-Bus Termination, I/O-level (TTL, PLC), current limit, overcurrent, excess temperature, undervoltage, overvoltage, voltage transients, short-circuits in the motor cable, loss of feedback signal, IXXAT, Vector, National Instruments, Kvaser, MS Visual C#, MS Visual C++, MS Visual Basic, MS Visual Basic.NET, Borland C++, Borland Delphi, NI LabView, NI LabWindows/CVI, X86 32-/64-bit, ARMv6/v7/v8 32-bit, ARMv8 64-bit. If you have your EPOS4 connected to your PC, your communication tree will be all clear and there will no red crosses. 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. As standard this is 10ms but the range is 0-5000ms. (english, ZIP -1 bytes), EPOS IDX Setup Release Notes It contains a complete tutorial on how to setup both the EPOS4 controllers and ROS1 along with ros_canopen and MoveIt! Robot marketplace makes individual low-cost automation even easier. Once the motor section has been completed, there is an option to configure a gearbox if there is one on the motor, if not, you can skip this section. The quick stop deceleration is also a pre-defined value. However, if a brushless motor is in use, there are two options available, depending on the feedback which has been configured. 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 This should be set according to your system in order to avoid mechanical damage and overcurrent issues. 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 2003 Lincoln Town Car was P0000 P0307 P0306 now P0355 P0353. Following this you will be asked to define your motor parameters. All rights reserved. Position or velocity regulation is only used in position-based or velocity-based modes, respec-tively. sales.uk@maxongroup.com . Simply described, it's a small piece of software consisting of a timer that monitors if the TwinCATTwinCAT The Following Error is defined as the maximum allowed difference between the actual position and demand position. (espaol, PDF 500 KB), Page de catalogue maxon's EPOS Studio software is used to configure initial parameters and set up drive systems for commissioning. 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. Since its launch in 2005, more than 100,000 units are in use worldwide. EPOS4 Positioning Controller. 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 3 channel encoders. The final step within the regulation section is defining the main sensor within the system. The maxon EPOS4 digital positioning controller is the next generation of powerful CANopen controllers. The Swiss drive specialists at maxon motor has equipped its product offering of CANopen positioning motor controllers with even more power, better control performance, and additional functionalities. When a high load is brought to a halt at a quick rate, there is reversed energy which goes back through the system. Copyright 2022 maxon. To build upon this success, the Swiss drive specialist launches the EPOS4 as the next generation of positioning controllers. Drive Enable When a high load is brought to a halt at a quick rate, there is reversed energy which goes back through the system. 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. In addition to PID position regulation, the functionalities of the built-in acceleration and velocity feedfor- ward are described. Share: Learn how straightforward it is to configure a maxon EPOS4 positioning controller using EPOS Studio. It is configured as a digital input meaning it can be used in all applications. arduino microcontroller embedded stm32 epos4 Following this you will be asked to define your motor parameters. EPOS4 position controller Compact power for your motion control application. "(AI(+)MBHk,ENGapE1 :$ZzdrTnm^bY1>]jBo"sE pg2|'SP -VzRU`0EKi6 .,6.tefv,|(3=e}iLWvI"Qc~}:=%P. Current regulation is used in all modes. 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. ( Order quantity 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. 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. They are: Mode 1: Show current data. Supply voltage In the example, note that no interraupts were used for the timing of the synchronisation except for the cst_test function. There is only the option to define the unit for velocity. On the sensors section of the Start-up Wizard, there is an option to configure Hall sensors (for brushless motors). Typically, it comes down to the final load and the permissible motion it can follow. 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. The device control is where the EPOS4 is configured to perform certain actions based on the given conditions. there is an option to configure the hall sensors as inverted which simply shifts all hall sensor phases by 180 degrees. 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. Within the device control there is also the possibility to configure the standstill window and corresponding time. 0 http://epos.maxonmotor.com. The maxon EPOS4 digital positioning controller is the next generation of powerful CANopen controllers. 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. If you are using a maxon motor select maxon polarity. The specification for these can be found under the relevant EPOS4 Hardware Reference, including information regarding the maximum input voltage. Detailed information can be found about both of these in the EPOS4 Application Notes, section 2.6. Select the communication interface you will be using: RS232 There are various factors that influence the following error value. The codes are P0300 misfire, P0017, p0365, & P0000A. Slow Down on Deceleration: Drive will slow down according to pre-defined deceleration rate. The present application note explains the EPOS4 controller architecture. Slow Down on Quick Stop Deceleration: Drive will slow down according to pre-defined quick stop deceleration rate, typically higher than deceleration rate. All rights reserved. Providing there is an additional sensor, as well as the hall sensors mounted to the motor shaft, the motor can operate using sinusoidal commutation. 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.. "/> Providing there is an additional sensor, as well as the Hall sensors mounted to the motor shaft, the motor can operate using sinusoidal commutation. If you have your EPOS4 connected to your PC, your communication tree will be all clear and there will no red crosses. EtherCAT. There are nine modes of operation described in the original J1979 OBD II standard. 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. As the number of pole pair increases, the maximum 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 calculate the maximum speed for your motor. 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. Suite 11880 Churchill SquareKings Hill, West MallingME19 4YU, Steve Brotherton Sales Manager (Midlands & North), Jill Miles Customer Support Administrator, Website created using Perception Publisher Suite, Eriks invests 500k in Barnsley technology centre. Web. 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. TMI Group turns to Kawasaki for milling machine automation. Customers are free to fully dedicate themselves to their real task developing their devices. However, if there is not an encoder present on the motor, there is only the option to operate the motor using block commutation (for brushless motors). Firstly, the Start-up Wizard should be used. 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. Alternatively, if you choose Create New Project you can name your project and save it. maxon motors can be overloaded beyond their nominal torque for a duration that corresponds with the thermal time constant winding. The limits section is where parameters are defined as a safety function for the entire system, not just the motor. . (english, PDF 581 KB), EPOS Command Library Documentation The limits section is where parameters are defined as a safety function for the entire system, not just the motor. CANopen 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. . NtbE Qd@[U,bMJ9P@5hi;1 !R#')4`h! 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. Please read the safety instructions carefully and confirm you have read and understood. New robotics sales engineer for the North East. Please note that some processing of your personal data may not require your consent, but you have a right to object to such processing. Therefore, as a principal regulation structure, EPOS4 offers current-based control. 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. This is useful if there is a holding brake in use that is configured as a digital output in order to coordinate when the brake becomes active, as this must be when the motor has reached a halt. Making productivity sustainable with Pharma 4.0. With the EPOS4, closed loop feedback is necessary, this may be an encoder on a DC motor or even hall sensors on an EC (brushless DC motor). As standard, this is in revolutions/min(rpm) but it can be changed all the way down to 0.000001rpm. The motor will be at risk of overload if the nominal current and thermal time constant winding is incorrect and overestimated. 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. 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 An encoder can be configured for connector X5. See hardware reference for wiring information. If you require help or require further information on any maxon controllers or the EPOS studio software, contact Amir Janjua, Technical Engineer on +44 (0)1189 733337. Within the navigation pane, there is a section named Wizards; under this there are various step-by-step options. 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. The following is a guide on configuring the EPOS4 to suit your motor and application by using the EPOS Studio graphical user interface (GUI) interface. All rights reserved. USB supply is not enough even for configuration. This can be mounted on either the motor shaft or the load. 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" maxon motor's EPOS range of controllers has been very successful in the marketplace. Max encoder input frequency. Digital Outputs 1 and 2 have an open drain circuit and an internal pull up resistor with a diode bringing the voltage up to 5.45 VDC. 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 The maximum speed can be found on line 23 of the motor data sheet. maxon motor control's EPOS4 products are small-sized, full digital, smart positioning control units. Typically, the following are configured as digital inputs: Positive Limit Switch: Limit switch when motor is rotating in one direction As always, maxon relies on integrated protective devices like the Safe Torque Off (STO) functionality. This is where the control loop structure can be defined with regards to current, velocity and position. It is configured as a digital input meaning it can be used in all applications. An encoder can be configured for connector X5. maxon motor's EPOS range of controllers has been very successful in the marketplace. Mode 4: Clear trouble codes and stored values. This is where the control loop structure can be defined with regards to current, velocity and position. On the sensors section of the Start-up Wizard, there is an option to configure hall sensors (for brushless motors). 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. Please read the safety instructions carefully and confirm you have read and understood. Motores de corriente continua de mxima calidad maxon | maxon group 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. (english, ZIP 19 MB), EPOS Linux Library (ARM/Intel 32/64-Bit) Hall sensors offer six pulses per electrical turn (pole pair) so is not sufficient in most applications which require position control. Table 1-1 Notations used In the later course of the present document, the following abbreviations and acronyms will be used: %%EOF The latest EPOS version is the EPOS4 and this is suitable for most applications. However, it is dependant on which homing mode is chosen, the following can be triggered by a digital input: The EPOS4 has three available digital outputs, one of which being a high-speed digital output. EPOS Studio download. Typically, one motor turn is sufficient (encoder resolution * 4). The EPOS4 Application Notes, section 9, goes into further detail about dual-loop position control. For example, if the load applied to the motor does not fluctuate. The most recent appointment is Tony Bailes, the new robotics sales engineer for the North East of England. New business development manager strengthens Thorite growth plans. I know this all means it's problems with either cam/crankshaft sensors or timing, bu. If a brushed DC motor is in use there is no need to configure the commutation method. This should be analysed prior to selecting the sensor to be used for the application. A low following error value can be entered if a high-resolution encoder is used. Copyright 2022 maxon. Motor control becomes a secondary concern, as the EPOS comes with maxon's comprehensive know-how in drive technology. All these innovations are based on the successful principle of our Easy to use POsitioning System. Implement capacitor within the system 118 0 obj <>stream If you opt for this method, the EPOS Studio will assume you are connecting via USB. BFPA has announced the appointment of Chris Butcher as managing director. hb```"-V" eaX 2sff`Oe(xZ`{(){U6@5 Since its launch in 2005, more than 100,000 units are in use worldwide. This may be an encoder on a DC motor or even Hall sensors on an EC (brushless DC motor). Dual-loop is typically used when high positional accuracy is required. #8O`\,{| xE8.4qt`|)Yn9@4x]( {RL4nLk#-F(O#$17O@d@|LN.7t! In short, observer is typically used if there is a low resolution sensor in use, and if the mechanical parameters are consistent. 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. Your preferences will apply to this website only. Industrial service provider Eriks has invested more than 500,000 in its specialist sealing and polymer technology centre in Barnsley, increasing capacity and creating jobs. maxon motors can be overloaded beyond their nominal torque for a duration that corresponds with the thermal time constant winding. 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. 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. Voltage rating of EPOS4 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. Detailed information can be found in the EPOS4 Application Notes, section 2.6. 60 0 obj <> endobj 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 functionality of the velocity PI controller, the low pass filter, and the observer used for estimating the velocity are described.. "/> . (english, PDF 20 MB), EPOS4 Communication Guide 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. The quick stop deceleration value is typically a lot higher than the profile deceleration rate. The EPOS4 can take up to 8 digital inputs, 4 of which being standard and the remaining 4 being high speed digital inputs. The next section within the Start-up Wizard is Regulation. (english, PDF 13 MB), EPOS4 Application Notes Collection To build upon this success, the Swiss drive specialist launches the EPOS4 as the next generation of positioning controllers. Any time after the engine is at full operating temperature and it is in drive. However, it is important the power supply is able to deal with such a high rate. If this value is exceeded, a software position error is triggered. One common digital output which is configured is a motor holding brake. If a gearhead is in use the maximum current should fall in line with the maximum continuous torque of the gearhead. 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. 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. The profile deceleration is pre-defined and is used in various operating modes except for the cyclic synchronous modes (CSV, CST, CSP). Once the motor section has been completed, there is an option to configure a gearbox if there is one on the motor; if not, you can skip this section. There is also the choice to implement a software position limit, meaning the motor can only operate between two points. If you are unsure, please get in touch and maxon can help on +44 (0)1189 733337. There is only the option to define the unit for velocity. The quick stop deceleration is also a pre-defined value. The next section within the Start-up Wizard is Regulation. Implement a maxon shunt regulator (Part number 235811 or 309687). These values can all be found on the maxon website. The EPOS4 Application Notes, section 9, go into further detail about dual-loop position control. 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. Scribd is the world's largest social reading and publishing site. EPOS4 Module 50/8 Part number 504384 For brushed DC motors with encoders and brushless EC motors with Hall sensors and encoders up to 400 W. EPOS4 Compact 50/8 CAN Part number 520885 The compact solution that is ready for connection, consisting of EPOS4 Module 50/8 and the matching connector board. Together with the three freely available libraries and programming examples, this makes the integration in a wide variety of systems very easy. With the EPOS4, closed-loop feedback is necessary. 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. The default value for the maximum acceleration is set at 4294967295rpm/s as standard. These values can all be found on the maxon website (https://www.maxongroup.co.uk/maxon/view/content/overview-dc-motor) or in the catalogue (https://www.maxongroup.co.uk/maxon/view/content/catalog_request). 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. To create and configure an EtherCAT task: In TwinCAT 3, add an item to your system task list. %PDF-1.6 % This should be set according to your system in order to avoid mechanical damage and overcurrent issues. (english, PDF 545 KB), CAD Model EPOS4 Compact 50/5 CAN Mode 5: Test results, oxygen sensors. There are two options with regards to the velocity control loop, one of which is low-pass filter and the other is observer. For example if the load applied to the motor does not fluctuate. There is also the choice to implement a software position limit, meaning the motor can only operate between two points. For example, running a motor with four pole pairs using block commutation results in a max speed of 25000rpm. For example, running a motor with 4 pole pairs using block commutation results in a max speed of 25000 rpm. 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. If this value is exceeded, a software position error is triggered. Within the EPOS Studio there are limited options in terms of defining units. 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. Home Switch Positive Speed & Index It is important to understand how the max speed available from the EPOS4 varies with the number of pole pairs of the motor. Here you can select which EPOS you are using. As these values have been defined an output current limit can be configured and it can be higher than the maximum continuous current. When configuring a holding brake the rise time and fall time are defined by the user, as standard this is 10ms however the range is 0-5000. This is if there are two encoders available, one on the motor and the other on the load. NOTE: For the EPOS Studio to recognise the EPOS4, the controller MUST be powered on with an external supply. 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. 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 If a brushed DC motor is in use, one form of feedback is required and that can be on the load. *.esi file (Electronic Data Sheet) The latest EPOS version is the EPOS4 and this is suitable for most applications. If this is not possible there are various options: Decrease quick stop rate There are various factors that influence the following error value. Before you receive your EPOS4 it is a good idea to download the EPOS Studio to establish some familiarity with the software. Using the current firmware (0x0150), the analog outputs can only be configured with general purpose functionality. 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. 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. PPMA appointments James Causebrook as new chairman. Edition: November 2016 EPOS4 Application Notes 2.2 Overview The EPOS4 controller architecture contains three built-in control loops. Additional sensors available are digital incremental encoder 2 (mounted to load), Analog Incremental Encoder (on motor or on load) and SSI Absolute Encoder (on motor or on load). (franaise, PDF 2 MB), Setup EPOS, IDX - Studio 3.7 If a gearhead is in use, the maximum current should fall in line with the maximum continuous torque of the gearhead. It is important to make sure the information filled out is correct. 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. It is important to understand how the max speed available from the EPOS4 varies with the number of pole pairs of the motor. 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. Registered Office: Low-pass filter is typically used if a high resolution encoder is available. I have a 2003 Lincoln Town Car 4.6 Liter with 125000 miles. Here you can select which EPOS you are using. If you are unsure, please get in touch and we can help on +44 (0)1189 733337. 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 The maximum speed can be found on line 23 of the motor data sheet. Technical 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. Typically, the following are configured as digital inputs: A Home Switch can also be configured. Thus, the power sup-ply to the motor is cut by stopping the switching process of the output transistors in a safe way. This is typically the encoder mounted on the motor. EPOS4 Application Notes Collection (english, PDF 29 MB) Version March 2021; EPOS4 Firmware Version . 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. maxons EPOS Studio software is used to configure initial parameters and set up drive systems for commissioning. (english, PDF 5 MB), EPOS4 Module-Compact 50/5 Hardware Reference 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. There are two options with regards to the velocity control loop, one of which is low-pass filter and the other is observer. 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. If this value has been exceeded, a following value error (0x6065) will be triggered. The device control is where the EPOS4 is configured to perform certain actions based on the given conditions. Table 1-1 Notations used In the later course of the present document, the following abbreviations and acronyms will be used:. Typically, it comes down to the final load and the permissible motion it can follow. www.maxongroup.co.uk/maxon/view/content/overview-dc-motor, www.maxongroup.co.uk/maxon/view/content/catalog_request. Within the navigation pane, there is a section named Wizards under this there are various step by step options. EPOS4 Compact 50/8 EtherCAT Part number 605298 . More performance and additional functionality. Mode 6: Test results, noncontinuously monitored. This makes EPOS4 position controllers the first choice for your drive application. Before you receive your EPOS4 it is a good idea to download the EPOS Studio to establish some familiarity with the software. If the application requires smooth control, especially at low speeds, then sinusoidal commutation is recommended, along with a high-resolution sensor. 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 first product in maxon's new line is the high-performance EPOS4 module with detachable pin headers and two different power ratings. The last screen is where you select the device in your network, choose EPOS4 to complete the Network Structure. The EPOS4 can take up to eight digital inputs, four of which being standard and the remaining four being high-speed digital inputs. 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. (english, ZIP 7 MB), EPOS4 Feature Chart Posted to 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. If 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. If the motor is overloaded for too long there will be irreversible damage to the internal winding. EPOS4 Application Notes Collection (english, PDF 29 MB) Version March 2021; EPOS4 Firmware Version . This cannot be stored in the EPOS so it must go back through to the power supply. All these characteristics are combined with a large input voltage range of up to 50 VDC, extremely high power density, and up to 98% efficiency. Increase power supply available The position controllers are suitable for efficient and dynamic control of brushed DC motors and brushless BLDC motors (EC motors) with Hall sensors and encoders up to 750 W continuous power and 1500 W peak power. 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 . On the next screen confirm the EPOS being used and click the >> button. The watchdog timer in a Beckhoff PLC is a last resort if everything else fails. 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. 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: 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. (english, PDF 29 MB), EPOS4 Firmware Version Readme It is important to understand how the max speed available from the EPOS4 varies with the number of pole pairs of the motor. -~([R :Zsqt$FY,q*Qb `2 Fn7q(f``f0d(!AF!A-#{P`00~\`A?cIa\iF There is an option to configure the Hall sensors as inverted, which simply shifts all hall sensor phases by 180 degrees. speed (EC; 1 pole pair) block commutation, Max. The TE1111 function is an. The modular concept also provides for a wide variety of expansion options with Ethernet-based interfaces, such as EtherCAT or absolute rotary encoders. Figure 2-3 Controller architecture | Current regulator CONSTANTS Sampling period: endstream endobj startxref If you opt for this method, the EPOS Studio will assume you are connecting via USB. Figure 2-3 Controller architecture | Current regulator CONSTANTS (english, PDF 4 MB), EPOS4 Firmware Specification Maxon HouseHogwood LaneFINCHAMPSTEADRG40 4QWUNITED KINGDOM, Please enter either: Firstname and Lastname or Job Title, The Engineering Network Ltd NOTE: If you are using a CAN interface to communicate to your PC, the EPOS Command Library 9.2.1.1 shows interfaces and drivers that have been tested by maxon. For more information on Dual-Loop Encoder Mode, see EPOS4 Application Notes, section 9. As standard this is in revolutions/min however, it can be changed all the way down to 0.000001 rpm. 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. . These values, along with values and index notations for other variables, can be found in the EPOS4 Firmware Specification. 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. 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. This package contains configuration files and sample code to use maxon EPOS4 Positioning Controllers with ROS1 using ros_canopen. 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. Figure 2-2 Controller architecture | Overview. It is important that the brake is triggered AFTER the standstill window has been reached by the motor. Add to cart. This is very useful for applications where there may be excessive backlash or torsional elasticity to be accounted for. The PMX is equipped with EtherCat interface PX01EC (Slot 0) and measuring boards PX878 slot 1, PX455 slot 2 (strain gauge sensors e.g. Typically, one motor turn is sufficient (encoder resolution * 4). The TE1111 | TwinCAT EtherCAT Simulation function is already installed with the TwinCAT installation and is included as a release version since TwinCAT version 3.1 Build 4018.0.It therefore only needs to be licensed. 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. 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. 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. 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. 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. |, +0 tT The motor will be at risk of overload if the nominal current and thermal time constant winding is incorrect and overestimated. EPOS4 Application Notes Edition: November 2017 2.3 Regulation Methods 2.3.1 Current Regulation During a movement within a drive system, forces and/or torques must be controlled. 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. 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. 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. 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. The sensor should be chosen based on the feedback resolution required. hbbd```b``.A$d"E %`]Wd7i``A/`v V$3$;jw.HD With demand for RARUK Automations automation solutions continuing to grow, the company has expanded its team of robotics and systems sales engineers. Open navigation menu Close suggestionsSearchSearch enChange Language close menu Language English(selected) espaol portugus Deutsch The maximum profile velocity should consider the following: Maximum gearbox input speed 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. With a connector board, the modules can be combined into a ready-to-install compact solution. hWmOH+1Qz_/*$MI[GUBluNNU&NB)w%3c%&"B1D0 USB 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. If this value has been exceeded, a following value error (0x6065) will be triggered. Entdecken Sie die Welt der Antriebstechnik von maxon | maxon group 100 million seals made from 45% recycled plastics. packages, with practical examples using the NVIDIA Jetson TX2 and Raspberry Pi embedded computers. The sensor should be chosen based on the feedback resolution required. It is important that the brake is triggered AFTER the standstill window has been reached by the motor. The default value for the maximum acceleration is set at 4294967295 rpm/s as standard. The last screen is where you select the device in your network, choose EPOS4 to complete the Network Structure. This is if there are two encoders available, one on the motor and the other on the load. 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