Operating modes/Control Cyclic Synchronous Position (CSP) Cyclic Synchronous Velocity (CSV) Cyclic Synchronous Torque (CST) Profile Position, Profile Velocity and Homing Mode
Speed and Acceleration Feed Forward Sinusoidal or Block Commutation for EC motors Alternative set value input via analog commands Dual-loop Position and Speed Control Communication/Configuration Communication via CANopen and/or USB 2.0/3.0 and/or RS232 EtherCAT (CoE) USB to CAN and RS232 to CAN gateway Inputs/Outputs Safe Torque Off (STO)* Free digital inputs, configurable e.g. for limit/ reference switches Free digital outputs, configurable e.g. for brake Free analog inputs, configurable Free analog ouputs, configurable Available software EPOS Studio Windows DLL (32-/64-bit) with programming examples Linux shared object library (X86 32-/64-bit, ARMv6/v7/v8 32-bit, ARMv8 64-bit for Raspberry Pi and BeagleBone) with Firmware Specification Communication Guide Application Notes *Applies only to versions equipped with the STO Safety Card, which is built into the EPOS4 Module/Compact 60/20 CAN STO variants. For all other EPOS4 versions, the STO functionality is not certified. programming examples Available documentation Feature Chart Hardware Reference
High functionality and performance
Easy-to-use
Speed control In the Profile Velocity Mode, the motor axis is moved with a defined set speed. The motor axis keeps the speed constant until a new speed set value is given. Homing The Homing Mode is used for referencing to a specific mechanical position. There is a wide variety of methods available. Feedback options and dual loop Two different encoder signals can be evaluated simultaneously. This allows dual-loop control, which can be tuned automatically to compen‑ sate for mechanical backlash and elasticity. A wide range of sensors is permitted: digital incre‑ mental encoders, analog incremental encoders (sin/cos), and SSI absolute encoders. Protection The positioning controller has protective circuits against overcurrent, excess temperature, under- and overvoltage, voltage transients, short- circuits in the motor cable, and against feed‑ back signal loss. An adjustable current limitation protects the motor and load.
Safe Torque Off (STO)* The new EPOS4 Module/Compact CAN STO products feature integrated Safe Torque Off (STO) functionality, certified in accordance with the DIN EN 61800-5-2 and DIN EN ISO 13849 standards. They provide reliable protection in safety-critical applications up to SIL 3 and PL e, Category 3. Capture Inputs (Touch Probe) The digital inputs can be configured so that the actual position value is stored whenever a posi‑ tive or negative edge occurs at an input. Control of Holding Brakes Control of holding brakes can be integrated in the device status management. The delay times can be individually configured for switching on and off. Supplementary information for technical data page 454–460.
EPOS4 performance characteristics − Maximum power density. − Convincing control performance even with highly dynamic motors. − Comprehensive feedback options. − Diverse I/O connection options for peripherals. − Uncompromising protective features for controller and drive. − Configuration and communication via CANopen (CiA 301, 402, 305), RS232, USB, or EtherCAT. IEC 61158 type 12 EtherCAT slave: CoE (CAN application layer over EtherCAT) compliant with IEC 61800-7 profile type 1 (CiA 402). Easy integration into existing EtherCAT systems. Can be connected to a network of other EtherCAT units. − Easy commissioning via EPOS Studio GUI and intuitive tools. − Libraries and programming examples for efficient integration in a wide variety of systems. − All software components are freely available at any time. − Full documentation and outstanding support. The complete package for your motion control solution with added value.
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