EPOS4 Positioning Controllers Overview
Ready-to-connect units
Modules
Micro
Module
Compact CAN EPOS4 Compact 24/1.5 CAN
Compact EtherCAT
Encased housing / Disk
EPOS4 Micro 24/5 CAN
EPOS4 Module 24/1.5
EPOS4 Compact 24/1.5 EtherCAT
EPOS4 50/5
EPOS4 Micro 24/5 EtherCAT
EPOS4 Module 50/5
EPOS4 Compact 50/5 CAN
EPOS4 Compact 50/5 EtherCAT
EPOS4 70/15
EPOS4 Module 50/8
EPOS4 Compact 50/8 CAN
EPOS4 Compact 50/8 EtherCAT
EPOS4 Disk 60/8 CAN
EPOS4 Module 50/15
EPOS4 Compact 50/15 CAN
EPOS4 Compact 50/15 EtherCAT
EPOS4 Disk 60/8 EtherCAT
EPOS4 Compact 24/5 EtherCAT 3-axes
EPOS4 Disk 60/12 CAN
EPOS4 Disk 60/12 EtherCAT
maxon EPOS4 products are small, completely digital, intelligent positioning controllers. Their high power density provides high flexibility for use with brushed DC and brushless EC (BLDC) motors up to approx. 1050 W with various feed- back options such as Hall sensors, incremental encoders and absolute encoders, in a variety of drive applications. Modules Robotic, analysis and handing systems require compact integration of a large number of energy- efficient drives, combined with highly dynamic controllers and a linked bus system. With the established EPOS4 Module and Micro, modular multi-axis systems can be set up using CANopen or EtherCAT, without needing high investment in development. Ready-to-connect units For prototypes and small batches, the large va- riety of ready-to-connect controllers, available in various power classes and designs, provide attractive, economical options for using EPOS4 products in your application. Motion Studio The Motion Studio software, which is avail- able free of charge, includes intuitive tools and
wizards that make commissioning easy. It pro- vides a basic overview of the EPOS4 functions and a command option. Analysis tools such as the Data Recorder or Command Analyzer sup- plement the features in Motion Studio. CANopen / EtherCAT As a standardized motion control slave, EPOS4 can easily be integrated into the system ma- nager tools and motion libraries of various PLC manufacturers. The data exchange and com- mand functions make use of the CiA ® 402 pro- tocol (Device Profile for Drives and Motion Con- trol). Cyclic Synchronuous Position (CSP) The master executes the path planning and sends the target position cyclically and synchro- nously to the EPOS4 via the network. The posi- tion control loop runs on the EPOS4. The EPOS4 sends the measured actual position, speed and current values to the master. Cyclic Synchronuous Velocity (CSV) The master executes the path planning and sends the target speed cyclically and synchro- nously to the EPOS4 via the network. The speed control loop runs on the EPOS4. The EPOS4 sends the measured actual position, speed and
current values to the master. The CSV mode is commonly used if a PI position control loop is closed via the master. Cyclic Synchronuous Torque (CST) The master executes the path planning and sends the target torque cyclically and synchro- nously to the EPOS4 via the network. The torque (current) control loop runs on the EPOS4. The EPOS4 sends the measured actual position, speed and current values to the master. The CST mode is commonly used if a PID position control loop is closed via the master. Point-to-point The “Profile Position Mode” moves the position of the motor axis from point A to point B. Posi- tioning is in relation to the axis Home position (absolute) or the actual axis position (relative). Position and velocity control with feed forward The combination of feedback and feed forward control provides ideal motion behavior. Feed forward control reduces control error. EPOS4 supports feed forward acceleration and speed control.
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