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 STO (Safe Torque Off) inputs and outputs, optically isolated, not certified 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 Motion 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 programming examples Firmware 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) With this safety feature based on IEC61800-5-2 (not certified), the drive can be brought to a safe state at any time from two independent digital inputs. The supply of torque-generating power is interrupted. The state can be monitored via an additional digital output. The inputs and outputs are opti- cally isolated. 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. Trigger Output (Position Compare) The digital outputs can be configured to that a digital signal is sent at a selectable position value (on request). 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 561–567.
Firmware Specification Communication Guide Application Notes
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 Motion 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.
maxon motor control 559
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