Motor controllers (Slave) EPOS − Current, speed, and/or position controllers (slave) with CANopen or EtherCAT communi- cation. − Positioning with motion profile, Homing − Cyclic Synchronous operating modes (CST, CSV, CSP) ESCON Current and/or speed controllers (slaves) with I/O communication. (ESCON2 also with CANopen)
Communication Digital and analog I/O
CANopen For time-critical communication of up to 6 commands per ms. Suitable for many applica- tions that do not have extremely high require- ments in terms of speed and the number of slaves or axes. EtherCAT For top performance, with very fast data ex- change between many slaves, even over long distances.
For simple commands such as Specifying analog set values Activation Stop Reversal of direction of rotation RS232 and USB For non-time-critical communication between the master and slaves. Typically up to several tens of milliseconds per command, and not in real time.
Motor controller (schematic diagram)
Path generator
Speed ramp
Current set value
Speed/position control
Current control
Driver, power stage
Set value
4Q
Instantaneous current
Instantaneous value
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