Positioning Controller

Transcription

1 April 2009 Edition Positioning Controller Application Note "Device Programming" April 2009 Edition EPOS 24/1, EPOS 24/5, EPOS 70/10, MCD EPOS 60W, EPOS2 50/5 Firmware version 2000h higher Introduction The EPOS positioning controller is a digital positioning system suitable f DC and EC (brushless) mots with incremental encoders in a modular package. The perfmance range of these compact positioning controllers ranges from a few watts up to 700 watts. A variety of operating modes allows all kinds of drive and automation systems to be flexibly assembled using positioning, speed and current regulation. The built-in CANopen interface allows netwking to multiple axis drives and online commanding by CAN bus master units. Objectives This application note shows some typical commanding sequences f different operation modes. The explanations are based on writing and reading commands to access to the object dictionary. F further infmation about the objects see document EPOS Firmware Specification. Detailed infmation of the command structure will be also found in the EPOS Graphical User Interface tool (command analyzer). References and Required Tool The latest editions of maxon mot documents and tools are freely available at categy «Service & Downloads». Document Suitable der number f EPOS Positioning Controller EPOS Firmware Specification , , , , , EPOS2 Firmware Specification Tool EPOS Studio Version 1.30 higher , , , , , , maxon mot ag Brünigstrasse 220 P.O. Box 263 CH-6072 Sachseln Tel.: 041/ Fax: 041/

2 EPOS Positioning Controller Table of contents 1 First Step Profile Position Mode Set Position Read Status Stop Positioning Homing Mode Start Homing Read Status Stop Homing Profile Velocity Mode Start Velocity Read Status Stop Velocity Position Mode Set Position Stop Positioning Velocity Mode Set Velocity Stop Velocity Current Mode Set Current Stop Current State Machine Clear Fault Send NMT Service Motion Info Get Movement State Read Position Read Velocity Read Current Utilities Ste all parameters Reste all default parameters Reste default PDO COB-ID s April 2009 Edition / Subject to change

3 EPOS Positioning Controller 1 First Step Befe the mot will be activated the mot parameters, the position sens parameters and the regulation gains are to be set. All objects are described detailed in the document EPOS Firmware Specification. Remark: Detailed infmation of the command structure will be found in the EPOS Studio tool (command analyzer revision 2.0 higher). RS232 Baudrate CAN Bitrate 0x x User specific [3] User specific [0] Mot Type Continuous Current Limit Pole Pair Number Thermal Time Constant Winding 0x x x x Mot specific [10] Mot specific [5000] Mot specific [1] Mot specific [40] Encoder Pulse Number Position Sens Type 0x x Sens specific [500] Sens specific [1] Current Regulat P-Gain Current Regulat I-Gain 0x60F6-01 0x60F6-02 Mot specific. Determine the optimal parameter by using the 'Regulation Tuning' of EPOS Studio. Speed Regulat P-Gain Speed Regulat I-Gain 0x60F9-01 0x60F9-02 Mot specific. Determine the optimal parameter by using the 'Regulation Tuning' of EPOS Studio. Position Regulat P-Gain Position Regulat I-Gain Position Regulat D-Gain 0x60FB-01 0x60FB-02 0x60FB-03 Mot specific. Determine the optimal parameter by using the 'Regulation Tuning' of EPOS Studio. April 2009 Edition / Subject to change 3

4 EPOS Positioning Controller 2 Profile Position Mode 2.1 Set Position The axis moves to an absolute relative position with a motion profile. Modes of Operation 0x x01 (Profile Position Mode) Max. Following Err Min. Position Limit Max. Position Limit Max. Profile Velocity Profile Velocity Profile Acceleration Profile Deceleration Quick Stop Deceleration Motion Profile Type 0x x607D-01 0x607D-02 0x607F-00 0x x x x x User specific [2000 qc] User specific [ qc] User specific [ qc] Mot specific [25000 rpm] Desired Velocity [1000 rpm] User specific [10000 rpm/s] User specific [10000 rpm/s] User specific [10000 rpm/s] User specific [0] Controlwd (Shutdown) Controlwd (SwitchOn) 0x0006 Target Position 0x607A-00 Desired Position [qc] Controlwd (absolute positioning) Controlwd (abs. pos., start immed.) Controlwd (rel. pos., start immed.) Controlwd (relative positioning) 0x001F 0x003F 0x007F 0x005F 2.2 Read Status Statuswd (Target reached) 0x The axis is at the target position if bit 10 is set. 4 April 2009 Edition / Subject to change

5 EPOS Positioning Controller 2.3 Stop Positioning Controlwd (Stop positioning) Controlwd (QuickStop) 0x010F 0x000B April 2009 Edition / Subject to change 5

6 EPOS Positioning Controller 3 Homing Mode 3.1 Start Homing The axis references to an absolute position with the selected homing method. Modes of Operation 0x x06 (Homing Mode) Max. Following Err Home Offset Max. Profile Velocity Quick Stop Deceleration Speed f Switch Search Speed f Zero Search Homing Acceleration Current Threshold Homing Mode Home Position 0x x607C-00 0x607F-00 0x x x x609A-00 0x x User specific [2000 qc] User specific [0 qc] Mot specific [25000 rpm] User specific [10000 rpm/s] User specific [100 rpm] User specific [10 rpm] User specific [1000 rpm/s] User specific [500 ma] User specific [0 qc] Homing Method 0x Select Homing Method (see document 'EPOS Firmware Specification') Controlwd (Shutdown) Controlwd (SwitchOn) 0x0006 Controlwd (SwitchOn) Controlwd (Start homing mode) 0x001F 3.2 Read Status Statuswd (Target reached / Homing attained) 0x The home position is reached if bit 10 / bit 12 is set to 1. 6 April 2009 Edition / Subject to change

7 EPOS Positioning Controller 3.3 Stop Homing Controlwd (SwitchOn) Controlwd (HaltHoming) Controlwd (QuickStop) 0x011F 0x000B April 2009 Edition / Subject to change 7

8 EPOS Positioning Controller 4 Profile Velocity Mode 4.1 Start Velocity Mot shaft runs with a certain speed with velocity profile. Modes of Operation 0x x03 (Profile Velocity Mode) Max. Profile Velocity Profile Acceleration Profile Deceleration Quick Stop Deceleration Motion Profile Type 0x607F-00 0x x x x Mot specific [25000 rpm] User specific [10000 rpm/s] User specific [10000 rpm/s] User specific [10000 rpm/s] User specific [0] Controlwd (Shutdown) Controlwd (SwitchOn) 0x0006 Target Velocity 0x60FF-00 Velocity f movement [rpm] Controlwd 4.2 Read Status Statuswd (Target velocity reached) 0x The target velocity is reached if bit 10 is set. 8 April 2009 Edition / Subject to change

9 EPOS Positioning Controller 4.3 Stop Velocity Controlwd (Halt Profile Velocity Mode) Controlwd (QuickStop) 0x010F 0x000B April 2009 Edition / Subject to change 9

10 EPOS Positioning Controller 5 Position Mode 5.1 Set Position The axis moves to new absolute position with maximum acceleration and maximum velocity. There is no trajecty f this movement. When the difference between the new and the actual position is greater then the Max Following Err an Emergency will be launched. Modes of Operation 0x xFF (Position Mode) Max. Following Err Min. Position Limit Max. Position Limit 0x x607D-01 0x607D-02 User specific [2000 qc] User specific [ qc] User specific [ qc] Controlwd (Shutdown) Controlwd (SwitchOn) 0x0006 Position Mode Setting Value 0x New Position [qc] 5.2 Stop Positioning The axis stops with maximum deceleration. Controlwd (QuickStop) 0x000B 10 April 2009 Edition / Subject to change

11 EPOS Positioning Controller 6 Velocity Mode 6.1 Set Velocity Mot shaft runs with a certain speed with maximum acceleration. Modes of Operation 0x xFE (Velocity Mode) - Controlwd (Shutdown) Controlwd (SwitchOn) 0x0006 Velocity Mode Setting Value 0x206B-00 Velocity f movement [rpm] 6.2 Stop Velocity The axis stops with maximum deceleration. Velocity Mode Setting Value Controlwd (QuickStop) 0x206B-00 0x x000B April 2009 Edition / Subject to change 11

12 EPOS Positioning Controller 7 Current Mode 7.1 Set Current This command applies a certain current on the mot winding. Modes of Operation 0x xFD (Current Mode) Continuous Current Limit Max. Speed in Current Mode Thermal Time Constant Winding 0x x x Mot specific f all parameters (see catalogue mot data) Controlwd (Shutdown) Controlwd (SwitchOn) 0x0006 Current Mode Setting Value 0x User specific current [ma] 7.2 Stop Current Current Mode Setting Value Controlwd (QuickStop) 0x x0000 0x April 2009 Edition / Subject to change

13 EPOS Positioning Controller 8 State Machine 8.1 Clear Fault Resetting Fault condition sends the 'Controlwd' with value 0x0080. Controlwd (FaultReset) 0x Send NMT Service This command sends a NMT protocol from a master to a slave. It is a command without acknowledge. Diagram Parameters Command specifier Node-ID (Unique Node-ID 0 f all nodes) Command specifier 0x01 0x02 0x80 0x81 0x82 Start Remote Node Stop Remote Node Enter Pre-Operational Reset Node Reset Communication April 2009 Edition / Subject to change 13

14 EPOS Positioning Controller 9 Motion Info 9.1 Get Movement State Read Statuswd 0x Bit 10 tells you if the target is reached. F me detail see operation mode above 'EPOS Firmware Specification' documentation 9.2 Read Position Read Position 0x Position [qc] 9.3 Read Velocity Read Velocity 0x Velocity [rpm] 9.4 Read Current Read Current 0x Current [ma] 14 April 2009 Edition / Subject to change

15 EPOS Positioning Controller 10 Utilities 10.1 Ste all parameters Saves all parameters. Save All Parameters 0x x save 10.2 Reste all default parameters Restes all parameters to facty default. Reste All Default Parameters 0x x64616F6C load 10.3 Reste default PDO COB-ID s Set all COB-IDs of the PDOs to the default (Node-ID based) value. Reste Default COB-IDs 0x x64616F6C load April 2009 Edition / Subject to change 15