Transcript Maxon Epos P Training

Getting Started
 EPOS Studio
 Configuration
EPOS P Training
What is the EPOS Studio?
 Replaces the EPOS graphical user interface (GUI)
 software tool with
– Management and navigation of application projects
 Main object in the EPOS Studio is the "Project"
 "Project" describes the configuration: Which controller, which
CANopen devices and communication drivers
– Contains the functionality of the EPOS GUI
 Communication
 Additional Wizards
– Opens programming tool "OpenPCS"
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 Configuration
Network and communication
 LocalHost
– the connected PC
 Epos P RS232 [COM4]
– the connection PC - EPOS P
– Search connection with right mouse
button
 RS232:
– D-sub connector on PC
 EPOS P
– the PLC function of the EPOS P
– the connection of PLC function to the
EPOS itself
 EPOS [Internal]
– the EPOS itself
 CAN: connector on the EPOS P
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 Internal
Wizards: EPOS P
 Startup Wizard
– Entering Motor and Encoder
Data
 Firmware Download
Wizard
– For downloading new
firmware to the EPOS P
– For copying parameters from
one EPOS (P) to another one
– Allows same configuration for
multiple EPOS (P)
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 Parameter Export/Import
Wizards: EPOS Internal
 Direct Access to EPOS
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 Regulation Tuning
 I/O configuration
 Parameter Import/Export
 CANopen Wizard
Tools: EPOS P
 Object Dictionary
– Access to all objects of the CANopen
device
 IEC-61131-3 Programming
– Opens the programming tool from
infoteam: OpenPCS 2000
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 Network Configuration
Tools: EPOS [Internal]
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EPOS [internal] functionality: working modes
Exercise 1
1. Install EPOS Studio on to your laptop
2. Open up the starter kit and make all necessary
connections and connect EPOS P to your Laptop
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3. Open EPOS Studio
4. Create new EPOS P project and configure the controller
5. Tune current, velocity and position regulators.
Create New Project
Step 1: Select EPOS
P project
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Step 2: Click on Next
Create New Project
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Step 3: Click Finish
Configure the controller
Step1: Click on Epos P
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Step 2: Click on Wizards
Configure the controller
Step
Step 7:
9: Click
Click
on
Next
on
next13:
Step
Click
Step
Step 5: Click
Step
on 15:
Next
17:Click
Click
on
next
Stepon
11:
onnext
next
Step
19:
Click
on Yes
Click on next
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Step 3: Double click
on Startup Wizard
Step 8: Select
Maxon
motor
Step 10: enter
Step
# of EC
pole
5: Click
pairs
Step
Click
on
to 4:
find
com
Step 18: Review and
click
on finish
Confrim…
settings
Step
16:
Enter
Step
Step
12:
14:
Enter
Encoder
Data
Step
6:Data
Click
Motor
Select
Position
onSensor
OK type
Tuning the Controller
Step 5: Block
Shaft and Click
on Yes to begin
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Step 1: Select EPOS (Internal)
Step 3: Verify that
Current Regulator is
Step 2: Double click on
selected
Regulation Tuning
Step 4: Click to Start
Auto Tuning
Tuning the Controller
 To tune the Velocity and Position Regulators repeat the
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steps taken to tune the Current Regulator without blocking
the shaft.
Exercise 2:
 Perform homing with current index mode.
 Perform an absolute or relative positioning in position
mode
(optional)
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 Run the motor in velocity mode at different speeds.
Epos (Internal) Tools
Step 1: Select Tools
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Step 2: Select Epos (Internal)
Homing Mode
Step 3: Select
Appropriate
Homing Method
Step 4: Enable
the Controller
Step 5: Click to
Start Homing
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Step 1: Double click on
Homing Mode
Step 2: Click to
Activate
Homing Mode
Profile Position Mode
Step 3: Enter Target
Position
Step 4: Enable the
controller
Step 5: Click on Move
Absolute or Move
Relative
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Step 1: Double click on Position
Profile Mode
Step 2: Click to
Activate Position
Profile Mode
What's the meaning of the green, red and blue
LED?
– green: illuminated
flashing
– red:
disable
error
illuminated
program is running
slow flashing
program is stopped
fast flashing
no program available
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– blue:
enable