The document summarizes the features and capabilities of EPOS2 positioning control units from maxon motor control. It describes the different operating modes including point-to-point, interpolated position mode, position and speed control with feedforward, speed control, and homing. It also discusses communication interfaces, inputs/outputs, available software, and technical specifications for different EPOS2 controller versions.
The document summarizes the features and capabilities of EPOS2 positioning control units from maxon motor control. It describes the different operating modes including point-to-point, interpolated position mode, position and speed control with feedforward, speed control, and homing. It also discusses communication interfaces, inputs/outputs, available software, and technical specifications for different EPOS2 controller versions.
The document summarizes the features and capabilities of EPOS2 positioning control units from maxon motor control. It describes the different operating modes including point-to-point, interpolated position mode, position and speed control with feedforward, speed control, and homing. It also discusses communication interfaces, inputs/outputs, available software, and technical specifications for different EPOS2 controller versions.
The document summarizes the features and capabilities of EPOS2 positioning control units from maxon motor control. It describes the different operating modes including point-to-point, interpolated position mode, position and speed control with feedforward, speed control, and homing. It also discusses communication interfaces, inputs/outputs, available software, and technical specifications for different EPOS2 controller versions.
Single motion and I/O commands from the process control are transmitted to the positioning control unit by a superior system (Master). For that purpose product specific commands are available.
EPOS2 is a modular constructed digital positioning controller. It is suitable for DC and EC motors with incremental encoder with a power range from 1 - 700 watts. A number of operating modes provides flexible application in a wide range of drive systems in automation technology and mechatronics. Point to point The CANopen Profile Position Mode move the position of the motor axis from point A to point B. Positioning is in relation to the axis Home position (absolute) or the actual axis position (relative). Interpolated position mode (PVT) Thanks to interpolated position mode, the EPOS2 is able to synchronously run a path specified by interpolating points. With a suitable master, coordinated multi-axis movements as well as any profile in a 1-axis system can be carried out. (PVT = Position and Velocity versus Time) Position and speed control with feed forward The combination of feedback and feed forward control provides ideal motion behaviour. Feed forward control reduces control error. EPOS2 supports feed forward acceleration and speed control. Speed control In CANopen Profile Velocity Mode, the motor axis is moved with a set speed. The motor axis retains speed until a new speed is set.
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Homing The CANopen Homing Mode is for referencing to a special mechanical position. There are more than 30 methods available for finding the reference position. Electronic gearhead In Master Encoder Mode, the motor follows a reference input produced by an external encoder. A gearing factor can also be defined using software parameters. Two motors can be very easily synchronised using this method. Step/Direction In Step/Direction Mode the motor axis follows a digital signal step-by-step. This mode can replace stepper motors. It can also be used to control the EPOS2 by a PLC without CAN interface.
Standardised, extendable CANopen standard CiA DS-301, DSP-402 and DSP-305. Can easily be integrated into existing CANopen systems. Networks with other CANopen modules. Alternatively controllable by serial interface (USB and RS232). Flexible, modular The same technology for DC and EC motors. Configurable inputs and outputs for limit switches, reference switches, brakes and for other sensors and indicators near the drive. Easy start-up procedure Graphic user interface with many functions and wizards for start-up procedure, automatic control settings, I/O configuration, tests. Easy programming Numerous IEC 61131-3 libraries free available for CAN-Master units of several PLC manufacturers providers (Beckhoff, Siemens/Helmholz, VIPA) and 32-/64-bit Windows-DLLs for PC Master (IXXAT, Vector and National Instruments). Various programming examples free available for MS Visual C#, MS Visual C++, MS Visual Basic, Borland C++, Borland Delphi, National Instruments LabVIEW and National Instruments LabWindows/CVI. Also available is the 32-bit Linux Shared Object Library with the programming example for Eclipse C++/QT. In addition, the integration of the EPOS2 into the National Instruments Compact Rio System is easy to handle thanks to the available maxon library for NI SoftMotion. State-of-the-art Digital position, speed and current/torque control. Sinusoidal commutation for smooth operation of EC motors.
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Analog Commands In the position, speed and current mode it is possible to give commands via an external analog set value. This function offers further possibilities to operate the EPOS2 without serial on-line commanding.
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Dual Loop Position and Speed Control
With an additional sensor the load can be controlled directly and with high precision; the motor control is subordinated. The mechanical play and the elasticity can be compensated. Wide range of sensors can be handled: digital incremental encoder, SSI absolute encoder, analog incremental encoder (sin/cos). (Only in use with EPOS2 50/5 and EPOS2 70/10.) Control of Holding Brakes The control of the holding brake can be implemented in the device state management. There the delay times can be individually configured for switching on and off. Additional information for technical data of page 330/331
Operating modes CANopen Profile Position-, Profile Velocity- and Homing Mode Position, Velocity and Current Mode Alternative set value setting via Step/Direction, Master Encoder or external analog commanding Path generating with trapezoidal or sinusoidal profiles Feed forward for velocity and acceleration Interpolated Position Mode (PVT) Sinusoidal or block commutation for EC motors Dual loop position and speed controller Communication Communication via CANopen and/or USB2.0 and/or RS232 Gateway function USB-to-CAN and RS232-toCAN
Inputs/Outputs Free configurable digital inputs e.g. for limit switches and reference switches Free configurable digital outputs e.g. for holding brakes Free analog inputs Available software EPOS Studio Windows DLL IEC 61131-3 Libraries Firmware Available documentation Getting Started Cable Starting Set Hardware Reference Firmware Specification Communication Guide Application Notes Cable A comprehensive range of cables is available as an option. Details can be found on page 339.
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Torque control In Current Mode, a controlled torque can be produced on the motor shaft. The sinusoidal commutation used produces minimum torque ripple.
EPOS2 50/5 Matched with DC brush motors with encoder or brushless EC motors with Hall sensors and encoder, from 5 to 250 watts.
EPOS2 70/10 Matched with DC brush motors with encoder or brushless EC motors with Hall sensors or encoder, from 80 to 700 watts.
Approx. 240 g 120 x 93.5 x 27 mm Flange for M3-screws
Approx. 330 g 150 x 93 x 27 mm Flange for M3-screws
347717 EPOS2 50/5
375711 EPOS2 70/10
309687 DSR 50/5 Shunt regulator
Order accessories separately, see page 339
235811 DSR 70/30 Shunt regulator
Order accessories separately, see page 339
Controller versions Slave version Electrical Data 11 - 24 VDC 11 - 24 VDC 0.9 x VCC 10 A 5A 50 kHz 10 kHz 1 kHz 1 kHz 25 000 rpm (sinusoidal); 100 000 rpm (block) 15 mH / 5 A Input H1, H2, H3 A, A\, B, B\, I, I\ (max. 5 MHz) 6 (TTL and PLC level)
+5 VDC, max 100 mA
+5 VDC, max. 30 mA VCC, max. 1300 mA Interface RxD; TxD (max. 115 200 bit/s) high; low (max. 1 Mbit/s) Data+; Data- (max. 12 Mbit/s) Indicator green LED, red LED Ambient temperature and humidity range -10+45C -40+85C 2080% Mechanical data Approx. 170 g 105 x 83 x 24 mm Flange for M3-screws Part Numbers 367676 EPOS2 24/5
Accessories 309687 DSR 50/5 Shunt regulator Order accessories separately, see page 339 May 2013 edition / subject to change
maxon motor control
EPOS2 24/5 Matched with DC brush motors with encoder or brushless EC motors with Hall sensors and encoder, from 5 to 120 watts.
