maxon motor EPOS2 70/10, EPOS2 50/5, EPOS2 P 24/5 Reference Manual
maxon motor ag Brünigstrasse 220 P.O.Box 263 CH-6072 Sachseln Phone +41 41 666 15 00 Fax +41 41 666 16 50 www.maxonmotor.com
Edition May 2016
EPOS2 Positioning Controller
Getting Started
maxon motor control
Positioning Controller
Getting Started
Document ID: rel5892
maxon motor control
A-2 Document ID: rel5892 EPOS2 Positioning Controller
Edition: May 2016 EPOS2 70/10 Getting Started
© 2016 maxon motor. Subject to change without prior notice.
PLEASE READ THIS FIRST
These instructions are intended for qualified technical per sonnel. Prior commencing with any
activities …
• you must carefully read and understand this manual and
• you must follow the instructions given therein.
We have tried to provide you with all information necessary to install and commission the equipment in a
secure, safe and time-saving manner. Our main focus is …
• to familiarize you with all relevant technical aspects,
• to let you know the easiest way of doing,
• to alert you of any possibly dangerous situation you might encounter or that you might cause if
you do not follow the description,
•to write as little and to say as much as possible and
• not to bore you with things you already know.
Likewise, we tried to skip repetitive information! Thus, you will find things mentioned just once. If, for
example, an earlier mentioned action fits other occasions you then will be directed to that text passage
with a respective reference.
Follow any stated reference – observe respective information – then go back and continue with
the task!
PREREQUISITES FOR PERMISSION TO COMMENCE INSTALLATION
The EPOS2 70/10 is considered as partly completed machinery according to EU directive 2006/42/EC,
Article 2, Clause (g) and therefore is intended to be incorporated into or assembled with other
machinery or other partly completed machinery or equipment.
You must not put the device into service, …
• unless you have made completely sure that the other machinery – the surrounding system the device
is intended to be incorporated to – fully complies with the requirements stated in EU directive 2006/
42/EC!
• unless the surrounding system fulfills all relevant health and safety aspects!
• unless all respective interfaces have been established and fulfill the stated requirements!
maxon motor control
EPOS2 Positioning Controller Document ID: rel5892
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EPOS2 70/10 Getting Started Edition: May 2016
© 2016 maxon motor. Subject to change without prior notice.
1 About this Document 5
2 Introduction 9
2.1 Documentation Structure. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 9
2.2 Safety Precautions. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 10
3 Installation and Configuration 11
3.1 Important Notice: Prerequisites for Permission to commence Installation. . . 11
3.2 Step 1: Software Installation . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 11
3.2.1 Minimum System Requirements . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 11
3.2.2 Installation . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 12
3.3 Step 2: Minimum External Wiring . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 12
3.3.1 Minimum Wiring for maxon EC motor . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 13
3.3.2 Minimum Wiring for maxon DC motor . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 14
3.4 Step 3: System Configuration . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 15
3.4.1 General initial Steps. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 15
3.4.2 Configuration of EC Motors . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 19
3.4.3 Configuration of DC Motors . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 21
3.4.4 General closing Steps . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 23
3.5 Step 4: Regulation Gains Tuning. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 24
3.5.1 Starting Regulation Tuning . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 24
3.5.2 Auto Tuning the Current, Velocity and Position Regulators. . . . . . . . . . . . . . . . . . . . . . 24
TABLE OF CONTENTS
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1 About this Document
1.1 Intended Purpose
The purpose of the present document is to familiarize you with the described equipment and the tasks
on safe and adequate installation and/or commissioning.
Observing the described instructions in this document will help you …
• to avoid dangerous situations,
• to keep installation and/or commissioning time at a minimum and
• to increase reliability and service life of the described equipment.
Use for other and/or additional purposes is not permitted. maxon motor, the manufacturer of the equipment described, does not assume any liability for loss or damage that may arise from any other and/or
additional use than the intended purpose.
1.2 Target Audience
This document is meant for trained and skilled personnel working with the equipment described. It conveys information on how to understand and fulfill the respective work and duties.
This document is a reference book. It does require particular knowledge and expertise specific to the
equipment described.
1.3 How to use
Take note of the following notations and codes which will be used throughout the document.
Table 1-1 Notations used in this Document
Notation Explanation
«Abcd» indicating a title or a name (such as of document, product, mode, etc.)
¤Abcd¤
indicating an action to be performed using a software control element
(such as folder, menu, drop-down menu, button, check box, etc.) or a
hardware element (such as switch, DIP switch, etc.)
(n) referring to an item (such as order number, list item, etc.)
denotes “see”, “see also”, “take note of” or “go to”
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1-6 Document ID: rel5892 EPOS2 Positioning Controller
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© 2016 maxon motor. Subject to change without prior notice.
1.4 Symbols and Signs
In the course of the present document, the following symbols and sings will be used.
Table 1-2 Symbols & Signs
Type Symbol Meaning
Safety Alert
(typical)
DANGER
Indicates an imminent hazardous situation. If not
avoided, it will result in death or serious injury.
WARNING
Indicates a potential hazardous situation. If not
avoided, it can result in death or serious injury .
CAUTION
Indicates a probable hazardous situation or calls
the attention to unsafe practices. If not avoided, it
may result in injury.
Prohibited
Action
(typical)
Indicates a dangerous action. Hence, you must not!
Mandatory
Action
(typical)
Indicates a mandatory action. Hence, you must!
Information
Requirement /
Note / Remark
Indicates an activity you must perform prior
continuing, or gives information on a particular item
you need to observe.
Best Practice
Indicates an advice or recommendation on the
easiest and best way to further proceed.
Material
Damage
Indicates information particular to possible damage
of the equipment.
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1.5 Trademarks and Brand Names
For easier legibility, registered brand names are listed below and will not be further tagged with their
respective trademark. It must be understood that the brands (the below list is not necessarily concluding) are protected by copyright and/or other intellectual property rights even if their legal trademarks are
omitted in the later course of this document.
Table 1-3 Brand Names and Trademark Owners
1.6 Copyright
© 2016 maxon motor. All rights reserved.
The present document – including all parts thereof – is protected by copyright. Any use (including repro-
duction, translation, microfilming and other means of electronic da ta processing) beyond the narrow
restrictions of the copyright law without the prior approval of maxon motor ag, is not permitted and subject to persecution under the applicable law.
maxon motor ag
Brünigstrasse 220
P.O.Box 263
CH-6072 Sachseln
Switzerland
Phone +41 41 666 15 00
Fax +41 41 666 16 50
www.maxonmotor.com
Brand Name Trademark Owner
Adobe® Reader® © Adobe Systems Incorporated, USA-San Jose, CA
CANopen®
CiA®
© CiA CAN in Automation e.V, DE-Nuremberg
Internet Explorer® © Microsoft Corporation, USA-Redmond, WA
Pentium® © Intel Corporation, USA-Santa Clara, CA
Windows Vista®
Windows®
© Microsoft Corporation, USA-Redmond, WA
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2Introduction
The present document provides you with information on the first steps using EPOS2 70/10 Positioning
Controller. It describes the standard procedure when putting the device into operation and is meant to
facilitate installation and configuration of a basic EPOS2 70 /10 system.
maxon motor control’s EPOS2 70/10 is a small-sized, full digital smart motion control unit. Due to its
flexible and high efficient power stage, the EPOS2 70/10 drives brushed DC motors with digital encoder
as well as brushless EC motors with digital Hall sensors and encoder.
The sinusoidal current commutation by space vector control offers to drive brushless EC motors with
minimal torque ripple and low noise. The integrated position, velocity an d current control functionality
allows sophisticated positioning applications. The EPOS2 70/10 is specially designed being commanded and controlled as a slave node in a CANopen network. In addition, the unit can be operated via
any USB or RS232 interface.
Find the latest edition of the present document, as well as additional documentation and software to the
EPOS2 70/10 Positioning Controller also on the Internet: www.maxonmotor.com
2.1 Documentation Structure
The present document is part of a documentation set. Please find below an overview on the documentation hierarchy and the interrelationship of its individual parts:
Figure 2-1 Documentation Structure
maxon motor control
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Edition: May 2016 EPOS2 70/10 Getting Started
© 2016 maxon motor. Subject to change without prior notice.
2.2 Safety Precautions
Prior continuing …
• make sure you have read and understood chapter “ PLEASE READ THIS FIRST” on page A-2,
• do not engage with any work unless you possess the stated skills (chapter “1.2 Target Audience” on page 1-5),
• refer to chapter “1.4 Symbols and Signs” on page 1-6 to understand the subsequently used indicators,
• you must observe any regulation applicable in the country and/or at the site of implementation
with regard to health and safety/accident prevention and/or environmental protection,
• take note of the subsequently used indicators and follow them at all times.
Requirements
• Make sure that all associated devices and components are installed according to local regulations.
• Be aware that, by principle, an electronic apparatus can not be considered fail-safe. Therefore, you
must make sure that any machine/apparatus has been fitted with independent monitoring and safety
equipment. If the machine/apparatus should break down, if it is operated incorrectly, if the control unit
breaks down or if the cables break or get disconnected, etc., the complete drive system must return –
and be kept – in a safe operating mode.
• Be aware that you are not entitled to perform any repair on components supplied by maxon motor.
Best Practice
• For initial operation, make sure that the motor is free running. If not the case, mechanically disconnect the motor from the load.
Maximal permitted Supply Voltage
• Make sure that supply power is between 11…70 VDC.
• Supply voltages above 75 VDC will destroy the unit.
• Wrong polarity will destroy the unit.
Electrostatic Sensitive Device (ESD)
• Make sure to wear working cloth in compliance with ESD.
• Handle device with extra care.
DANGER
High Voltage and/or Electrical Shock
Touching live wires causes death or serious injuries!
• Consider any power cable as connected to live power, unless having proven the opposite!
• Make sure that neither end of cable is connected to live power!
• Make sure that power source cannot be engaged while work is in process!
• Obey lock-out/tag-out procedures!
• Make sure to securely lock any power engaging equipment against unintentional engagement and
tag with your name!
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EPOS2 70/10 Getting Started Edition: May 2016
© 2016 maxon motor. Subject to change without prior notice.
3 Installation and Configuration
3.1 Important Notice: Prerequisites for Permission to commence Installation
The EPOS2 70/10 is considered as partly completed machinery according to EU directive 2006/42/EC,
Article 2, Clause (g) and therefore is only intended to be incorporated into or assembled with other
machinery or other partly completed machinery or equipment.
3.2 Step 1: Software Installation
Install the software from the «EPOS Positioning Controller» DVD. It contains all necessary information
and tools (such as manuals, firmware, tools, Windows DLLs, drivers) required for installation and operation of the EPOS2 Positioning Controller.
You can download the latest software version from the Internet (for URLs chapter “2 Introduction” on page 2-9).
3.2.1 Minimum System Requirements
Table 3-4 Minimum System Requirements
WARNING
Risk of Injury
Operating the device without the full compliance of the surrounding system with EU directive
2006/42/EC may cause serious injuries!
• Do not operate the device, unless you have made sure that the other machinery fulfills the requirements stated in the EU directive!
• Do not operate the device, unless the surrounding system fulfills all relevant health and safety
aspects!
• Do not operate the device, unless all respective interfaces have been established and fulfill the
stated requirements!
Component Minimum Requirement
Operating System Windows 10, 8, 7, XP SP3, Vista
Processor Core2Duo 1.5 GHz
Drives
Hard disk drive, 1.5 GB available space
DVD drive
Memory 1 GB RAM
Monitor Screen resolution 1024 x 768 pixels at high color (16-Bit)
Web Browser Internet Explorer IE 7.0
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