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Getting Started EPOS Studio Configuration EPOS P Training
2, © by maxon motor ag, Jan 05 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 Configuration Communication Additional Wizards –Opens programming tool "OpenPCS"
3, © by maxon motor ag, Jan 05 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 Internal –the connection of PLC function to the EPOS itself EPOS [Internal] –the EPOS itself CAN: connector on the EPOS P
4, © by maxon motor ag, Jan 05 Wizards: EPOS P Startup Wizard –Entering Motor and Encoder Data Firmware Download Wizard –For downloading new firmware to the EPOS P Parameter Export/Import –For copying parameters from one EPOS (P) to another one –Allows same configuration for multiple EPOS (P)
5, © by maxon motor ag, Jan 05 Wizards: EPOS Internal Direct Access to EPOS Regulation Tuning I/O configuration Parameter Import/Export CANopen Wizard
6, © by maxon motor ag, Jan 05 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 Network Configuration
7, © by maxon motor ag, Jan 05 Tools: EPOS [Internal] EPOS [internal] functionality: working modes
8, © by maxon motor ag, Jan 05 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 3. Open EPOS Studio 4. Create new EPOS P project and configure the controller 5. Tune current, velocity and position regulators.
9, © by maxon motor ag, Jan 05 Create New Project Step 1: Select EPOS P project Step 2: Click on Next
10, © by maxon motor ag, Jan 05 Create New Project Step 3: Click Finish
11, © by maxon motor ag, Jan 05 Configure the controller Step1: Click on Epos P Step 2: Click on Wizards
12, © by maxon motor ag, Jan 05 Step 3: Double click on Startup Wizard Step 4: Click on Confrim… Step 5: Click on Next Step 5: Click to find com settings Step 6: Click on OK Step 7: Click on Next Step 8: Select Maxon EC motor Step 9: Click on next Step 10: enter # of pole pairs Step 11: Click on next Step 12: Enter Motor Data Step 13: Click on next Step 14: Select Position Sensor type Step 15: Click on next Step 16: Enter Encoder Data Step 17: Click on next Step 18: Review and click on finish Step 19: Click on Yes Configure the controller
13, © by maxon motor ag, Jan 05 Tuning the Controller Step 1: Select EPOS (Internal) Step 2: Double click on Regulation Tuning Step 3: Verify that Current Regulator is selected Step 4: Click to Start Auto Tuning Step 5: Block Shaft and Click on Yes to begin
14, © by maxon motor ag, Jan 05 Tuning the Controller To tune the Velocity and Position Regulators repeat the steps taken to tune the Current Regulator without blocking the shaft.
15, © by maxon motor ag, Jan 05 Exercise 2: Perform homing with current index mode. Perform an absolute or relative positioning in position mode Run the motor in velocity mode at different speeds. (optional)
16, © by maxon motor ag, Jan 05 Epos (Internal) Tools Step 1: Select Tools Step 2: Select Epos (Internal)
17, © by maxon motor ag, Jan 05 Homing Mode Step 1: Double click on Homing Mode Step 2: Click to Activate Homing Mode Step 3: Select Appropriate Homing Method Step 4: Enable the Controller Step 5: Click to Start Homing
18, © by maxon motor ag, Jan 05 Profile Position Mode Step 1: Double click on Position Profile Mode Step 2: Click to Activate Position Profile Mode Step 3: Enter Target Position Step 4: Enable the controller Step 5: Click on Move Absolute or Move Relative
19, © by maxon motor ag, Jan 05 What's the meaning of the green, red and blue LED? –green:illuminatedenable flashingdisable –red:error –blue:illuminatedprogram is running slow flashing program is stopped fast flashing no program available
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