maxon motor EPOS 24/1 User manual

maxon motor
maxon motor control EPOS Positioning Controller
Getting Started Edition July 2007
maxon document number 573049-08
&!" 24/1
Positioning Controller
Documentation
Getting Started

maxon motor
EPOS Positioning Controller EPOS 24/1 Getting Started
1Table of contents
1Table of contents ...................................................................................................................2
2Table of figures ......................................................................................................................3
3Introduction ............................................................................................................................4
4How to use this guide ............................................................................................................4
5Safety Instructions .................................................................................................................5
6Installation and Configuration ................................................................................................6
6.1 Step 1: Software Installation................................................................................................6
6.2 Step 2: Minimum External Wiring ........................................................................................7
6.2.1 EPOS 24/1 for maxon DC motor with integrated motor/encoder ribbon cable ...............7
6.2.2 EPOS 24/1 for maxon EC 6 motor with Hall sensor and digital MR-Encoder.................9
6.2.3 EPOS 24/1 for maxon EC16/EC22 motor with Hall sensor and digital Encoder...........11
6.2.4 EPOS 24/1 for maxon DC/EC motor (Molex connectors) with Hall sensor and digital
Encoder .........................................................................................................................13
6.3 Step 3: System Configuration............................................................................................15
6.4 Step 4: Regulation Gains Tuning.......................................................................................22
6.4.1 Start the Auto-tuning Tool..............................................................................................22
6.4.2 Auto-tuning of the Current Regulator.............................................................................23
6.4.3 Auto-tuning of the Velocity Regulator ............................................................................25
6.4.4 Auto-tuning of the Position Regulator............................................................................27
6.4.5 Manual Tuning...............................................................................................................29
6.4.6 Save all Regulation Gains .............................................................................................30
7Conclusion ...........................................................................................................................30
2 maxon motor control Edition July 2007 / Subject to change

maxon motor
EPOS 24/1 Getting Started EPOS Positioning Controller
2Table of figures
Figure 1: EPOS 24/1 photo ..............................................................................................................4
Figure 2: EPOS documentation hierarchy........................................................................................4
Figure 3: EPOS CD-ROM ................................................................................................................6
Figure 4: Minimum wiring for DC-Motor with integrated motor/encoder ribbon cable......................8
Figure 5: Minimum wiring for EC 6-Motor ......................................................................................10
Figure 6: Minimum wiring for EC16/EC22-Motor ...........................................................................12
Figure 7: Minimum wiring for DC/EC-Motor with Molex connectors ..............................................14
Figure 8: Startup wizard dialog for minimum external wiring .........................................................15
Figure 9: Startup wizard dialog for setting RS-232 communication...............................................16
Figure 10: Communication settings found......................................................................................16
Figure 11: Startup wizard dialog for choosing motor type..............................................................16
Figure 12: Startup wizard dialog for choosing EC motor pole pairs...............................................17
Figure 13: Startup wizard dialog for setting DC motor data...........................................................17
Figure 14: Startup wizard dialog for setting EC motor data ...........................................................17
Figure 15: Startup wizard dialog for choosing DC motor position sensor type ..............................17
Figure 16: Startup wizard dialog for choosing EC motor position sensor type ..............................18
Figure 17: Recommendations for using Hall sensors as position sensors ....................................18
Figure 18: Startup wizard dialog for setting DC motor encoder resolution ....................................18
Figure 19: Startup wizard dialog for setting EC motor encoder resolution ....................................19
Figure 20: Startup wizard configuration summary .........................................................................19
Figure 21: Startup wizard dialog for setting EC motor encoder resolution ....................................20
Figure 22: Save & activate the configured parameters..................................................................20
Figure 23: Confirm parameter activation........................................................................................20
Figure 24: Clear CAN error ............................................................................................................21
Figure 25: Start regulation tuning...................................................................................................22
Figure 26: Auto-tuning of current regulator ....................................................................................23
Figure 27: Auto-tuning button.........................................................................................................23
Figure 28: Confirm motor shaft blocking ........................................................................................23
Figure 29: Confirm end of tuning....................................................................................................24
Figure 30: Confirm tuning error ......................................................................................................24
Figure 31: Clear tuning error ..........................................................................................................24
Figure 32: Auto-tuning of velocity regulator ...................................................................................25
Figure 33: Auto-tuning button.........................................................................................................25
Figure 34: Confirm free running of motor.......................................................................................25
Figure 35: Confirm end of tuning....................................................................................................26
Figure 36: Confirm tuning error ......................................................................................................26
Figure 37: Clear tuning error ..........................................................................................................26
Figure 38: Auto-tuning of position regulator...................................................................................27
Figure 39: Auto-tuning button.........................................................................................................27
Figure 40: Confirm free running of motor.......................................................................................27
Figure 41: Confirm end of tuning....................................................................................................28
Figure 42: Confirm tuning error ......................................................................................................28
Figure 43: Clear tuning error ..........................................................................................................28
Figure 44: Manual tuning mode .....................................................................................................29
Figure 45: Manual tuning mode .....................................................................................................29
Figure 46: Next tuning step ............................................................................................................29
Figure 47: Save button...................................................................................................................30
Figure 48: Confirm regulation gains saving....................................................................................30
Figure 49: Confirm saving of all parameters ..................................................................................30
Edition July 2007 / Subject to change maxon motor control 3

maxon motor
EPOS Positioning Controller EPOS 24/1 Getting Started
3Introduction
This documentation ‘Getting Started’ provides the first steps in using EPOS positioning controller. It
describes the standard procedure when the amplifier is put into operation. The document facilitates
the installation and configuration of a basic EPOS 24/1 system.
maxon motor EPOS 24/1 is a small-sized full digital smart motion
controller. Due the flexible and high efficient power stage the
EPOS 24/1 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- and current
control functionality allows sophisticated positioning applications.
It is specially designed being commanded and controlled as a
slave node in the CANopen network. In addition the unit can be
operated through any RS-232 communication port. The latest edition of these ‘Getting Started’,
additional documentation and software to the EPOS positioning controller may also be found in the
internet under http://www.maxonmotor.com category <Service & Downloads>.
Figure 1: EPOS 24/1 photo
4How to use this guide
Setup
Getting Started
Installation Configuration Programming Application
•Cable Starting Set
•Hardware
Reference
•Graphical User
Interface
•Windows DLL
•IEC1131 libraries
•Firmware
Specification
•Communication
Guide
•Application Notes
•Application
Samples
Figure 2: EPOS documentation hie archyr
4 maxon motor control Edition July 2007 / Subject to change

maxon motor
EPOS 24/1 Getting Started EPOS Positioning Controller
5Safety Instructions
Skilled Personnel
Installation and starting of the equipment shall only be performed by experienced,
skilled personnel.
Statutory Regulations
The user must ensure that the positioning controller and the components belonging
to it are assembled and connected according to local statutory regulations.
Load Disconnected
For primary operation the motor should be free running, i.e. with the load
disconnected.
Additional Safety Equipment
An electronic apparatus is not fail-safe in principle. Machines and apparatus must
therefore be fitted with independent monitoring and safety equipment. If the
equipment breaks down, if it is operated incorrectly, if the control unit breaks down
or if the cables break, etc., it must be ensured that the drive or the complete
apparatus is kept in a safe operating mode.
Repairs
Repairs may be made by authorized personnel only or by the manufacturer. It is
dangerous for the user to open the unit or make repairs to it.
Danger
Do ensure that during the installation of the EPOS 24/1 no apparatus is connected
to the electrical supply. After switching on, do not touch any live parts!
Max. Supply Voltage
Make sure that the supply voltage is between 9 and 24 VDC. Voltages higher than
27 VDC or of wrong polarity will destroy the unit.
Electrostatic Sensitive Device (ESD)
Edition July 2007 / Subject to change maxon motor control 5

maxon motor
EPOS Positioning Controller EPOS 24/1 Getting Started
6Installation and Configuration
6.1 Step 1: Software Installation
Install the software from the EPOS CD-ROM. The CD-ROM contains all
necessary information and tools for installation and operation of the EPOS
controllers (Manuals, Firmware, Tools, and Windows DLLs).
Figure 3: EPOS CD-ROM
The latest edition of the software to the EPOS positioning controller may be
downloaded from the internet under http://www.maxonmotor.com category
<Service & Downloads>.
Minimum system requirements:
Windows ME, Windows NT 4.0, Windows 2000, XP
486 processor, 128 MB RAM
200 MB free storage space on hard drive
Screen resolution 1024 x 768 pixels at 256 colours
Follow the next instructions to install the whole software on your computer:
1. Insert CD-ROM
Insert the EPOS CD-ROM into the CD-ROM drive of your computer.
2. Start the installation program ‘EPOS_CD-ROM.exe’
Normally the installation program starts automatically after inserting
EPOS CD-ROM. Alternatively, double click the item in the explorer to
start the installation program ‘EPOS_CD-ROM.exe’
3. Follow the instructions during the installation program
Please read each instruction carefully. During the installation
procedure you will be asked for a working directory. (Recommendation:
C:\Programme\maxon motor EPOS CD-ROM)
4. Check the new shortcuts and items in the start menu
All necessary files are copies to the hard drive ‘maxon motor EPOS
CD-ROM’ item allows accessibility to all ‘Contents’. On the desktop, a
new shortcut to the ‘EPOS_UserInterface.exe’ will be added. Check
the new shortcuts in the start menu and on the desktop.
5. Modify or remove the EPOS software
To change application features or to uninstall the EPOS software, start
the installation program ‘EPOS_CD-ROM.exe’ and follow the
instructions.
6 maxon motor control Edition July 2007 / Subject to change

maxon motor
EPOS 24/1 Getting Started EPOS Positioning Controller
Edition July 2007 / Subject to change maxon motor control 7
6.2.1 EPOS 24/1 for maxon DC motor with integrated motor/encoder ribbon cable
Next option allows hardware installation of EPOS 24/1 for maxon DC motor
with integrated motor/encoder ribbon cable (Order No. 280937).
Follow the steps and see also figure 4.
Select the correct EPOS 24/1 variant for minimum wiring:
•EPOS 24/1 order number 280937
see section '6.2.1 EPOS 24/1 for maxon DC motor with integrated motor/encoder ribbon cable'
6.2 Step 2: Minimum External Wiring
•EPOS 24/1 order number 302267
see section '6.2.3 EPOS 24/1 for maxon EC16/EC22 motor with Hall sensor and digital Encoder'
•EPOS 24/1 order number 317270
see section '6.2.2 EPOS 24/1 for maxon EC 6 motor with Hall sensor and digital MR-Encoder'
•EPOS 24/1 order number 302287
see section '6.2.4 EPOS 24/1 for maxon DC/EC motor (Molex connectors) with Hall sensor and
digital Encoder’
1. Power Supply Wiring
Connect the power supply (+9 … +24 VDC) to the EPOS 24/1.
The necessary output current is depending on load. (Continuous max.
1 A; acceleration, short-time max. 2 A)
Power Supply EPOS 24/1 Screw Terminals
Power +Vcc (+9 … +24 VDC) => Connector J1 Pin number [13]
Power_Gnd => Connector J1 Pin number [12]
Note! Make sure that the supply voltage is between +9 and +24 VDC.
Voltages higher than +27 VDC or of wrong polarity will destroy the unit.
2. Connect the motor
Connect the DC-Motor connector to the connector J3 of the
EPOS 24/1.
3. RS-232 Communication Lines Wiring
Connect the RS-232 communication lines to the EPOS 24/1.
PC Interface 9-pin D-Sub EPOS 24/1 Screw Terminals
Pin 2 RxD => Connector J2 Pin number [4] RS-232 TxD
Pin 3 TxD => Connector J2 Pin number [3] RS-232 RxD
Pin 5 Gnd => Connector J2 Pin number [5] Gnd

maxon motor
ge
EPOS Positioning Controll
8
er EPOS 24/1 Getting Started
maxon motor control Edition July 2007 / Subject to chan
Figure 4: Minimum wiring for DC-Motor with integrated motor/encoder ribbon cable

maxon motor
EPOS 24/1 Getting Started EPOS Positioning Controller
Edition July 2007 / Subject to change maxon motor control 9
6.2.2 EPOS 24/1 for maxon EC 6 motor with Hall sensor and digital MR-Encoder
Install the EPOS 24/1 hardware. Use the maxon cable assemblies below
for wiring.
You should have:
EPOS 24/1 positioning controller for
maxon EC 6 motor .................................................. order number 317270
EPOS cable (included in delivery of 317270) ......... order number 281074
EPOS adapter (included in delivery of 317270) ...... order number 317228
Follow the steps and see also figure 5.
1. Power supply wiring
Connect the power supply (+9 … +24 VDC) to the EPOS 24/1.
The necessary output current is depending on load. (Continuous
max. 1 A; acceleration, short-time max. 2 A)
Power Supply EPOS 24/1 Screw Terminals
Power +Vcc (+9 … +24 VDC) => Connector J1 Pin number [13]
Power_Gnd => Connector J1 Pin number [12]
Note! Make sure that the supply voltage is between +9 and +24 VDC.
Voltages higher than +27 VDC or of wrong polarity will destroy the unit.
2. Connect maxon motor control Cable
Connect cable (Order No. 281074) to the connector J4 of the
EPOS 24/1 (Order No. 317270). On the opposite side connect to the
connector J5 of the adapter (Order No. 317228).
3. Connect the maxon EC 6 motor
Connect the EC 6 motor flex-print to the connector J7 of the adapter
(Order No. 317228).
Connect the EC 6 encoder flex-print to the connector J6 of the adapter
(Order No. 317228).
4. RS-232 Communication Lines Wiring
Connect the RS-232 communication lines to the EPOS 24/1.
PC Interface 9-pin D-Sub EPOS 24/1 Screw Terminals
Pin 2 RxD => Connector J2 Pin number [4] RS-232 TxD
Pin 3 TxD => Connector J2 Pin number [3] RS-232 RxD
Pin 5 Gnd => Connector J2 Pin number [5] Gnd

maxon motor
ge
EPOS Positioning Controll
10
er EPOS 24/1 Getting Started
maxon motor control Edition July 2007 / Subject to chan
Figure 5: Minimum wiring for EC 6-Motor

maxon motor
EPOS 24/1 Getting Started EPOS Positioning Controller
Edition July 2007 / Subject to change maxon motor control 11
6.2.3 EPOS 24/1 for maxon EC16/EC22 motor with Hall sensor and digital Encoder
Next option allows hardware installation of EPOS 24/1 for maxon
EC16/EC22 motor (Order No. 302267).
Follow the steps and see also figure 6.
1. Power supply wiring
Connect the power supply (+9 … +24 VDC) to the EPOS 24/1.
The necessary output current is depending on load. (Continuous
max. 1 A; acceleration, short-time max. 2 A)
Power Supply EPOS 24/1 Screw Terminals
Power +Vcc (+9 … +24 VDC) => Connector J1 Pin number [13]
Power_Gnd => Connector J1 Pin number [12]
Note! Make sure that the supply voltage is between +9 and +24 VDC.
Voltages higher than +27 VDC or of wrong polarity will destroy the unit.
2. Connect the motor
Connect the EC motor cable to the connector J8 of the
EPOS 24/1.
Connect the EC encoder cable to the connector J9 of the
EPOS 24/1.
For extending motor encoder cable, EPOS encoder cable
(Order No 275934) can be used.
3. RS-232 Communication Lines Wiring
Connect the RS-232 communication lines to the EPOS 24/1.
PC Interface 9-pin D-Sub EPOS 24/1 Screw Terminals
Pin 2 RxD => Connector J2 Pin number [4] RS-232 TxD
Pin 3 TxD => Connector J2 Pin number [3] RS-232 RxD
Pin 5 Gnd => Connector J2 Pin number [5] Gnd

maxon motor
ge
EPOS Positioning Controll
12
er EPOS 24/1 Getting Started
maxon motor control Edition July 2007 / Subject to chan
Figure 6: Minimum wiring for EC16/EC22-Motor

maxon motor
EPOS 24/1 Getting Started EPOS Positioning Controller
Edition July 2007 / Subject to change maxon motor control 13
6.2.4 EPOS 24/1 for maxon DC/EC motor (Molex connectors) with Hall sensor and digital
Encoder
Next option allows hardware installation of EPOS 24/1 for maxon
DC/EC motor (Order No. 302287). Use the maxon cable assemblies below
for wiring.
You should have:
EPOS 24/1 for maxon DC/EC motor .................... order number 302287
EPOS 24/1 EC motor / hall sensor cable
(Connector J10)..................................................... order number 302948
or
EPOS 24/1 DC motor cable (Connector J10) ...... order number 303490
EPOS encoder cable (Connector J11) ................. order number 275934
EPOS RS232-COM cable (Connector J12) ......... order number 275900
EPOS signal cable (Connector J14) .................... order number 275932
Follow the steps and see also figure 7.
1. Power supply wiring
Connect the signal cable (Order No. 275932) to the connector J14 of
the EPOS 24/1. On the opposite side connect the red/blue (+Vcc) line
and the white/green (Gnd) line to terminal blocks. Connect a power
supply (+9 … +24 VDC) to the opposite side of the terminal blocks.
The necessary output current is depending on load. (Continuous
max. 1 A; acceleration, short-time max. 2 A)
Note! Make sure that the supply voltage is between +9 and +24 VDC.
Voltages higher than +27 VDC or of wrong polarity will destroy the unit.
2. Connect the motor
a. EC motor
Connect the EPOS 24/1 EC motor / hall sensor cable (Order No.
302948) to the connector J10 of the EPOS 24/1. On the opposite
side connect to terminal blocks. Connect the motor Hall sensor and
motor power lines to the opposite side of the terminal blocks.
b. DC motor
Connect the EPOS 24/1 DC motor cable (Order No. 303490) to the
connector J10 of the EPOS 24/1. On the opposite side connect to
terminal blocks. Connect the motor power lines to the opposite side
of the terminal blocks.
3. Connect EPOS encoder cable
Connect the encoder cable (Order No. 275934) to the connector J11 of
the EPOS 24/1. On the opposite side connect to the encoder of the
motor.
4. Connect EPOS RS232-COM cable
Connect the RS232-COM cable (Order No. 275900) to the connector
J12 of the EPOS 24/1. On the opposite side connect to a free RS-232
port of your computer.
Note! If you do not use the maxon cables, you have to do the wiring using
the ‘EPOS 24/1 Cable Starting Set’ manual.

maxon motor
ge
EPOS Positioning Controll
14
er EPOS 24/1 Getting Started
maxon motor control Edition July 2007 / Subject to chan
Figure 7: Minimum wiring for DC/EC-Motor with Molex connectors

maxon motor
EPOS 24/1 Getting Started EPOS Positioning Controller
6.3 Step 3: System Configuration
In this section you will configure the EPOS 24/1 for your drive system.
Please note:
•The EPOS User Interface provides an online help. It contains all
available documentation.
To open online help functions:
- press F1
-or use the help buttons
-or click the right mouse button
•You have to know some technical data about your system. Use the
maxon catalogue or the datasheets of the components used.
To configure your drive system:
1. Power-up
Switch on the EPOS 24/1 power supply.
2. Start the ‘EPOS User Interface’ Version 2.00 or higher
Double click on the item ‘EPOS UserInterface.exe’ on the desktop to
start the graphical user interface (GUI). By starting the ‘EPOS User
Interface’ the ‘Startup Wizard’ will be started automatically.
3. ‘Startup Wizard’ Step 1: Minimum External Wiring
a) Verify that your hardware installation is correct. Please refer to
chapter ‘6.2 Step 2: Minimum External Wiring’.
b) If you have already read the ‘Getting Started’ document, click on
the button ‘Confirm that you’ve read the ‘Getting Started’
document’. Otherwise it is possible to display the document online
by clicking on the button ‘Show Getting Started’.
c)
Figure 8: Startup wizard dialog for minimum external wiring
Click on the button ‘Weiter’ for the next step.
Edition July 2007 / Subject to change maxon motor control 15

maxon motor
EPOS Positioning Controller EPOS 24/1 Getting Started
4. ‘Startup Wizard’ Step 2: Communication Setting!
Verify that your RS-232 wiring is correct. 1Please refer to chapter
‘6.2 Step 2: Minimum External Wiring’.
a)
b) Click on the button ‘Search Communication Setting’ to search the
used COM port and the adjusted baudrate automatically.
c)
Figure 9: Startup wizard dialog for setting RS-232 communication
If a correct communication setting is found, the following dialog is
displayed.
d)
e)
a)
Figure 10: Communication settings found
Click on the ‘OK’ button to confirm and accept the values.
Click on the button ‘Weiter’ for the next step.
5. ‘Startup Wizard’ Step 3: Motor Type
Select the used motor type.
Figure 11: Startup wizard dialog for choosing motor type
b) Click on the button ‘Weiter’ for the next step.
1It is also possible to run ‘EPOS User Interface’ via CANopen communication. In this case, a PC CAN- interface card from IXXAT or
Vector has to be used.
For correct wiring please see ‘EPOS 24/1 Hardware Reference’ document.
16 maxon motor control Edition July 2007 / Subject to change

maxon motor
EPOS 24/1 Getting Started EPOS Positioning Controller
6. ‘Startup Wizard’ Step 4 for EC motors:
Motor Pole Pair
a) Select the correct number of pole pairs.
Figure 12: Startup wizard dialog for choosing
EC motor pole pairs
b)
a)
b)
c)
Click on the button ‘Weiter’ for the next
step.
6. ‘Startup Wizard’ Step 4 for DC motors:
Motor Data
Select the maximum permissible speed.
Select the nominal current (maximum
continuous current).
Select the thermal time constant of the
winding.
Figure 13: Startup wizard dialog for setting
DC motor data
d) Click on the button ‘Weiter’ for the next
step.
7. ‘Startup Wizard’ Step 5 for EC motors:
Motor Data
a)
b)
c)
Select the maximum permissible speed.
Select the nominal current (maximum
continuous current).
Select the thermal time constant of the
winding.
Figure 14: Startup wizard dialog for setting
EC motor data
d)
a)
Click the button ‘Weiter’ for the next step.
7. ‘Startup Wizard’ Step 5 for DC motors:
Position Sensor Type
Select the used position sensor type
Figure 15: Startup wizard dialog for choosing
DC motor position senso type r
b) Click the button ‘Weiter’ for the next step.
Edition July 2007 / Subject to change maxon motor control 17

maxon motor
EPOS Positioning Controller EPOS 24/1 Getting Started
8. ‘Startup Wizard’ Step 6 for EC motors:
Position Sensor Type
a) Select the used position sensor type
Figure 16: Startup wizard dialog for choosing
EC motor position sensor type
b)
c) Click the button ‘Weiter’ for the next step. Important remarks for using Hall
sensors: For a proper function of the
regulation, please be aware of the
following restrictions.
Figure 17: Recommendations for using Hall
sensors as position sensors
d)
a)
Please consider this warning carefully
before clicking the ‘Accept’ button for the
next step.
8. ‘Startup Wizard’ Step 6 for DC motors:
Position Resolution
Enter the resolution of the used encoder
Figure 18: Startup wizard dialog for setting
DC motor encoder resolution
b) Click the button ‘Weiter’ for the next step.
18 maxon motor control Edition July 2007 / Subject to change

maxon motor
EPOS 24/1 Getting Started EPOS Positioning Controller
9. ‘Startup Wizard’ Step 7 for EC motors:
Position Resolution
a) Enter the resolution of the used encoder
Figure 19: Startup wizard dialog for setting
EC motor encoder resolution
b)
a)
b)
c)
Click the button ‘Weiter’ for the next step.
9. ‘Startup Wizard’ Step 7 for DC motors:
Summary
A short summary of the most important
configuration values is displayed in this
window.
If there are any mistakes in the
configuration, you can go back and
modify the values by clicking on the
button ‘Zurück’.
If you will not start the startup wizard at
the beginning of every EPOS user
interface session, you have to deselect
the option ‘Always start this wizard after
program start’.
Figure 20: Startup wizard configuration
summary
d) If all settings are correct, click the button
‘Fertig stellen’ to close the startup wizard.
Edition July 2007 / Subject to change maxon motor control 19

maxon motor
EPOS Positioning Controller EPOS 24/1 Getting Started
10. ‘Startup Wizard’ Step 8 for EC motors:
Summary
a)
b)
c)
A short summary of the most important
configuration values is displayed in this
window.
If there are any mistakes in the
configuration, you can go back and
modify the values by clicking on the
button ‘Zurück’.
If you will not start the startup wizard at
the beginning of every EPOS user
interface session, you have to deselect
the option ‘Always start this wizard after
program start’.
Figure 21: Startup wizard dialog for setting
EC motor encoder resolution
d) If all settings are correct, click the button
‘Fertig stellen’ to close the startup wizard.
11. Save and activate parameters
r
a)
Figure 22: Save & activate the configured paramete s
Click the button ‘Yes’ to accept the parameters.
b)
Figure 23: Confirm parameter activation
Confirm by clicking the ‘OK’ button.
20 maxon motor control Edition July 2007 / Subject to change