maxon motor MCD EPOS 60 W User manual

maxon motor
maxon motor control MCD EPOS 60 W
Getting Started December 2008 Edition
60 W
Positioning Compact Drive
Documentation
Getting Started
maxon document number: 791292-02

maxon motor
EPOS Positioning Compact Drive MCD EPOS 60 W 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
6.3 Step 3: System Configuration..............................................................................................9
6.4 Step 4: Regulation Gains Tuning.......................................................................................16
6.4.1 Start the Auto-tuning Tool..............................................................................................16
6.4.2 Auto-tuning of the Current Regulator.............................................................................17
6.4.3 Auto-tuning of the Velocity Regulator............................................................................19
6.4.4 Auto-tuning of the Position Regulator............................................................................21
6.4.5 Manual Tuning...............................................................................................................23
6.4.6 Save all Regulation Gains.............................................................................................24
7Conclusion...........................................................................................................................24
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MCD EPOS 60 W Getting Started EPOS Positioning Compact Drive
2Table of figures
Figure 1: MCD EPOS 60 W photo ..........................................................................................................4
Figure 2: MCD EPOS 60 W documentation hierarchy............................................................................4
Figure 3: EPOS CD-ROM .......................................................................................................................6
Figure 4: Minimum wiring for MCD EPOS 60 W.....................................................................................8
Figure 5: Startup wizard dialog for minimum external wiring..................................................................9
Figure 6: Startup wizard dialog for communication setting...................................................................10
Figure 7: 'Search Nodes' dialog............................................................................................................10
Figure 8: Startup wizard dialog for selecting node................................................................................10
Figure 9: Startup wizard dialog for choosing motor type.......................................................................11
Figure 10: Startup wizard dialog for choosing EC motor pole pairs......................................................11
Figure 11: Startup wizard dialog for setting EC motor data..................................................................12
Figure 12: Startup wizard dialog for choosing EC motor position sensor type.....................................12
Figure 13: Startup wizard dialog for setting EC motor encoder resolution ...........................................13
Figure 14: Startup wizard dialog for setting EC motor encoder resolution ...........................................13
Figure 15: Save & Activate the configured parameters ........................................................................14
Figure 16: Confirm parameter activation...............................................................................................14
Figure 17: Clear CAN error...................................................................................................................15
Figure 18: Start regulation tuning..........................................................................................................16
Figure 19: Auto-tuning of current regulator...........................................................................................17
Figure 20: Auto-tuning button................................................................................................................17
Figure 21: Confirm motor shaft blocking...............................................................................................17
Figure 22: Confirm end of tuning...........................................................................................................18
Figure 23: Confirm tuning error.............................................................................................................18
Figure 24: Clear tuning error.................................................................................................................18
Figure 25: Auto-tuning of velocity regulator ..........................................................................................19
Figure 26: Auto-tuning button................................................................................................................19
Figure 27: Confirm free running of motor..............................................................................................19
Figure 28: Confirm end of tuning...........................................................................................................20
Figure 29: Confirm tuning error.............................................................................................................20
Figure 30: Clear tuning error.................................................................................................................20
Figure 31: Auto-tuning of position regulator..........................................................................................21
Figure 32: Auto-tuning button................................................................................................................21
Figure 33: Confirm free running of motor..............................................................................................21
Figure 34: Confirm end of tuning...........................................................................................................22
Figure 35: Confirm tuning error.............................................................................................................22
Figure 36: Clear tuning error.................................................................................................................22
Figure 37: Manual tuning mode ............................................................................................................23
Figure 38: Manual tuning mode ............................................................................................................23
Figure 39: Next tuning step...................................................................................................................23
Figure 40: Save button..........................................................................................................................24
Figure 41: Confirm regulation gains saving...........................................................................................24
Figure 42: Confirm saving of all parameters.........................................................................................24
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maxon motor
EPOS Positioning Compact Drive MCD EPOS 60 W Getting Started
3Introduction
This documentation ‘Getting Started’ provides the first steps in using the maxon compact drive MCD
EPOS 60 W positioning compact drive. It describes the standard procedure when the device is put
into operation. The document facilitates the installation and configuration of a basic MCD EPOS 60 W
system. The maxon MCD EPOS 60 W is a small-sized compact drive. It
contains a brushless EC motor with Hall-sensors, digital
Encoder and a digital position control unit. The optimized
commutation by space vector control offers to drive the
integrated brushless EC motor 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.
Figure 1: MCD EPOS 60 W photo
The latest edition of this “Getting Started”, additional documentation and software to the
MCD EPOS 60 W positioning controller may also be found on the internet under
http://www.maxonmotor.com category <Service & Downloads> or in the maxon motor e-shop
http://shop.maxonmotor.com.
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: MCD EPOS 60 W documentation hierarchy
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MCD EPOS 60 W Getting Started EPOS Positioning Compact Drive
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 MCD EPOS 60W 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 12 and 50 VDC. Voltages higher than
55 VDC or of wrong polarity will destroy the unit.
Electrostatic Sensitive Device (ESD)
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EPOS Positioning Compact Drive MCD EPOS 60 W 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 MCD EPOS 60 W positioning
controller may be downloaded from the maxon motor homepage
http://www.maxonmotor.com category <Service & Downloads>
or from the maxon motor e-shop http://shop.maxonmotor.com.
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 colors
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 copied 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.
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MCD EPOS 60 W Getting Started EPOS Positioning Compact Drive
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6.2 Step 2: Minimum External Wiring
Install the MCD EPOS 60W hardware. Use the maxon cable assemblies
below for wiring.
You should have:
MCD EPOS 60 W positioning controller…….…order number 326343
MCD EPOS Power / RS232-CAN Cable
(Connector J2)…………………………………… order number 325939
The MCD EPOS Power / RS232-CAN cable (Order No. 325939) integrates
three cables in one:
•Power cable
•RS 232 communication cable
•CAN communication cable
Connect the MCD EPOS Power / RS232-CAN cable as follows (see also
figure 4):
1. MCD EPOS 60W
Connect the MCD EPOS Power / RS232-CAN cable to the
connector J2 of the MCD EPOS 60 W.
2. Power
Connect the cable end sleeves of the power cable to a power
supply (+12 … +50 VDC).
The necessary output current is depending on load. (Continuous
max. 2.6 A; acceleration, short-time max. 9 A)
Note!
Make sure that the supply voltage is between +12 and +50 VDC.
Voltages higher than +55 VDC or of wrong polarity will destroy the
unit.
3. Communication
Connect the RS 232 cable to a free RS 232 port of your computer.
Note:
For minimum wiring, the CAN cable have not to be connected!

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EPOS Positioning Comp
8
act Drive MCD EPOS 60 W Getting Started
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Figure 4: Minimum wiring for MCD EPOS 60 W

maxon motor
MCD EPOS 60 W Getting Started EPOS Positioning Compact Drive
6.3 Step 3: System Configuration
In this section you will configure the MCD EPOS 60 W for your drive
system.
Please note:
•The EPOS_UserInterface 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 MCD EPOS 60 W power supply.
2. Start the ‘EPOS_UserInterface’ Version 2.10 or higher
Double click on the item ‘EPOS UserInterface.exe’ on the desktop to
start the graphical user interface (GUI). By starting the
‘EPOS_UserInterface’ 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’.
Figure 5: Startup wizard dialog for minimum external wiring
c) Click on the button ‘Next’ for the next step.
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EPOS Positioning Compact Drive MCD EPOS 60 W Getting Started
4. ‘Startup Wizard’ Step 2: Communication Setting!
a) Verify that your wiring is correct. Please refer to chapter
‘6.2 Step 2: Minimum External Wiring’.
b) Click on the button 'Search Nodes' to search the nodes of the
selected communication.
Figure 6: Startup wizard dialog for communication setting
c) The selected communication is automatically searching for the
connected node.
d) If the node is found, click on the button 'Stop Scanning'.
e) Select the node and click on the button 'OK'.
Figure 7: 'Search Nodes' dialog
f) Select a Node-ID for your device.
Figure 8: Startup wizard dialog for selecting node
g) Click on the button ‘Next’ for the next step.
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MCD EPOS 60 W Getting Started EPOS Positioning Compact Drive
5. ‘Startup Wizard’ Step 3: Motor Type
a) The MCD EPOS 60 W contains a maxon EC motor. No other
motor type can be selected.
Figure 9: Startup wizard dialog for choosing motor type
b) Click on the button ‘Next’ for the next step.
6. ‘Startup Wizard’ Step 4: Motor Pole Pair
a) The used motor has 1 pole pair. No other pole pair number can be
set.
Figure 10: Startup wizard dialog for choosing EC motor pole pairs
b) Click on the button ‘Next’ for the next step.
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EPOS Positioning Compact Drive MCD EPOS 60 W Getting Started
7. ‘Startup Wizard ’Step 5: Motor Data
a) Select the maximum permitted speed.
b) Select the nominal current (maximum continuous current).
c) The thermal time constant of the winding of the used motor is 2.7 s
and can not be changed.
Figure 11: Startup wizard dialog for sett ng EC motor datai
d) Click the button ‘Next’ for the next step.
8. ‘Startup Wizard’ Step 6: Position Sensor Type
a) A 3-channel incremental encoder with line driver is used. No other
position sensor type can be selected.
Figure 12: Startup wizard dialog for choosing EC motor position sensor type
b) Click the button ‘Next’ for the next step.
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MCD EPOS 60 W Getting Started EPOS Positioning Compact Drive
9. ‘Startup Wizard’ Step 7: Position Resolution
a) The resolution of the used encoder is 1000 pulse per turn. No
other encoder resolution can be set.
Figure 13: Startup wizard dialog for sett ng EC motor encoder resolutioni
b) Click the button ‘Next’ for the next step.
10. ‘Startup Wizard’ Step 8: Summary
a) A short summary of the most important configuration values is
displayed in this window.
b) If there are any mistakes in the configuration, you can go back and
modify the values by clicking on the button ‘Back’.
Figure 14: Startup wizard dialog for sett ng EC motor encoder resolutioni
c) If all settings are correct, click the button ‘Finish’ closing the startup
wizard.
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EPOS Positioning Compact Drive MCD EPOS 60 W Getting Started
11. Save and activate parameters
Figure 15: Save & Activate the configured parameters
a) Click the button ‘Yes’ to accept the parameters.
Figure 16: Confirm parameter activation
b) Confirm by clicking the ‘OK’ button.
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MCD EPOS 60 W Getting Started EPOS Positioning Compact Drive
12. Clear CAN error
Now, the object dictionary will be loaded. In case of not connected
CAN communication, the error ‘CAN in Error Passive Mode’ appears.1
a) Click on button ‘Clear Errors’ to clear the error ‘CAN in Passive
Error Mode’.
Figure 17: Clear CAN error
b) If other errors occurred, please check wiring and startup
configuration. For more information’s about errors, refer to EPOS
firmware documentation.
c) Your MCD EPOS is now ready for regulation gains tuning.
1If the 'EPOS_UserInterface' is communicating via CANopen, this error will not appear.
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EPOS Positioning Compact Drive MCD EPOS 60 W Getting Started
6.4 Step 4: Regulation Gains Tuning
The MCD EPOS 60 W offers a possibility to perform auto-tuning of the
regulation gains. You can tune the current, velocity and position gains on
the regulators. The auto-tuning function is a good help, but optimal
regulation parameters can't be guaranteed. The auto-tuning is a good
starting point for a manual tuning.
The following procedure is recommended for the tuning of the regulation
gains.
6.4.1 Start the Auto-tuning Tool
a) In the EPOS_UserInterface, double click the button ‘Regulation
Tuning’ to start the auto-tuning tool.
Figure 18: Start regulation tuning
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MCD EPOS 60 W Getting Started EPOS Positioning Compact Drive
6.4.2 Auto-tuning of the Current Regulator
In a first step, tune the current regulator.
a) Leave all settings to default values.
Figure 19: Auto-tuning of current regulator
b) Click on ‘Start Tuning’ button to start the auto-tuning.
Figure 20: Auto-tuning button
c) Block the motor shaft continuously until current regulator auto-
tuning is finished.
Figure 21: Confirm motor shaft blocking
d) Confirm by clicking on ‘Yes’ button.
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EPOS Positioning Compact Drive MCD EPOS 60 W Getting Started
e) Now, auto-tuning will start. It is searching suitable regulation gains
for current regulation mode automatically. This procedure can take
a few minutes. All tuning steps will be displayed for further
analysis.
f) Confirm the end of tuning by clicking on ‘No’ button.
Figure 22: Confirm end of tuning
g) If an error occurs and the auto-tuning will not start, please confirm
and clear the error. Next adjust the starting parameters by referring
to chapter 6.4.5 ‘Manual Tuning’. Afterwards start the auto-tuning
again.
Figure 23: Confirm tuning error
Figure 24: Clear tuning error
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MCD EPOS 60 W Getting Started EPOS Positioning Compact Drive
6.4.3 Auto-tuning of the Velocity Regulator
Now tune the velocity regulator.
a) Select the menu item ‘Velocity Regulator‘ in the menu ‘Regulator to
Tune’.
b) Leave all other settings to default values.
Figure 25: Auto-tuning of velocity regulator
c) Click on ‘Start Tuning’ button to start the auto-tuning.
Figure 26: Auto-tuning button
d) Be sure the motor shaft is free running.
Figure 27: Confirm free running of motor
e) Confirm by clicking on ‘Yes’ button.
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EPOS Positioning Compact Drive MCD EPOS 60 W Getting Started
f) Now, auto-tuning will start. It is searching suitable regulation gains
for velocity regulation mode automatically. This procedure can take
a few minutes. During this procedure the motor is performing some
rotations to both directions. All tuning steps will be displayed and
recorded for further analysis.
g) Confirm the end of tuning by clicking on ‘No’ button.
Figure 28: Confirm end of tuning
h) If an error occurs and the auto-tuning will not start, please confirm
and clear the error. Next adjust the starting parameters by referring
to chapter 6.4.5 ‘Manual Tuning’. Afterwards start the auto-tuning
again.
Figure 29: Confirm tuning error
Figure 30: Clear tuning error
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