maxon motor EPOS4 Module 50/8 User manual

maxon motor control
maxon motor ag
Brünigstrasse 220
CH –6072 Sachseln
www.maxonmotor.com
EPOS4 Gateway / CAN
Configuration
Version: 2018-02-22
Author: ROMA
Document: EPOS4-Gateway_CAN-Network-Configuration.docx Page: 1 / 6
EPOS4 CAN Network with Gateway functionality
General Remarks
If the gateway functionality of EPOS4 is in use, there must be a couple of key points be considered to ensure
that scanning and communication of EPOS4 within the CAN network will be possible.
Hardware Setup
CAN Bus Hardware and Parameter Configuration
CAN bus topology
The CAN bus wiring always have to be a daisy-chain from one CANopen device to the next one.
There is no star wiring allowed!
There are no stub lines (longer than 30 cm) allowed!
Node ID configuration
Configure an unique Node ID for each device (e.g. EPOS2, EPOS4, …) in the CANopen network.
The Node ID can be configured by DIP switches located on the EPOS4 (or EPOS2) device
in case of housed or compact product types.
Please refer to the “Hardware Reference” of your controller to find more information about
these DIP switches and the configuration.
In case of “Module”product types the motherboard or connector board must take care about
the correct wiring of the module’s pins assigned to the CAN ID.
EPOS4
Node ID = 1
USB or
RS232
EPOS4
Node ID = 2
EPOS4
Node ID = n
CANopen
CANopen
Configure
bus termination!
Configure
bus termination!
Configure
Fixed CAN bit rate

maxon motor control
maxon motor ag
Brünigstrasse 220
CH –6072 Sachseln
www.maxonmotor.com
EPOS4 Gateway / CAN
Configuration
Version: 2018-02-22
Author: ROMA
Document: EPOS4-Gateway_CAN-Network-Configuration.docx Page: 2 / 6
Bus termination
Do not miss to add bus termination resistors (120 Ohm) or configure the bus termination by the
corresponding DIP switch at both physical end points of the CAN network.
Quite often the CANopen devices with the lowest (= 1) and highest Node IDs are the ones
located at the physical end points of the bus but this is not mandatory. Therefore it is
recommended to check by the CAN wiring which CANopen devices are actually placed at
the physical end points of the CAN bus and require the bus termination.
The EPOS4 in use as the gateway is typically one physical end point of the CAN bus, i.e.
add or configure the bus termination for this EPOS4 in that common case.
Add or configure the bus termination for the CANopen device (e.g. EPOS2 or EPOS4) at the
other physical end point of the CAN network.
Ensure that there is no additional bus termination configured or resistors present somewhere
in between the CAN network. The measured resistance in between the “CAN High” and
“CAN Low” has to be about 60 Ohm in power-off state.
CAN bit rate configuration
It is important that at least one device in the CAN network has a “Fixed CAN bit rate”
configuration.
The default “CAN bit rate” configuration of the EPOS4 DIP switch is “Automatic bit rate”.
IMPORTANT:
Ensure that at least one EPOS4 (typ. gateway) has set the DIP switch “Auto bit
rate”to “OFF” and a “Fixed CAN bit rate” is configured by object 0x2001.
Remark:
If the DIP switch “CAN automatic Bit Rate Detection” is not set to “OFF”, the bit rate
configured by the object 0x2001 is not taken into account.
In case of a “CAN bit rate” configuration higher than 125 kbit/s it is mandatory that the
bus terminations, bus topology as well as the CAN wiring is perfect and not
influenced by EMI. Otherwise CAN communication might fail later on.
Do not miss to save an updated “Fixed CAN bit rate” by “Saving All Parameters”
before you power down / power up all devices again.
It is sufficient to configure just one CANopen device for a “Fixed CAN bit rate”. Other EPOS2
or EPOS4 can keep the “CAN Automatic Bit Rate detection” set.
If more than one CANopen device has a “Fixed CAN bit rate”, please ensure that the
“CAN bit rate” is the same for any device with a “Fixed CAN bit rate”configuration.
General note:
Please refer to the “Hardware Reference” of the EPOS2 or EPOS4 in use concerning the DIP switch location
and configuration in case of “Housed” or “Compact”product types or the pin assignment of “Modules”.

maxon motor control
maxon motor ag
Brünigstrasse 220
CH –6072 Sachseln
www.maxonmotor.com
EPOS4 Gateway / CAN
Configuration
Version: 2018-02-22
Author: ROMA
Document: EPOS4-Gateway_CAN-Network-Configuration.docx Page: 3 / 6
Configure Gateway Device
Right-click on the USBx (or RS232) port
in the communication tree.
Select “Scanning Devices”.
“Start Scanning” will check and find EPOS4
devices connected to USBx (or RS232)
e.g. EPOS4 [Node 1]
Press “OK”.
The detected EPOS4 device will be added to
the communication tree.
Establish the connection of the EPOS4 device.
Right click on the EPOS4
and select “Connect”.
or
Click on the icon with the
“connector symbol and green arrow”.

maxon motor control
maxon motor ag
Brünigstrasse 220
CH –6072 Sachseln
www.maxonmotor.com
EPOS4 Gateway / CAN
Configuration
Version: 2018-02-22
Author: ROMA
Document: EPOS4-Gateway_CAN-Network-Configuration.docx Page: 4 / 6
Configuration of the CAN Bitrate of the EPOS4 Gateway
The EPOS “Gateway” device has to be
present by the “Device Selection”
e.g. “EPOS4 CAN [Node 1]
Open the “Tools” overview.
Click on “Object Dictionary”
to open it up.
Select the “CAN bit rate”object:
Index: 0x2001 / SubIndex: 0x00
Configure a fixed CAN bit rate
e.g. 1000 kbit/s or 125 kbit/s
Right-click on an object.
A pop-up menu opens up.
Execute “Save All Parameter”
It is important to execute
“Save All Parameter”.
Otherwise the modified “CAN bit
rate” setting is not valid after
power off / on.
Ensure that the DIP switch setting
of “Automatic bit rate” is in “OFF”
state for this EPOS4.
Power off / on all devices.

maxon motor control
maxon motor ag
Brünigstrasse 220
CH –6072 Sachseln
www.maxonmotor.com
EPOS4 Gateway / CAN
Configuration
Version: 2018-02-22
Author: ROMA
Document: EPOS4-Gateway_CAN-Network-Configuration.docx Page: 5 / 6
Scanning the Devices in the CANopen Network
Right-click on the “CAN”branch
of the EPOS4 (in use as the gateway)
Execute “Scanning Devices”
of the CAN network.
The additional EPOS4(s)
present on the CANopen network
will be listed up.
Press “OK”.
The detected EPOS4(s) will be added to the
CAN branch of the EPOS4 gateway now.
Connect the EPOS4 of the CAN network by
pressing “Connect All”
Click on the icon with the
“connector symbol and green arrow”.

maxon motor control
maxon motor ag
Brünigstrasse 220
CH –6072 Sachseln
www.maxonmotor.com
EPOS4 Gateway / CAN
Configuration
Version: 2018-02-22
Author: ROMA
Document: EPOS4-Gateway_CAN-Network-Configuration.docx Page: 6 / 6
Ensure that any modified setting of the EPOS4
in the CAN network is persistently saved.
Right-click on any of the EPOS4.
Select “Save All Parameter”.
When all parameters are saved persistently,
the EPOS4 can be switched on and off at any
time later on.