Document Suitable order number for EPOS2 Positioning Controller EPOS2 Communication Guide EPOS2 Firmware Specification 360665, 367676, 347717. Application Note: CANopen Basic Information EPOS2 Positioning Controller. By adding the valences of all inputs connected externally to GND, the set CAN-ID (node address) can be observed. How do we communicate between the micro-controller and EPOS2 through RS-232. Them could we control the motor which is connected to the EPOS2. Can send to the driver in order to either control the motor, or retrieve the. As you see, it is not straight forward, but can be a very good project to do! EPOS2 stands for “EPOS2 Positioning Controller”. FTDI Driver www.ftdichip.com Functions Not all functions are supported by all devices as they are dependent on.
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Sometimes is desired to control inside MATLAB a Maxon Motor connected to a EPOS 2 motor controller. It is possible to do that with this files, and the submitted tool differs from other in that it uses USB bus. This tool is primary targeted to the study and research in Robotics, where it is wanted to move a custom robot using inverse kinematics without worrying about low level communication and real time performance.
1) For proper use, first download and install the EPOS2 libraries,
1) For proper use, first download and install the EPOS2 libraries,
In Linux:
- Download and install in the system the libraries: libEposCmd.so and libftd2xx.so
http://www.maxonmotor.com/medias/sys_master/root/8815100330014/EPOS-Linux-Library-En.zip
- Download and install in the system the libraries: libEposCmd.so and libftd2xx.so
http://www.maxonmotor.com/medias/sys_master/root/8815100330014/EPOS-Linux-Library-En.zip
In Windows:
- Download and install EPOS2 USB driver following the link,
http://www.maxonmotor.com/medias/sys_master/root/8811482415134/EPOS-USB-Driver-Installation-En.zip
- Download and copy to directory 'Epos2Windows' the files,
EposCmd.dll, EposCmd.lib
EposCmd64.dll, EposCmd64.lib
vxlapi.dll, vxlapi64.dll
http://www.maxonmotor.com/medias/sys_master/root/8815100133406/EPOS-Windows-DLL-En.zip
- Download and install EPOS2 USB driver following the link,
http://www.maxonmotor.com/medias/sys_master/root/8811482415134/EPOS-USB-Driver-Installation-En.zip
- Download and copy to directory 'Epos2Windows' the files,
EposCmd.dll, EposCmd.lib
EposCmd64.dll, EposCmd64.lib
vxlapi.dll, vxlapi64.dll
http://www.maxonmotor.com/medias/sys_master/root/8815100133406/EPOS-Windows-DLL-En.zip
2) Next, compile the files calling the script 'Make'. The script requires that 'mex' was properly setting up.
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Files 'test_epos.m' and 'test_epos2.m' contain some example of controlling EPOS2 Motor Controller.
Examples:
Examples:
From 'test_epos.m',
![Not Not](/uploads/1/2/6/0/126090276/309597046.jpg)
>> a = OpenCommunication;
Connecting to node 1
>> b = GetErrorState(a, 1);
>> ClearErrorState(a);
>> EnableNode(a, 1);
>> ClearErrorState(a);
>> EnableNode(a, 1);
Setting Node 1 to 'Profile Position' type >> help SetOperationMode for further information
>> SetOperationMode(a, 1, 6);
Profile veloctiy of 300 rpm and profile acceleration of 300 rpm/s
>> SetProfilePositionData(a, 1, 3000, 3000);
Move 132000 quadrature pulse in absolute position
>> MoveToPosition(a, 1, 132000, 1);
Stop
>> QuickStop(a, 1);
Close
>> CloseCommunication(a);
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From file 'test_epos2.m',
Motor1 = Epos2(1);
If (Motor1.IsInErrorState)
Motor1.ClearErrorState;
End
Motor1.EnableNode;
Motor1.SetOperationMode( OperationModes.ProfilePositionMode );
Motor1.MotionInPosition( 132000 );
Motor1.MotionInPosition( -132000, 4000, 6000, 1);
Motor1.Stop;
If (Motor1.IsInErrorState)
Motor1.ClearErrorState;
End
Motor1.EnableNode;
Motor1.SetOperationMode( OperationModes.ProfilePositionMode );
Motor1.MotionInPosition( 132000 );
Motor1.MotionInPosition( -132000, 4000, 6000, 1);
Motor1.Stop;
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![Epos2 Epos2](/uploads/1/2/6/0/126090276/614878362.jpg)
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delete Motor1