Transcript Folie 1 - Electromate Industrial Sales

Features of the EPOS P 24/5
 Functionality
 Performance
 Communication
EPOS P Training
What is the EPOS P?
 CAN-master + EPOS 24/5
– programmable, stand alone operation
CAN bus
EPOS P
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CAN I/F
PLC
EPOS
What is the EPOS P?
 same basic functionality as a motion controller as the EPOS
 CAN master functionality
EPOS P
CAN bus
EPOS
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other
CANopen
modules
CAN master functionality
EPOS
EPOS P
 maxon is responsible for
 maxon is responsible for
EPOS (slaves)
 User has to care about
EPOS P and EPOS
 Forget CANopen!
CANopen
 maxon is responsible for
CANopen master
CANopen master
 User is responsible
 User is responsible
– for programming
– for programming
– for first installation
– for first installation
– for debugging and service
– for debugging and service
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 User is responsible for
Performance of the EPOS P
 Same as the EPOS 24/5
– Supply voltage, current, motor voltage
– Motor and encoder
– Communication, I/O
– Connectors and pin assignments
– Footprint
 Power Range
– No EPOS P 24/1 or EPOS P 70/10
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– 24V/5A version only
P = Programmable
 Programs or logical sequences are stored within the EPOS
P and can be executed by simple commands or inputs.
 Possibility for programming
– Write and edit a program
– Save and execute a program
–
–
–
–
–
Additional memory needed to store program
CANopen driver
PC tool for writing programs: OpenPCS
New user interface: EPOS STUDIO (replaces EPOS GUI)
Upgrade EPOS Firmware
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 Consequences
Programming Standard IEC 61131-3
 Well known in the PLC world and in the motion control
industry
 Unique for small power drives
– Direct competitors use proprietary programming languages
 Motion function Libraries
 Advantages
– Programming language independent of hardware
– No need to learn a new language: same “look and feel” for
programmer
– Widely accepted
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– Reusability of the programs
Standalone Operation
 program flow controlled by
– internal events (time, current, position, speed...)
PC for
programming only
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– external events (digital inputs, CAN inputs)
Is the EPOS P a PlC?
 Yes, because…
– No additional master system (PC or PLC) is necessary
– It is programmed similar to a PLC
 But…
– Primarily intended for motion control functions
– EPOS P contains an EPOS (motion controller) internally
 The EPOS P is a “small PLC specially designed for motion
control”
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Hence
Memory Performance
 1MB memory
– More than 700KB for programming
 Typical motion program < 100KB
 Real PLC up to 10MB (e.g. Siemens S7)
 1KB non volatile memory
 1 position ~ 40bytes
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– For RETAIN variables
CPU Performance
 Typically 2.5ms for 5,000 Lines of IL
– Means that the processor needs about 2.5 ms to go through a 5,000
line program written in Instruction List (IL).
– Included in this 2.5ms is a communication offset of about 1.5ms
 For reloading a new task
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 i.e. for 10,000 lines of IL the system needs less than 4ms.
Communication
 CANopen (same as EPOS)
– Typical time needed for one motion command with PDO 130µs, with
SDO 2X130µs
– For up to 32 CANopen motion axes
– For up to 127 CANopen devices
 PLC cycle time
– Lies at about 2ms for small programs
 Performance
– Depends very much on the written program size and method
– Be careful when comparing performance data
– EPOS P performance data are still preliminary!
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– Similar to an average PLC
Multi Axis and Synchronization
 Not all customer will have the ability to program a
synchronized multi axis application
– PLC programming and motion control Knowhow needed
– Basic CANopen Knowledge needed
 We expect that about 3 axis may be synchronized at 2ms
 Remarks:
– Not all multi axis systems need synchronization
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cycle time
Other CANopen devices
 EPOS P can control other CANopen devices, e.g.:
– Digital I/O
– Analog Inputs
– Absolute sensors with CANopen interface
– Displays
– CANopen devices: http://www.can-cia.org/products/pg2006/
 Prerequisite from customer
– CANopen Knowledge
– Trainings are offered from CIA or IXXAT…
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– Maxon Motor does not produce any of these devices