High-Speed Synchronization With the EPOS3 70/10 EtherCAT

The EPOS3 70/10 EtherCAT easily integrates as slave into real-time EtherCAT protocol-based Ethernet networks.

The digital positioning controller EPOS3 70/10 EtherCAT meets the highest demands in real-time positioning of synchronised multi-axis systems. Extremely compact in size, the EPOS3 possesses a wide nominal power supply voltage range from 11 to 70VDC, and delivers a continuous output current of 10A, which can increase even up to 25A during acceleration and deceleration. Designed for DC and EC motors with a power range up to 700W, it provides outstanding uniform running for motors equipped with incremental encoders.

The EPOS3 70/10 EtherCAT easily integrates as slave into real-time EtherCAT protocol-based Ethernet networks, and with the provided device description file and device-specific configuration guide, for example in a Beckhoff-TwinCAT environment. A multitude of operating modes allows efficient, flexible use in a wide range of drive systems in robotics, automation, and mechatronics. The positioning controller supports a broad bandwidth of encoders.

In the typical EtherCAT modes, cyclic synchronous position (CSP), cyclic synchronous velocity (CSV), and cyclic synchronous torque (CST), the EtherCAT master calculates the trajectory points and sends the target parameters cyclically and synchronous via EtherCAT network to the EPOS3. The corresponding control loops for position, speed, and torque/current take place in the EPOS3, which in turn delivers the measured actual values (position, speed, current) to the EtherCAT master.

For the actual drive control, the EPOS3 70/10 EtherCAT is equipped with superb motion control functionality. For example, in profile position mode (PPM), the path is calculated with high accuracy. A bundle of additional features, such as speed control with given target velocity in profile velocity mode (PVM), homing to a defined mechanical position using numerous implemented methods is available. The same applies for the generous number of inputs and outputs, which makes the extra EtherCAT I/O module obsolete.

Digital inputs/outputs can be configured as reference or limit switch as well as capture or trigger, or can be used to activate holding brakes with definable on/off switching delays. Additionally, analog inputs/outputs are at free disposal. Perfectly tailored for servo motors, the EPOS3 70/10 EtherCAT also offers built-in motor filters with motor chokes for EMC-conform operation. Prefabricated cables and perfectly matching accessories help to make installation and commissioning easy.

The controller offers comprehensive circuitry against overcurrent, excess temperature, undervoltage and overvoltage, against voltage transients and against short-circuits in the motor cable. Furthermore, it is equipped with adjustable current limitation to protect motor and load as well as protected digital inputs and outputs.

The EPOS studio serves as user interface for efficient parameterisation employing a number of smart and clever functions and intuitively designed wizards. Tasks, such as downloading firmware, automatic controller commissioning, I/O configuration, and test and data recording becomes little more than child’s play. Alternative to the Ethernet interface, a USB 2.0 port is available for commissioning and diagnostics.

A comprehensive documentation set, inclusive firmware specification and application examples, as well as the graphical user interface are availiable for free download.

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