Parrallelism EPOS

[_Xilinx_]

rolfk, I totally agree with what you said.

Actually I have just put my oscilloscope on the DC pulses of the Motor and notice that I usually get a delay between 10..20ms before the 2nd axis initiates movement.

The correct way would be to switch to a CANopen Master network which has SYNC pulses to start a task in realtime -Just like PLC's do it-. But that will take much more coding effort + I would need to buy a real-time CAN which is not supported by NI for PC-based systems.... ixxat or kvaser might do. NI Canopen interfaces

Optionally, without the SYNC and using 1Mbit/s over CAN, I could bring it down to few ms delay. Maybe with the NI USB-8473, but this one is not CANopen supported --> Problems.

I can also say that Maxon Motor confirmed that there is no 'external start trigger'-pulse for the EPOS2. And that it can not be donne over RS232 communication because it's not implemented, for CAN-bus it is implemented.

There is also another EPOS Motor mode which is called "Master Encoder Mode" which should make it controlled by external pulses, I still need to check this out.

Thanks for your help and advice!

[Bala07]

hey prasanth,

I am trying to do the same thing, ie, connecting the epos2 p to the PC using USB and the epos2 to the epos2 p via CAN. But i am unable to make any movement of the epos2 as an error is coming as error opening port. since only the epos2 p is connected to the pc, im not sure as to give what as the protocol stack name, interface name and port name. please do help

thanq in advance

bala

[Bala07]

hey, i am also trying to control one epos2 p and one epos2 ober labview. the epos2 p is connected to the pc via usb and the epos2 is connected to the epos2 p via CAN cable. since only the epos2 p is connected to the pc via usb, i am having a doubt as to what should be given as  the protocol stack name, interface name and port name for the epos2. i am not aiming for parallelism, just movement of the motor in a defined order is enough. any help is appreciated.

thank u in advance

bala

[jakeny29]

If you don't want to run them synchronously, you just need to copy and paste the current program to run one, and then change the node ID for the second one. It should automatically transfer the signal from the USB connected bus to the CAN connected bus.