Commanding Maxon EPOS Motor Controller(s) from MATLAB on Windows Platform

• A computer with Windows OS (Tested on Windows 10 Pro 1909)
• EPOS Studio (Tested with EPOS Studio 2.4)
• EPOS 4 Motor Controller (Tested with integrated motor - Exoskeleton Joint Actuator)
• MATLAB (Tested with R2019b)
• C++ Compiler (Tested with Microsoft Visual C++ 2019 (C) - Visual Studio 2019)

• Clone the repository git clone [email protected]:HERMESTeamEU/EPOS-Libraries-for-MATLAB-Windows.git
• Download and install the EPOS Studio - Download Now
• From C:\Program Files (x86)\maxon motor ag\EPOS IDX\EPOS4, find and copy the following files to ./EPOS-Libraries-for-MATLAB-Windows/Epos4Windows
  • Definitions.h
  • EposCmd.dll
  • EposCmd.lib
  • EposCmd64.dll
  • EposCmd64.lib
  • vxlapi.dll
  • vxlapi64.dll
• Start the MATLAB
• Open the ./EPOS-Libraries-for-MATLAB-Windows using MATLAB command window
• Run the following commands from MATLAB command window

  Clean
  Make
  

• Connect your EPOS 4 Motor Controller with USB
• Run the demo with the following command

  DemoEpos
  

• This library is original written by Eugenio Yime Rodriguez for EPOS 2 Motor Controllers
• This is a modified version by Iordanis Kostelidis for EPOS 4 Motor Controllers

Copyright (c) 2015, Eugenio All rights reserved.

Redistribution and use in source and binary forms, with or without modification, are permitted provided that the following conditions are met:

• Redistributions of source code must retain the above copyright notice, this list of conditions and the following disclaimer.

• Redistributions in binary form must reproduce the above copyright notice, this list of conditions and the following disclaimer in the documentation and/or other materials provided with the distribution

• Neither the name of Universidad Tecnologica de Bolivar nor the names of its contributors may be used to endorse or promote products derived from this software without specific prior written permission. THIS SOFTWARE IS PROVIDED BY THE COPYRIGHT HOLDERS AND CONTRIBUTORS "AS IS" AND ANY EXPRESS OR IMPLIED WARRANTIES, INCLUDING, BUT NOT LIMITED TO, THE IMPLIED WARRANTIES OF MERCHANTABILITY AND FITNESS FOR A PARTICULAR PURPOSE ARE DISCLAIMED. IN NO EVENT SHALL THE COPYRIGHT OWNER OR CONTRIBUTORS BE LIABLE FOR ANY DIRECT, INDIRECT, INCIDENTAL, SPECIAL, EXEMPLARY, OR CONSEQUENTIAL DAMAGES (INCLUDING, BUT NOT LIMITED TO, PROCUREMENT OF SUBSTITUTE GOODS OR SERVICES; LOSS OF USE, DATA, OR PROFITS; OR BUSINESS INTERRUPTION) HOWEVER CAUSED AND ON ANY THEORY OF LIABILITY, WHETHER IN CONTRACT, STRICT LIABILITY, OR TORT (INCLUDING NEGLIGENCE OR OTHERWISE) ARISING IN ANY WAY OUT OF THE USE OF THIS SOFTWARE, EVEN IF ADVISED OF THE POSSIBILITY OF SUCH DAMAGE.