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Motherboard Design Guide
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maxon motor control

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Document ID: rel5977

EPOS4 Positioning Controller

Edition: February 2016

EPOS4 Module/Compact 50/8 Hardware Reference

• • p a g e i n t e n t i o n a l l y l e f t b l a n k • •

Summary of Contents for 504384

Page 1: ...n Phone 41 41 666 15 00 Fax 41 41 666 16 50 www maxonmotor com Edition February 2016 EPOS4 Positioning Controller Hardware Reference maxon motor control Positioning Controller P N 504384 Positioning C...

Page 2: ...1 Power Supply 40 3 4 2 Logic Supply 41 3 4 3 Motor 42 3 4 4 Hall Sensor 43 3 4 5 Encoder 44 3 4 6 Sensor 46 TABLE OF CONTENTS READ THIS FIRST These instructions are intended for qualified technical...

Page 3: ...pheral Interface SPI 69 3 4 10 USB X13 70 3 5 Status Indicators 71 4 Motherboard Design Guide 73 4 1 Requirements for Components of Third party Suppliers 73 4 1 1 Socket Headers 73 4 1 2 Supply Voltag...

Page 4: ...Document ID rel5977 EPOS4 Positioning Controller Edition February 2016 EPOS4 Module Compact 50 8 Hardware Reference 2016 maxon motor Subject to change without prior notice p a g e i n t e n ti o n a...

Page 5: ...life of the described equipment The present document is part of a documentation set and contains performance data and specifications information on fulfilled standards details on connections and pin...

Page 6: ...RNING Indicates a potential hazardous situation If not avoided it can result in death or serious injury CAUTION Indicates a probable hazardous situation or calls the attention to unsafe practices If n...

Page 7: ...nt document including all parts thereof is protected by copyright Any use including repro duction translation microfilming and other means of electronic data processing beyond the narrow restrictions...

Page 8: ...tion with highest control cycle rates allow sophisticated ease of use motion control Thanks to its smart design the EPOS4 Module 50 8 can either be used in combination with EPOS4 CB Power connector bo...

Page 9: ...ectronic apparatus can not be considered fail safe Therefore you must make sure that any machine apparatus has been fitted with independent monitoring and safety equipment If the machine apparatus sho...

Page 10: ...motor control 1 10 Document ID rel5977 EPOS4 Positioning Controller Edition February 2016 EPOS4 Module Compact 50 8 Hardware Reference 2016 maxon motor Subject to change without prior notice p a g e i...

Page 11: ...ax speed DC motor limited by max permissible speed motor and max output voltage controller Max speed EC motor block 100 000 rpm 1 pole pair Max speed EC motor sinusoidal 50 000 rpm 1 pole pair Built i...

Page 12: ...or winding 2 Motor winding 3 Interfaces RS232 Module max 115 200 bit s external transceiver necessary Compact max 115 200 bit s USB 2 0 USB 3 0 Full Speed CAN max 1 Mbit s Status Indicators Operation...

Page 13: ...to change without prior notice 2 2 Thermal Data 2 2 1 Derating of Output Current Figure 2 3 Derating output current 2 2 2 Power Dissipation and Efficiency Figure 2 4 Power dissipation and efficiency 2...

Page 14: ...EPOS4 Positioning Controller Edition February 2016 EPOS4 Module Compact 50 8 Hardware Reference 2016 maxon motor Subject to change without prior notice 2 4 Dimensional Drawings Figure 2 5 EPOS4 Module...

Page 15: ...or control EPOS4 Positioning Controller Document ID rel5977 2 15 EPOS4 Module Compact 50 8 Hardware Reference Edition February 2016 2016 maxon motor Subject to change without prior notice Figure 2 7 E...

Page 16: ...whole Table 2 6 Standards Electromagnetic Compatibility Generic IEC EN 61000 6 2 Immunity for industrial environments IEC EN 61000 6 3 Emission standard for residential commercial and light industria...

Page 17: ...ke sure that supply power is between 10 50 VDC Supply voltages above 56 VDC or wrong polarity will destroy the unit Note that the necessary output current is depending on the load torque Yet the outpu...

Page 18: ...tor EC motor Winding 2 A9 A12 Motor winding 3 EC motor Winding 3 A13 A16 VCC Nominal power supply voltage 10 50 VDC A17 VC Nominal logic supply voltage 10 50 VDC A18 A22 GND Ground A23 Hall sensor 1 H...

Page 19: ...ncremental encoder channel I High speed digital input 3 Clock SSI High speed digital output 1 B12 Channel I HsDigIN3 Clock HsDigOUT1 Digital analog incremental encoder channel I complement High speed...

Page 20: ...CAN bus B35 CAN high CAN high bus line B36 CAN low CAN low bus line B37 B38 GND Ground B39 DSP_RxD Serial communication interface receive UART B40 DSP_TxD Serial communication interface transmit UART...

Page 21: ...EPOS4 CB Power CAN left EPOS4 Compact 50 8 CAN right 3 3 2 Cabling PLUG PLAY Take advantage of maxon s prefab cable assemblies They come as ready to use parts and will help to reduce commissioning ti...

Page 22: ...cation Quantity Connectors X1 Molex Mega Fit 2 poles 171692 0102 1 X2 Molex Mini Fit Jr 2 poles 39 01 2020 1 X3A Molex Mini Fit Jr 4 poles 39 01 2040 1 X3B Molex Mega Fit 4 poles 171692 0104 1 X4 Mole...

Page 23: ...r CAN Connectors How to read pin assignment tables The first column describes both the pin number of the connector and of the matching prefab maxon cable s Head A The second column describes the cable...

Page 24: ...ly disconnected during the setup and adjustment phase Figure 3 11 Power supply connector X1 Table 3 12 Power supply connector X1 Pin assignment Table 3 13 Power Cable High Current X1 Head A Prefab Cab...

Page 25: ...2 Logic Supply X2 Figure 3 12 Logic supply connector X2 Table 3 14 Logic supply connector X2 Pin assignment Table 3 15 Power Cable X2 Head A Prefab Cable Head B Signal Description Pin Color Pin 1 blac...

Page 26: ...8 504384 X3B Icont 15 A suitable for EPOS4 Module 50 15 504383 Figure 3 13 Motor connectors X3A left and X3B right Table 3 16 Motor connector X3A X3B Pin assignment for maxon DC motor Table 3 17 Moto...

Page 27: ...Table 3 19 Motor Cable High Current Motor Cable for X3A 275851 Cross section 3 x 0 75 mm2 shielded grey Length 3 m Head A Plug Molex Mini Fit Jr 4 poles 39 01 2040 Contacts Molex Mini Fit Jr female c...

Page 28: ...signment Table 3 21 Hall Sensor Cable X4 Head A Prefab Cable Head B Signal Description Pin Color Pin 1 green Hall sensor 1 Hall sensor 1 input 2 brown Hall sensor 2 Hall sensor 2 input 3 white Hall se...

Page 29: ...mA 3 red 3 GND Ground 4 white 4 not connected 5 orange 5 Channel A Channel A complement 6 white 6 Channel A Channel A 7 yellow 7 Channel B Channel B complement 8 white 8 Channel B Channel B 9 green 9...

Page 30: ...al encoder channel A complement High speed digital input 1 complement 3 green 3 Channel B HsDigIN2 Digital analog incremental encoder channel B High speed digital input 2 4 yellow 4 Channel B HsDigIN2...

Page 31: ...8 Hardware Reference Edition February 2016 2016 maxon motor Subject to change without prior notice Table 3 26 Sensor Cable 5x2core Sensor Cable 5x2core 520852 Cross section 5 x 2 x 0 14 mm2 twisted pa...

Page 32: ...3 28 Signal Cable 8core X7 Head A Prefab Cable Head B Signal Description Pin Color Pin 1 white 1 DigIN1 Digital input 1 2 brown 2 DigIN2 Digital input 2 3 green 3 DigIN3 Digital input 3 4 yellow 4 Di...

Page 33: ...3 30 Signal Cable 7core X8 Head A Prefab Cable Head B Signal Description Pin Color Pin 1 white 1 AnIN1 Analog input 1 positive signal 2 brown 2 AnIN1 Analog input 1 negative signal 3 green 3 AnIN2 An...

Page 34: ...ching prefab cable assembly Table 3 28 on page 3 32 Figure 3 20 STO Idle Connector X9 Head A Prefab Cable Head B Signal Description Pin Color Pin 1 white 1 STO IN1 Safe Torque Off input 1 positive sig...

Page 35: ...r X10 Pin assignment Table 3 33 RS232 COM Cable X10 Head A Prefab Cable Head B Signal Description Pin Color Pin 1 white 3 EPOS_RxD EPOS RS232 receive 2 brown 5 GND Ground 3 green 2 EPOS_TxD EPOS RS232...

Page 36: ...ption Pin Color Pin 1 white 7 CAN high CAN high bus line 2 brown 2 CAN low CAN low bus line 3 green 3 GND Ground 4 Shield 5 Shield Cable shield CAN COM Cable 520857 Cross section 2 x 2 x 0 14 mm2 twis...

Page 37: ...1 CAN ID Node Address The CAN ID is set with DIP switches 1 5 The node address 1 31 may be coded using binary code Setting the CAN ID by DIP switch SW1 By setting the DIP switch 1 5 address 0 OFF the...

Page 38: ...adding the valence of all activated switches Use the following table as a non concluding guide Table 3 38 DIP switch SW1 Examples 3 3 5 2 CAN automatic Bit Rate Detection Table 3 39 DIP switch SW1 CA...

Page 39: ...or notice 3 3 5 3 CAN Bus Termination Table 3 40 DIP switch SW1 CAN bus termination 3 3 5 4 Digital Input Level For details chapter 3 4 6 4 Digital I Os on page 3 57 Table 3 41 DIP switch SW1 Digital...

Page 40: ...refer to the Module For the corresponding Compact s circuitry take the second column Compact CB Connector Pin into account 3 4 1 Power Supply Basically any power supply may be used provided that it m...

Page 41: ...ge VCC Volt SOLUTION 3 4 2 Logic Supply Separate power supply The logic part of the controller may be supplied by separate supply voltage provided that it meets the below stated minimum requirements M...

Page 42: ...motor Pin assignment Module Header Pin Compact CB Connector Pin Signal Description A1 A4 X3A 1 X3B 1 Motor M Motor A5 A8 X3A 2 X3B 2 Motor M Motor X3A 3 X3B 3 not connected X3A 4 X3B 4 Motor shield C...

Page 43: ...all sensors 2 3 Module Header Pin Compact CB Connector Pin Signal Description A18 A22 X4 4 GND Ground A23 X4 1 Hall sensor 1 Hall sensor 1 input A24 X4 2 Hall sensor 2 Hall sensor 2 input A25 X4 3 Hal...

Page 44: ...strongly recommend to use only 3 channel versions Table 3 48 Encoder Pin assignment Continued on next page Module Header Pin Compact CB Connector Pin Signal Description A18 A22 X5 3 GND Ground A26 X5...

Page 45: ...ogously valid for Ch B Ch I Figure 3 26 Encoder input circuit Ch A single ended analogously valid for Ch B Ch I Encoder single ended Sensor supply voltage VSensor 5 VDC Max encoder supply current 70 m...

Page 46: ...ader Pin Compact CB Connector Pin Signal Description B7 X6 1 Channel A Digital analog incremental encoder channel A B8 X6 2 Channel A Digital analog incremental encoder channel A complement B9 X6 3 Ch...

Page 47: ...rel5977 3 47 EPOS4 Module Compact 50 8 Hardware Reference Edition February 2016 2016 maxon motor Subject to change without prior notice Figure 3 27 Digital incremental encoder input circuit Ch A diffe...

Page 48: ...d analogously valid for Ch B Continued on next page Digital incremental encoder single ended Auxiliary output voltage VAux 5 VDC Max auxiliary supply current 150 mA Input voltage 0 5 VDC Max input vol...

Page 49: ...control EPOS4 Positioning Controller Document ID rel5977 3 49 EPOS4 Module Compact 50 8 Hardware Reference Edition February 2016 2016 maxon motor Subject to change without prior notice Figure 3 30 Dig...

Page 50: ...e Figure 3 31 Analog incremental encoder input circuit Ch A differential analogously valid for Ch B Continued on next page Analog incremental encoder differential Auxiliary output voltage VAux 5 VDC M...

Page 51: ...POS4 Positioning Controller Document ID rel5977 3 51 EPOS4 Module Compact 50 8 Hardware Reference Edition February 2016 2016 maxon motor Subject to change without prior notice Figure 3 32 Analog incre...

Page 52: ...ext page Module Header Pin Compact CB Connector Pin Signal Description B11 X6 5 Clock Clock SSI B12 X6 6 Clock Clock SSI complement B13 X6 7 Data Data SSI B14 X6 8 Data Data SSI complement B15 X6 10 V...

Page 53: ...motor control EPOS4 Positioning Controller Document ID rel5977 3 53 EPOS4 Module Compact 50 8 Hardware Reference Edition February 2016 2016 maxon motor Subject to change without prior notice Figure 3...

Page 54: ...6 1 HsDigIN1 High speed digital input 1 B8 X6 2 HsDigIN1 High speed digital input 1 complement B9 X6 3 HsDigIN2 High speed digital input 2 B10 X6 4 HsDigIN2 High speed digital input 2 complement B11 X...

Page 55: ...without prior notice Figure 3 36 HsDigIN1 circuit single ended analogously valid for HsDigIN2 4 High speed digital input 1 4 single ended Input voltage 0 5 VDC Max input voltage 12 VDC Logic 0 1 0 V...

Page 56: ...16 EPOS4 Module Compact 50 8 Hardware Reference 2016 maxon motor Subject to change without prior notice Figure 3 37 HsDigOUT1 output circuit High speed digital output 1 Min differential output voltage...

Page 57: ...valid for DigIN2 4 Module Module Header Pin Signal Description B1 DigIN1 Digital input 1 B2 DigIN2 Digital input 2 B3 DigIN3 Digital input 3 B4 DigIN4 Digital input 4 B5 DigOUT1 Digital output 1 B6 D...

Page 58: ...DigIN2 4 Compact Logic level setting Continued on next page Compact CB Connector Pin Signal Description X7 1 DigIN1 Digital input 1 X7 2 DigIN2 Digital input 2 X7 3 DigIN3 Digital input 3 X7 4 DigIN4...

Page 59: ...4 Compact PLC level setting For pin assignment of digital outputs Table 3 52 and Table 3 53 Figure 3 41 DigOUT1 circuit analogously valid for DigOUT2 and Compact Continued on next page Digital inputs...

Page 60: ...hange without prior notice WIRING EXAMPLES Figure 3 42 DigOUT1 sinks analogously valid for DigOUT2 and Compact Figure 3 43 DigOUT1 source analogously valid for DigOUT2 and Compact DigOUT sinks Max inp...

Page 61: ...Os Pin assignment Figure 3 44 STO IN1 circuit analogously valid for STO IN2 Module Header Pin Compact CB Connector Pin Signal Description X9 8 VSTO Activation voltage for STO inputs 5 VDC Note Do not...

Page 62: ...rior notice Figure 3 45 STO OUT circuit Table 3 55 STO logic state Safe Torque Off output Circuit type Optically isolated output with self resetting short circuit protection Max input voltage 30 VDC M...

Page 63: ...Pin Compact CB Connector Pin Signal Description B16 X8 7 GND Ground B23 X8 1 AnIN1 Analog input 1 positive signal B24 X8 2 AnIN1 Analog input 1 negative signal B25 X8 3 AnIN2 Analog input 2 positive s...

Page 64: ...tor Subject to change without prior notice Figure 3 47 AnOUT1 circuit analogously valid for AnOUT2 Analog outputs 1 2 Output voltage 4 VDC D A converter 12 bit Resolution 2 42 mV Refresh rate TBD Anal...

Page 65: ...rface by wiring it to an RS232 transceiver Alternatively using any of the Compact versions does not require an external transceiver Bit rate settings Consider the master s maximal bite rate The standa...

Page 66: ...ject to change without prior notice COMPACT Table 3 58 RS232 Pin assignment Compact CB Connector Pin Signal Description X10 1 EPOS_RxD EPOS RS232 receive X10 2 GND Ground X10 3 EPOS_TxD EPOS RS232 tra...

Page 67: ...Note Consider the CAN master s maximal bit rate The standard bit rate setting factory setting is 1 Mbit s For connector boards and Compact ver sions automatic bit rate detection is set Use 120 termin...

Page 68: ...to GND Use the following table as a non concluding guide Table 3 61 CAN ID Examples Setting the CAN ID by EPOS Studio The CAN ID may be set by software changing object Node ID range 1 127 The CAN ID s...

Page 69: ...h speed synchronous serial input output port allowing the use of optional maxon exten sion modules Note Do not connect any other signals to the SPI apart from those for the maxon extension modules Tab...

Page 70: ...pe A micro B Cable Compact CB Connector Pin PC s USB Terminal Signal Description X13 1 1 VBUS USB bus supply voltage input 5 VDC X13 2 2 USB_D USB Data twisted pair with Data X13 3 3 USB_D USB Data tw...

Page 71: ...LEDs display the actual status and possible errors of the EPOS4 Green LED shows the status Red LED indicates errors Table 3 65 Status LED LED Status Error Green Red Slow OFF Power stage is disabled Th...

Page 72: ...control 3 72 Document ID rel5977 EPOS4 Positioning Controller Edition February 2016 EPOS4 Module Compact 50 8 Hardware Reference 2016 maxon motor Subject to change without prior notice p a g e i n t e...

Page 73: ...application 4 1 Requirements for Components of Third party Suppliers Best practice For references and recommended components consult Table 4 66 on page 4 76 4 1 1 Socket Headers The Module s implement...

Page 74: ...se of an electrolytic capacitor is also recommended to avoid oscillations caused by supply cable inductance or Module s built in capacitors that could lead to a voltage overshoot at power plug in 4 1...

Page 75: ...quate saturation current minimal losses and a nominal current greater than the continuous current of the motor The below wiring exam ple refers to an additional inductance of 2 2 H or 22 H If a differ...

Page 76: ...m Fuse FU1 Littelfuse 456 series SMD NANO2 Fuse 20 A 18 A2 sec 0456 020 TVS Diode D1 D2 Vishay SMBJ54A UR 54 V UBR 60 0 66 3 V 1 mA UC 87 1 V 6 9 A Fairchild SMBJ54A UR 54 V UBR 60 0 66 6 V 1 mA UC 87...

Page 77: ...age supply ground via wide conductive tracks Table 4 67 Motherboard Design Guide Grounding If an earth potential is in place or required the ground plane should be connected to the earth potential via...

Page 78: ...n motor control 4 78 Document ID rel5977 EPOS4 Positioning Controller Edition February 2016 EPOS4 Module Compact 50 8 Hardware Reference 2016 maxon motor Subject to change without prior notice p a g e...

Page 79: ...on optional 5 1 Contents DC Motors DC Motor without Sensor 5 81 DC Motor Digital Incremental Encoder 5 82 DC Motor Digital Digital Incremental Encoder 5 83 DC Motor Digital Analog Incremental Encoder...

Page 80: ...0 8 Hardware Reference 2016 maxon motor Subject to change without prior notice EC Motor Digital Incremental Encoder 5 95 EC Motor Digital Digital Incremental Encoder 5 96 EC Motor Digital Analog Incre...

Page 81: ...ositioning Controller Document ID rel5977 5 81 EPOS4 Module Compact 50 8 Hardware Reference Edition February 2016 2016 maxon motor Subject to change without prior notice 5 2 DC Motors brushed 5 2 1 DC...

Page 82: ...t ID rel5977 EPOS4 Positioning Controller Edition February 2016 EPOS4 Module Compact 50 8 Hardware Reference 2016 maxon motor Subject to change without prior notice 5 2 2 DC Motor Digital Incremental...

Page 83: ...ntroller Document ID rel5977 5 83 EPOS4 Module Compact 50 8 Hardware Reference Edition February 2016 2016 maxon motor Subject to change without prior notice 5 2 3 DC Motor Digital Digital Incremental...

Page 84: ...l5977 EPOS4 Positioning Controller Edition February 2016 EPOS4 Module Compact 50 8 Hardware Reference 2016 maxon motor Subject to change without prior notice 5 2 4 DC Motor Digital Analog Incremental...

Page 85: ...g Controller Document ID rel5977 5 85 EPOS4 Module Compact 50 8 Hardware Reference Edition February 2016 2016 maxon motor Subject to change without prior notice 5 2 5 DC Motor Digital Incremental SSI...

Page 86: ...nt ID rel5977 EPOS4 Positioning Controller Edition February 2016 EPOS4 Module Compact 50 8 Hardware Reference 2016 maxon motor Subject to change without prior notice 5 2 6 DC Motor Analog Incremental...

Page 87: ...rol EPOS4 Positioning Controller Document ID rel5977 5 87 EPOS4 Module Compact 50 8 Hardware Reference Edition February 2016 2016 maxon motor Subject to change without prior notice 5 2 7 DC Motor SSI...

Page 88: ...ument ID rel5977 EPOS4 Positioning Controller Edition February 2016 EPOS4 Module Compact 50 8 Hardware Reference 2016 maxon motor Subject to change without prior notice 5 3 EC Motors BLDC brushless 5...

Page 89: ...troller Document ID rel5977 5 89 EPOS4 Module Compact 50 8 Hardware Reference Edition February 2016 2016 maxon motor Subject to change without prior notice 5 3 2 EC Motor Hall Sensors Digital Incremen...

Page 90: ...5977 EPOS4 Positioning Controller Edition February 2016 EPOS4 Module Compact 50 8 Hardware Reference 2016 maxon motor Subject to change without prior notice 5 3 3 EC Motor Hall Sensors Analog Incremen...

Page 91: ...Positioning Controller Document ID rel5977 5 91 EPOS4 Module Compact 50 8 Hardware Reference Edition February 2016 2016 maxon motor Subject to change without prior notice 5 3 4 EC Motor Hall Sensors...

Page 92: ...4 Positioning Controller Edition February 2016 EPOS4 Module Compact 50 8 Hardware Reference 2016 maxon motor Subject to change without prior notice 5 3 5 EC Motor Hall Sensors Digital Digital Incremen...

Page 93: ...Document ID rel5977 5 93 EPOS4 Module Compact 50 8 Hardware Reference Edition February 2016 2016 maxon motor Subject to change without prior notice 5 3 6 EC Motor Hall Sensors Digital Analog Incremen...

Page 94: ...EPOS4 Positioning Controller Edition February 2016 EPOS4 Module Compact 50 8 Hardware Reference 2016 maxon motor Subject to change without prior notice 5 3 7 EC Motor Hall Sensors Digital Incremental...

Page 95: ...sitioning Controller Document ID rel5977 5 95 EPOS4 Module Compact 50 8 Hardware Reference Edition February 2016 2016 maxon motor Subject to change without prior notice 5 3 8 EC Motor Digital Incremen...

Page 96: ...rel5977 EPOS4 Positioning Controller Edition February 2016 EPOS4 Module Compact 50 8 Hardware Reference 2016 maxon motor Subject to change without prior notice 5 3 9 EC Motor Digital Digital Incremen...

Page 97: ...g Controller Document ID rel5977 5 97 EPOS4 Module Compact 50 8 Hardware Reference Edition February 2016 2016 maxon motor Subject to change without prior notice 5 3 10 EC Motor Digital Analog Incremen...

Page 98: ...cument ID rel5977 EPOS4 Positioning Controller Edition February 2016 EPOS4 Module Compact 50 8 Hardware Reference 2016 maxon motor Subject to change without prior notice 5 3 11 EC Motor Digital Increm...

Page 99: ...sitioning Controller Document ID rel5977 5 99 EPOS4 Module Compact 50 8 Hardware Reference Edition February 2016 2016 maxon motor Subject to change without prior notice 5 3 12 EC Motor Analog Incremen...

Page 100: ...ontrol 5 100 Document ID rel5977 EPOS4 Positioning Controller Edition February 2016 EPOS4 Module Compact 50 8 Hardware Reference 2016 maxon motor Subject to change without prior notice 5 3 13 EC Motor...

Page 101: ...put circuit analogously valid for Hall sensors 2 3 43 Figure 3 25 Encoder input circuit Ch A differential analogously valid for Ch B Ch I 45 Figure 3 26 Encoder input circuit Ch A single ended analogo...

Page 102: ...56 DC motor digital incremental encoder 82 Figure 5 57 DC motor digital digital incremental encoder 83 Figure 5 58 DC motor digital analog incremental encoder 84 Figure 5 59 DC motor digital increment...

Page 103: ...r 26 Table 3 18 Motor Cable 27 Table 3 19 Motor Cable High Current 27 Table 3 20 Hall sensor connector X4 Pin assignment 28 Table 3 21 Hall Sensor Cable 28 Table 3 22 Encoder connector X5 Pin assignme...

Page 104: ...n assignment 52 Table 3 51 High speed digital I Os Pin assignment 54 Table 3 52 Digital I Os Pin assignment Module 57 Table 3 53 Digital I Os Pin assignment Compact 58 Table 3 54 STO I Os Pin assignme...

Page 105: ...CAN interface 67 choke motor 74 connectors X1 24 X2 25 X3A 26 X3B 26 X4 28 X5 29 X6 30 X7 32 X8 33 X9 34 X10 35 X11 36 X12 36 X13 70 country specific regulations 9 D D1 DVS diode 74 DC motor connecti...

Page 106: ...851 27 520852 31 520853 32 520854 33 520856 35 520857 36 520858 36 520859 22 520860 34 520884 21 520885 11 21 performance data 11 pin assignment 18 power supply 40 precautions 9 prerequisites prior in...

Page 107: ...ntrol EPOS4 Positioning Controller Document ID rel5977 Z 107 EPOS4 Module Compact 50 8 Hardware Reference Edition February 2016 2016 maxon motor Subject to change without prior notice p age intentiona...

Page 108: ...axon motor All rights reserved The present document including all parts thereof is protected by copyright Any use including reproduction translation microfilming and other means of electronic data pro...

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