maxon motor EPOS2 70/10 Hardware Reference Manual Download Page 1

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maxon motor ag

Brünigstrasse 220 P.O.Box 263 CH-6072 Sachseln Phone +41 41 666 15 00 Fax +41 41 666 16 50 www.maxonmotor.com

Edition December 2013

EPOS2 Positioning Controller

Hardware Reference

maxon motor control

Positioning Controller

Hardware Reference

Document ID: rel4270

Summary of Contents for EPOS2 70/10

Page 1: ...Box 263 CH 6072 Sachseln Phone 41 41 666 15 00 Fax 41 41 666 16 50 www maxonmotor com Edition December 2013 EPOS2 Positioning Controller Hardware Reference maxon motor control Positioning Controller H...

Page 2: ...gs you already know Likewise we tried to skip repetitive information Thus you will find things mentioned just once If for example an earlier mentioned action fits other occasions you then will be dire...

Page 3: ...Encoder Cable 20 4 4 Hall Sensor Connector J3 21 4 5 Encoder Connector J4 22 4 6 Signal 1 Connector J5 24 4 6 1 Digital Inputs 1 2 and 3 25 4 6 2 Digital Inputs 4 5 and 6 26 4 6 3 Supply Voltage for D...

Page 4: ...rol A 4 Document ID rel4270 EPOS2 Positioning Controller Edition December 2013 EPOS2 70 10 Hardware Reference 2013 maxon motor Subject to change without prior notice p a g e i n t e n ti o n a l l y l...

Page 5: ...ence This document is meant for trained and skilled personnel working with the equipment described It con veys information on how to understand and fulfill the respective work and duties This document...

Page 6: ...d a hazard So you must Examples 1 4 3 Informatory Signs Requirement Note Remark Indicates an action you must perform prior continuing or refers to information on a particular item Best Practice Gives...

Page 7: ...and Trademark Owners 1 6 Copyright 2013 maxon motor All rights reserved The present document including all parts thereof is protected by copyright Any use including repro duction translation microfil...

Page 8: ...rol 1 8 Document ID rel4270 EPOS2 Positioning Controller Edition December 2013 EPOS2 70 10 Hardware Reference 2013 maxon motor Subject to change without prior notice p a g e i n t e n ti o n a l l y l...

Page 9: ...sensors and encoder The sinusoidal current commutation by space vector control offers the possibility to drive brushless EC motors with minimal torque ripple and low noise The integrated position vel...

Page 10: ...monitoring and safety equipment If the machine apparatus should break down if it is operated incorrectly if the control unit breaks down or if the cables break or get disconnected etc the complete dri...

Page 11: ...Hall effect sensor ICs Schmitt trigger with open collector output Encoder signals A A B B I I max 5 MHz internal line receiver EIA RS422 Standard Digital Input 1 General Purpose optically isolated 9 2...

Page 12: ...0 mA Digital Output 3 General Purpose optically isolated max 24 VDC IL 20 mA Digital Output 4 Brake optically isolated max 24 VDC IL 500 mA Digital Output 5 High Speed Output internal line driver EIA...

Page 13: ...al 1 On board Suitable plug Suitable terminal dual row male header 6 poles Molex Micro Fit 3 0 dual row female receptacle 6 poles Molex Micro Fit 3 0 430 25 0600 female crimp terminal Molex Micro Fit...

Page 14: ...tal Conditions Remark 1 Operation within the extended temperature range is permitted However a respective derating declination of max output current as to the stated value will apply Table 3 12 Enviro...

Page 15: ...of your operational system you must perform EMC testing of the involved equipment as a whole Table 3 14 Standards Order Details EPOS2 70 10 Order number 375711 Electromagnetic Compatibility Generic S...

Page 16: ...ol 3 16 Document ID rel4270 EPOS2 Positioning Controller Edition December 2013 EPOS2 70 10 Hardware Reference 2013 maxon motor Subject to change without prior notice p a g e i n t e n ti o n a l l y l...

Page 17: ...ng Controller Document ID rel4270 4 17 EPOS2 70 10 Hardware Reference Edition December 2013 2013 maxon motor Subject to change without prior notice 4 Connections Figure 4 3 Interfaces Designations and...

Page 18: ...1 Sought value Supply voltage VCC Volt Solution 2 Choose power supply capable as to above calculation Thereby consider a During braking of the load the power supply must be capable of buffering the fe...

Page 19: ...ture Basically any power supply may be used provided it meets below stated minimal requirements Figure 4 6 Power Connector J1A Power Supply Requirements Output voltage VC min 11 VDC VC max 70 VDC Abso...

Page 20: ...tor brushless 4 3 2 maxon DC motor with separated Motor Encoder Cable Accessories Cable Motor Cable 275851 Notes Suitable connector Suitable crimp terminals Suitable hand crimper Molex Mini Fit Jr 4 p...

Page 21: ...supply voltage 5 VDC Max Hall sensor supply current 30 mA Input voltage 0 24 VDC Logic 0 typically 0 8 VDC Logic 1 typically 2 4 VDC Internal pull up resistor 2 7 k against 5 VDC Pin Signal Descripti...

Page 22: ...id state The receivers indicate whether a receiver input is in open circuit condition except index channel short circuit condition or beyond the common mode range smaller 10 V or higher 13 2 V They al...

Page 23: ...er Connector J4 Pin Signal Description 1 not connected 2 5 VDC 100 mA Encoder supply voltage 3 GND Ground 4 not connected 5 Channel A Channel A complement 6 Channel A Channel A 7 Channel B Channel B c...

Page 24: ...t 5 Positive Limit Switch 5 DigIN4 Digital Input 4 Home Switch 6 DigIN3 Digital Input 3 General Purpose 7 DigIN2 Digital Input 2 General Purpose 8 DigIN1 Digital Input 1 General Purpose 9 V Opto IN Ex...

Page 25: ...via software Figure 4 14 DigIN1 3 Logic Level Figure 4 15 DigIN1 3 Circuit DigIN1 General Purpose DigIN2 General Purpose DigIN3 General Purpose IN_COM1 common signal Connector J5 Pin 8 Connector J5 P...

Page 26: ...sitive Limit Switch Digital Input 6 Negative Limit Switch Figure 4 16 DigIN4 6 Logic Level Figure 4 17 DigIN4 6 Circuit DigIN4 Home Switch DigIN5 Positive Limit Switch DigIN6 Negative Limit Switch IN_...

Page 27: ...r notice Wiring Example Different Types of Proximity Switches Figure 4 18 DigIN4 6 Wiring Example for different Types of Proximity Switches Best Practice Preferably use 3 wire PNP proximity switches U...

Page 28: ...ents 4 6 4 Digital Outputs 1 2 and 3 By default the optically isolated digital outputs are defined as General Purpose and may be configured via software Figure 4 19 DigOUT1 3 Circuit V Opto IN DigOUT_...

Page 29: ...tage applied to serve as magnet brake and may be configured via software Figure 4 20 DigOUT4 Circuit Wiring Example Permanent Magnet Brake Figure 4 21 DigOUT4 Wiring Example for Permanent Magnet Brake...

Page 30: ...ing Power Stage Enable deactivated DIP switch JP4 switch 2 OFF Power Stage Enable activated Figure 4 22 DigIN11 Logic Level Figure 4 23 DigIN11 Circuit Figure 4 24 DIP Switch JP4 2 Factory Setting Pow...

Page 31: ...ltage 5 V 2 A_Gnd Analog signal ground 3 AnIN2 Analog Input 2 negative signal 4 AnIN2 Analog Input 2 positive signal 5 AnIN1 Analog Input 1 negative signal 6 AnIN1 Analog Input 1 positive signal 7 D_G...

Page 32: ...ed as General Purpose and may be configured via software Figure 4 27 AnIN1 Circuit analogously valid also for AnIN2 AnIN1 AnIN1 AnIN2 AnIN2 Connector J5A Pin 5 Connector J5A Pin 6 Connector J5A Pin 3...

Page 33: ...ifferential Circuit analogously valid also for DigIN8 Figure 4 29 DigIN7 Sin Cos Circuit analogously valid also for DigIN8 Differential DigIN7 High Speed Command DigIN8 High Speed Command Connector J5...

Page 34: ...13 maxon motor Subject to change without prior notice Figure 4 30 DigIN7 Single ended Circuit analogously valid also for DigIN8 Single ended Input voltage 0 5 VDC Max input voltage 12 VDC Logic 0 1 0...

Page 35: ...ion 1 DigIN9 Digital Input 9 High Speed Command complement 2 DigIN9 Digital Input 9 High Speed Command 3 DigOUT5 Digital Output 5 High Speed Output complement 4 VAUX Auxiliary output voltage 5DC 150 m...

Page 36: ...via software Figure 4 32 DigIN9 Differential Circuit Figure 4 33 DigIN9 Single ended Circuit Differential DigIN9 High Speed Command Connector J5B Pins 1 2 Min differential input voltage 200 mV Line r...

Page 37: ...r 2013 2013 maxon motor Subject to change without prior notice 4 8 2 Auxiliary Output Voltage Can be used as supply voltage for external loads connected to EPOS2 70 10 digital inputs Figure 4 34 Auxil...

Page 38: ...t and may be configured via software Figure 4 35 DigOUT5 Differential Circuit Figure 4 36 DigOUT5 Single ended Circuit Differential DigOUT5 High Speed Output Connector J5B Pins 3 6 Differential output...

Page 39: ...V 3 k to Ground Max bit rate 115 200 bit s Internal RS232 driver receiver EIA RS232 Standard EPOS2 70 10 PC Interface RS232 DIN41652 Connector J6 Pins 4 5 GND Pin 5 GND Connector J6 Pin 1 EPOS RxD Pin...

Page 40: ...03 Max bit rate 1 Mbit s Max number of CAN nodes 127 Protocol CANopen DS 301 V4 02 Identifier setting DIP switch or software EPOS2 70 10 CAN 9 pin D Sub DIN41652 Connector J7 or J8 Pin 1 CAN high Pin...

Page 41: ...Typical input current 15 mA Max DC data input voltage 0 5 3 8 VDC EPOS2 70 10 PC Interface USB 2 0 Connector J9 Pin 1 VBUS Pin 1 VBUS Connector J9 Pin 2 USB D Pin 2 USB D Connector J9 Pin 3 USB D Pin...

Page 42: ...nfigured by software changing object Node ID range 1 127 The CAN ID results in the summed values of DIP switch addresses 1 ON DIP switch 8 does not have any impact on the CAN ID Table 4 15 CAN ID Bina...

Page 43: ...r individual CAN bus termination settings must be performed Using DIP switch 8 the controller internal bus termination resistor can be activated deactivated By default bus termination is OFF neverthel...

Page 44: ...formation separate document EPOS2 Firmware Specification Table 4 17 LEDs Interpretation of Condition LED Status Error Red Green OFF Slow Power stage is disabled Device is in status Switch ON Disabled...

Page 45: ...uit 28 Figure 4 20 DigOUT4 Circuit 29 Figure 4 21 DigOUT4 Wiring Example for Permanent Magnet Brake 29 Figure 4 22 DigIN11 Logic Level 30 Figure 4 23 DigIN11 Circuit 30 Figure 4 24 DIP Switch JP4 2 Fa...

Page 46: ...ata Inputs 11 Table 3 5 Electrical Data Outputs 12 Table 3 6 Electrical Data Voltage Outputs 12 Table 3 7 Electrical Data Motor Connections 12 Table 3 8 Electrical Data Interfaces 12 Table 3 9 Electri...

Page 47: ...41 country specific regulations 10 D digital inputs 25 26 digital outputs 28 29 DIP switch JP1 42 JP1 bus termination 43 E electrical data 11 environmental conditions permitted 14 error display 44 ESD...

Page 48: ...n motor Subject to change without prior notice R regulations additionally applicable 10 RS232 interface 39 S safety alerts 5 safety first 10 signs informative 6 mandatory 6 prohibitive 6 signs used 5...

Page 49: ...otor control EPOS2 Positioning Controller Document ID rel4270 Z 49 EPOS2 70 10 Hardware Reference Edition December 2013 2013 maxon motor Subject to change without prior notice p age intentionally left...

Page 50: ...g all parts thereof is protected by copyright Any use including reproduction translation microfilming and other means of electronic data processing beyond the narrow restrictions of the copyright law...

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