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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 May 2016

EPOS2 P Programmable Positioning Controller

Hardware Reference

maxon motor control

Programmable Positioning Controller

Hardware Reference

Document ID: rel5876

Summary of Contents for EPOS2 P 24/5

Page 1: ...072 Sachseln Phone 41 41 666 15 00 Fax 41 41 666 16 50 www maxonmotor com Edition May 2016 EPOS2 P Programmable Positioning Controller Hardware Reference maxon motor control Programmable Positioning C...

Page 2: ...ith things 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...

Page 3: ...on DC motor with separated Motor Encoder Cable 20 4 2 3 maxon DC motor with integrated Motor Encoder Ribbon Cable 21 4 3 Hall Sensor Connector J3 22 4 4 Encoder Connector J4 23 4 5 Signal Connector J5...

Page 4: ...4 Document ID rel5876 EPOS2 P Programmable Positioning Controller Edition May 2016 EPOS2 P 24 5 Hardware Reference 2016 maxon motor Subject to change without prior notice p a g e i n t e n ti o n a l...

Page 5: ...r other and or additional purposes is not permitted maxon motor the manufacturer of the equip ment described does not assume any liability for loss or damage that may arise from any other and or addit...

Page 6: ...NGER Indicates an imminent hazardous situation If not avoided it will result in death or serious injury WARNING Indicates a potential hazardous situation If not avoided it can result in death or serio...

Page 7: ...nt 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 of the co...

Page 8: ...8 Document ID rel5876 EPOS2 P Programmable Positioning Controller Edition May 2016 EPOS2 P 24 5 Hardware Reference 2016 maxon motor Subject to change without prior notice p a g e i n t e n ti o n a l...

Page 9: ...ctor control offers to drive brushless EC motors with minimal torque ripple and low noise The integrated position velocity and current control functionality allows sophisticated positioning applicatio...

Page 10: ...ndent 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 comple...

Page 11: ...peed block commutation motors with 1 pole pair 100 000 rpm Built in motor choke per phase 15 H 5 A Inputs Hall sensor signals Hall sensor 1 Hall sensor 2 and Hall sensor 3 for Hall effect sensor ICs S...

Page 12: ...ts Encoder supply voltage 5 VDC IL 100 mA Hall sensors supply voltage 5 VDC IL 30 mA Auxiliary output voltage Vcc IL 1300 mA Motor Connections maxon EC motor maxon DC motor Motor winding 1 Motor Motor...

Page 13: ...le terminal dual row male header 16 poles Molex Micro Fit 3 0 dual row female receptacle 12 poles Molex Micro Fit 3 0 430 25 1600 female crimp terminal Molex Micro Fit 3 0 43030 xxxx AWG 20 30 RS232 O...

Page 14: ...Edition May 2016 EPOS2 P 24 5 Hardware Reference 2016 maxon motor Subject to change without prior notice 3 2 Mechanical Data Table 3 13 Mechanical Data Figure 3 2 Dimensional Drawing mm Mechanical Dat...

Page 15: ...er a respective derating declination of output current Icont as to the stated values will apply 2 Operating altitude in meters above Mean Sea Level MSL Table 3 14 Environmental Conditions Figure 3 3 D...

Page 16: ...for industrial environments IEC EN 61000 6 3 Emission standard for residential commercial and light industrial environments Applied Standards IEC EN 61000 6 3 IEC EN 55022 CISPR22 Radio disturbance c...

Page 17: ...Positioning Controller Document ID rel5876 4 17 EPOS2 P 24 5 Hardware Reference Edition May 2016 2016 maxon motor Subject to change without prior notice 4 Connections Figure 4 4 Interfaces Designation...

Page 18: ...in 1 mNm 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 bufferi...

Page 19: ...ically any power supply may be used provided it meets below stated minimal requirements Using a separate logic supply you will need to change the jumper JP4 STOP Check on safety precautions before con...

Page 20: ...jumpers JP2 and JP3 Figure 4 9 Motor Connector J2 4 2 1 maxon EC motor brushless 4 2 2 maxon DC motor with separated Motor Encoder Cable Accessories Cable Motor Cable 275851 Notes Suitable connector...

Page 21: ...on DC motor with integrated Motor Encoder Ribbon Cable STOP Check on safety precautions before continuing page 2 10 1 Open housing and find jumpers JP2 and JP3 2 Set jumpers JP2 and JP3 to closed posi...

Page 22: ...sensor 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 De...

Page 23: ...in line driver is mandatory Even though 2 channel will do we strongly recommend to use only 3 channel versions By default the controller is set for a 500 count per turn encoder For other encoders you...

Page 24: ...r Encoder Ribbon Cable on page 4 21 Pin Signal Description 1 EC motor none DC motor Motor EC motor not connected DC motor Motor 1 2 5 VDC 100 mA Encoder supply voltage 3 GND Ground 4 EC motor none DC...

Page 25: ...l signal ground 2 D_Gnd Digital signal ground 3 DigIN6 Digital Input 6 Negative Limit Switch 4 DigIN5 Digital Input 5 Positive Limit Switch 5 DigIN4 Digital Input 4 Home Switch 6 DigIN3 Digital Input...

Page 26: ...s General Purpose and may be configured via software Figure 4 17 DigIN1 Circuit analogously valid also for DigIN2 3 DigIN1 General Purpose DigIN2 General Purpose DigIN3 General Purpose D_Gnd Connector...

Page 27: ...ch Digital Input 5 Positive Limit Switch Digital Input 6 Negative Limit Switch Figure 4 18 DigIN4 Circuit analogously valid also for DigIN5 6 For wiring examples page 4 28 DigIN4 Home Switch DigIN5 Po...

Page 28: ...ange without prior notice Wiring Example Proximity Switch Type PNP Figure 4 19 DigIN4 Type PNP Proximity Switch analogously valid also for DigIN5 6 Wiring Example Proximity Switch Type NPN Figure 4 20...

Page 29: ...alogously valid also for AnIN2 4 5 4 Auxiliary Supply Voltage Output Can be used as supply voltage for external loads connected to EPOS2 P 24 5 s digital outputs Figure 4 22 Auxiliary Output Voltage C...

Page 30: ...analogously valid also for DigOUT2 3 Wiring Examples Figure 4 24 DigOUT1 Sinks Circuit analogously valid also for DigOUT2 3 Figure 4 25 DigOUT1 Source Circuit analogously valid also for DigOUT2 3 DigO...

Page 31: ...rmanent DC voltage applied to serve as magnet brake Figure 4 26 DigOUT4 Circuit Wiring Examples Figure 4 27 DigOUT4 Sinks Circuit Figure 4 28 DigOUT4 Source Circuit DigOUT4 D_Gnd Connector J5 Pin 10 C...

Page 32: ...ly 9 V 3 k to Ground Max bit rate 115 200 bit s Internal RS232 driver receiver EIA RS232 Standard EPOS2 P 24 5 PC Interface RS232 DIN41652 Connector J6 Pins 4 5 GND Pin 5 GND Connector J6 Pin 1 EPOS R...

Page 33: ...d CAN information separate document EPOS2 Communication Guide Figure 4 30 CAN Connector J7 J8 Standard ISO 11898 2 2003 Max bit rate 1 Mbit s Max number of CAN nodes 127 Protocol CANopen DS 301 Identi...

Page 34: ...be configured 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 JP1 8 does not have any impact on the CAN ID Table 4 17 CA...

Page 35: ...t terminated Figure 4 32 DIP Switch JP1A CAN Bus Termination in CAN M left OFF right ON 4 8 3 CAN Bus Autobitrate in CAN M Supervisor Control Master Network Using DIP switch JP1A 2 autobitrate can be...

Page 36: ...cal input current 15 mA Max DC data input voltage 0 5 3 8 VDC EPOS2 P 24 5 PC Interface USB 2 0 USB 3 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...

Page 37: ...en Orange Blue OFF Slow Power stage is disabled Device is in status Switch ON Disabled Ready to Switch ON Switched ON OFF ON Power stage is enabled Device is in status Operation Enable Quick Stop Acti...

Page 38: ...38 Document ID rel5876 EPOS2 P Programmable Positioning Controller Edition May 2016 EPOS2 P 24 5 Hardware Reference 2016 maxon motor Subject to change without prior notice p a g e i n t e n ti o n a l...

Page 39: ...gously valid also for DigIN2 3 26 Figure 4 18 DigIN4 Circuit analogously valid also for DigIN5 6 27 Figure 4 19 DigIN4 Type PNP Proximity Switch analogously valid also for DigIN5 6 28 Figure 4 20 DigI...

Page 40: ...ta Inputs 11 Table 3 6 Electrical Data Outputs 11 Table 3 7 Electrical Data Voltage Outputs 12 Table 3 8 Electrical Data Motor Connections 12 Table 3 9 Electrical Data Interfaces 12 Table 3 10 Electri...

Page 41: ...25 J6 32 J7 33 J8 33 J9 36 country specific regulations 10 D digital inputs 26 27 digital outputs 30 31 DIP switch JP1 34 JP1 bus termination CAN S 35 JP1 numbering scheme 34 JP1A 35 JP1A autobitrate...

Page 42: ...up 19 precautions 10 program error display 37 program status display 37 prohibitive signs 6 purpose of the device 9 of this document 5 R regulations additionally applicable 10 RS232 interface 32 S saf...

Page 43: ...control EPOS2 P Programmable Positioning Controller Document ID rel5876 Z 43 EPOS2 P 24 5 Hardware Reference Edition May 2016 2016 maxon motor Subject to change without prior notice p age intentionall...

Page 44: ...cluding 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 copyrigh...

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