maxon motor EPOS4 Compact 50/8 CAN Hardware Reference Manual Download Page 102

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maxon motor control

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Document ID: rel8399

EPOS4 Positioning Controller

Edition: November 2018

EPOS4 Module/Compact 50/8 Hardware Reference

Table 3-43

DIP switch SW1 – CAN automatic bit rate detection . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 46

Table 3-44

DIP switch SW1 – CAN bus termination . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 46

Table 3-45

DIP switch SW1 – Digital input level . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 46

Table 3-46

Spare parts list . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 46

Table 3-47

Power supply – Pin assignment . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 47

Table 3-48

Logic supply – Pin assignment. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 48

Table 3-49

DC motor – Pin assignment . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 49

Table 3-50

EC motor – Pin assignment . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 49

Table 3-51

Hall sensor – Pin assignment. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 50

Table 3-52

Encoder – Pin assignment . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 51

Table 3-53

Incremental encoder – Pin assignment . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 53

Table 3-54

SSI absolute encoder – Pin assignment . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 59

Table 3-55

High-speed digital I/Os – Pin assignment . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 61

Table 3-56

Digital I/Os – Pin assignment – Module . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 64

Table 3-57

Digital I/Os – Pin assignment – Compact. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 65

Table 3-58

STO I/Os – Pin assignment . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 68

Table 3-59

STO logic state. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 69

Table 3-60

Analog I/Os – Pin assignment . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 70

Table 3-61

SCI – Pin assignment. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 72

Table 3-62

RS232 – Pin assignment . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 73

Table 3-63

CAN bus line / CAN 1 / CAN 2 – Pin assignment. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 74

Table 3-64

ID – Pin assignment . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 75

Table 3-65

ID – Examples . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 75

Table 3-66

SPI – Pin assignment . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 76

Table 3-67

USB connector X13 – Pin assignment . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 77

Table 3-68

USB Type A - micro B Cable . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 77

Table 3-69

NET Status LEDs . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 79

Table 3-70

Device Status LEDs . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 80

Table 3-71

EtherCAT Port LED . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 80

Table 4-72

Motherboard Design Guide – Recommended components . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 87

Table 4-73

Motherboard Design Guide – Grounding . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 88

Table 5-74

Possible combinations of feedback signals for DC motor . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 92

Table 5-75

Possible combinations of feedback signals for EC (BLDC) motor . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 93

Summary of Contents for EPOS4 Compact 50/8 CAN

Page 1: ...63 CH 6072 Sachseln Phone 41 41 666 15 00 Fax 41 41 666 16 50 www maxonmotor com Edition November 2018 EPOS4 Positioning Controller Hardware Reference maxon motor control P N 504384 P N 520885 P N 605...

Page 2: ...otor X3a X3b 31 3 3 5 4 Hall Sensor X4 33 3 3 5 5 Encoder X5 34 3 3 5 6 Sensor X6 35 3 3 5 7 Digital I O X7 37 3 3 5 8 Analog I O X8 38 3 3 5 9 STO X9 39 TABLE OF CONTENTS READ THIS FIRST These instru...

Page 3: ...4 6 Sensor 53 3 4 6 1 Incremental Encoder 53 3 4 6 2 SSI Absolute Encoder 59 3 4 6 3 High speed Digital I Os 61 3 4 7 Digital I Os 64 3 4 7 1 Module 64 3 4 7 2 Compact 65 3 4 8 Safe Torque Off I Os 6...

Page 4: ...Positioning Controller Edition November 2018 EPOS4 Module Compact 50 8 Hardware Reference 2018 maxon motor Subject to change without prior notice 5 Wiring 91 5 1 Possible Combinations to connect a Mot...

Page 5: ...e installation and or commissioning Follow the described instructions to avoid dangerous situations to keep installation and or commissioning time at a minimum to increase reliability and service life...

Page 6: ...tes see see also take note of or go to Type Symbol Meaning Safety alert typical DANGER Indicates an imminent hazardous situation If not avoided it will result in death or serious injury WARNING Indica...

Page 7: ...ereof is protected by copyright Any use including repro duction translation microfilming and other means of electronic data processing beyond the narrow restrictions of the copyright law without the p...

Page 8: ...er additional functionalities Latest technology such as field oriented control FOC acceleration velocity feed forward or dual loop in combination with highest control cycle rates allow sophisticated e...

Page 9: ...lso on the Internet http epos maxonmotor com In addition you may wish to browse the EPOS video library It features video tutorials that provide easy to follow instructions on how to get started with E...

Page 10: ...lectronic 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 sh...

Page 11: ...cy 98 Figure 2 4 Max 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...

Page 12: ...winding 1 Motor winding 2 Motor winding 3 Module Compact CAN Compact EtherCAT Interfaces USB 2 0 USB 3 0 Full Speed Full Speed Full Speed RS232 max 115 200 bit s external transceiver necessary max 11...

Page 13: ...C Extended range 1 45 77 C Derating 0 250 A C Figure 2 3 Storage 40 85 C Altitude 2 Operation 0 6 000 m MSL Extended range 1 6 000 10 000 m MSL Derating Figure 2 3 Humidity 5 90 condensation not perm...

Page 14: ...ument ID rel8399 EPOS4 Positioning Controller Edition November 2018 EPOS4 Module Compact 50 8 Hardware Reference 2018 maxon motor Subject to change without prior notice 2 2 Thermal Data 2 2 1 Derating...

Page 15: ...without prior notice 2 2 2 Power Dissipation and Efficiency Figure 2 4 Power dissipation and efficiency EPOS4 Module Compact 50 8 CAN Figure 2 5 Power dissipation and efficiency EPOS4 Compact 50 8 Et...

Page 16: ...2 16 Document ID rel8399 EPOS4 Positioning Controller Edition November 2018 EPOS4 Module Compact 50 8 Hardware Reference 2018 maxon motor Subject to change without prior notice 2 4 Dimensional Drawin...

Page 17: ...ng Controller Document ID rel8399 2 17 EPOS4 Module Compact 50 8 Hardware Reference Edition November 2018 2018 maxon motor Subject to change without prior notice Figure 2 7 EPOS4 CB Power CAN Dimensio...

Page 18: ...399 EPOS4 Positioning Controller Edition November 2018 EPOS4 Module Compact 50 8 Hardware Reference 2018 maxon motor Subject to change without prior notice Figure 2 9 EPOS4 CB Power EtherCAT Dimension...

Page 19: ...6 2 Immunity for industrial environments IEC EN 61000 6 3 Emission standard for residential commercial and light industrial environments Applied IEC EN 55022 CISPR22 Radio disturbance characteristics...

Page 20: ...control 2 20 Document ID rel8399 EPOS4 Positioning Controller Edition November 2018 EPOS4 Module Compact 50 8 Hardware Reference 2018 maxon motor Subject to change without prior notice p a g e i n t...

Page 21: ...rrent limits are as follows continuous max 8 A short time acceleration max 30 A Hot plugging the USB interface may cause hardware damage If the USB interface is being hot plugged connecting while the...

Page 22: ...DC motor Motor EC motor Winding 2 A9 A12 Motor winding 3 EC motor Winding 3 A13 A16 VCC Power supply voltage 10 50 VDC A17 VC Logic supply voltage 10 50 VDC A18 A22 GND Ground A23 Hall sensor 1 Hall...

Page 23: ...N3 Clock HsDigOUT1 Digital analog incremental encoder channel I High speed digital input 3 Clock SSI High speed digital output 1 B12 Channel I HsDigIN3 Clock HsDigOUT1 Digital analog incremental encod...

Page 24: ...CAN bus B35 CAN high CAN high bus line B36 CAN low CAN low bus line B37 B38 GND Ground B39 3 DSP_RxD Serial communication interface receive UART B40 DSP_TxD Serial communication interface transmit UAR...

Page 25: ...native to developing an own motherboard ready made connector boards are available to combine the Module to Compact versions They comprise all required connections For in depth details on connections c...

Page 26: ...Table 3 10 Prefab maxon cables Connector Prefab Cable Assembly Compact CAN Compact EtherCAT Designation Part Number Page X1 Power Cable High Current Mandatory for supply of power stage 520850 3 29 X2...

Page 27: ...ega Fit 4 poles 171692 0104 1 X4 Molex Micro Fit 3 0 6 poles 430 25 0600 1 X6 Molex CLIK Mate dual row 10 poles 503149 1000 1 X7 X9 Molex CLIK Mate single row 8 poles 502578 0800 2 X8 Molex CLIK Mate...

Page 28: ...es both the pin number of the connector and of the matching prefab maxon cable s Head A The second column describes the cable core color of the prefab maxon cable The third column describes the pin nu...

Page 29: ...ically disconnected during the setup and adjustment phase Figure 3 15 Power supply connector X1 Table 3 13 Power supply connector X1 Pin assignment Table 3 14 Power Cable High Current X1 Head A Prefab...

Page 30: ...3 5 2 Logic Supply X2 Figure 3 16 Logic supply connector X2 Table 3 15 Logic supply connector X2 Pin assignment Table 3 16 Power Cable X2 Head A Prefab Cable Head B Signal Description Pin Color Pin 1...

Page 31: ...following output currents X3a Icont 11 A X3b Icont 15 A Figure 3 17 Motor connectors X3a left and X3b right Table 3 17 Motor connector X3a X3b Pin assignment for maxon DC motor Table 3 18 Motor conne...

Page 32: ...Table 3 20 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 33: ...signment Table 3 22 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 34: ...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 35: ...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 36: ...OS4 Module Compact 50 8 Hardware Reference 2018 maxon motor Subject to change without prior notice Table 3 27 Sensor Cable 5x2core Sensor Cable 5x2core 520852 Cross section 5 x 2 x 0 14 mm2 twisted pa...

Page 37: ...3 29 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 38: ...3 31 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 39: ...ching prefab cable assembly Table 3 29 on page 3 37 Table 3 33 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 sign...

Page 40: ...r X10 Pin assignment Table 3 35 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 41: ...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 42: ...only standard Cat5 cables with RJ45 plug such as maxon s Ethernet Cable 422827 Use EtherCAT IN X14 as Input Use EtherCAT OUT X15 as Output For detailed information separate document EPOS4 Communicati...

Page 43: ...rel8399 3 43 EPOS4 Module Compact 50 8 Hardware Reference Edition November 2018 2018 maxon motor Subject to change without prior notice Table 3 40 Ethernet Cable Ethernet Cable 422827 Cross section Ca...

Page 44: ...set by means of DIP switches 1 5 The ID 1 31 may be coded using binary code Setting the ID by DIP switch SW1 By setting the DIP switch 1 5 address 0 OFF the ID may be set by software object 0x2000 Nod...

Page 45: ...8 2018 maxon motor Subject to change without prior notice The set ID can be observed by adding the valence of all activated switches Use the following table as a non concluding guide Table 3 42 DIP sw...

Page 46: ...tch SW1 CAN bus termination 3 3 6 4 Digital Input Level For details chapter 3 4 7 Digital I Os on page 3 64 Table 3 45 DIP switch SW1 Digital input level 3 3 7 Spare Parts Table 3 46 Spare parts list...

Page 47: ...used circuit diagrams refer to the Module For the corresponding Compact s circuitry take the second column Connector Pin into account 3 4 1 Power Supply Basically any power supply may be used provided...

Page 48: ...ge provided that it meets the below stated minimum requirements For the voltage supply observe the following Module You will need to provide both logic supply and power supply Compact Either use two c...

Page 49: ...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 50: ...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 51: ...strongly recommend to use only 3 channel versions Table 3 52 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 52: ...ogously valid for Ch B Ch I Figure 3 30 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 53: ...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 54: ...g Controller Edition November 2018 EPOS4 Module Compact 50 8 Hardware Reference 2018 maxon motor Subject to change without prior notice Figure 3 31 Digital incremental encoder input circuit Ch A diffe...

Page 55: ...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 56: ...control 3 56 Document ID rel8399 EPOS4 Positioning Controller Edition November 2018 EPOS4 Module Compact 50 8 Hardware Reference 2018 maxon motor Subject to change without prior notice Figure 3 34 Dig...

Page 57: ...e Figure 3 35 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 58: ...58 Document ID rel8399 EPOS4 Positioning Controller Edition November 2018 EPOS4 Module Compact 50 8 Hardware Reference 2018 maxon motor Subject to change without prior notice Figure 3 36 Analog incre...

Page 59: ...next 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...

Page 60: ...motor control 3 60 Document ID rel8399 EPOS4 Positioning Controller Edition November 2018 EPOS4 Module Compact 50 8 Hardware Reference 2018 maxon motor Subject to change without prior notice Figure 3...

Page 61: ...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 62: ...without prior notice Figure 3 40 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 63: ...t 50 8 Hardware Reference Edition November 2018 2018 maxon motor Subject to change without prior notice Figure 3 41 HsDigOUT1 output circuit High speed digital output 1 Min differential output voltage...

Page 64: ...sly 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 B...

Page 65: ...for 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 Di...

Page 66: ...4 Compact PLC level setting For pin assignment of digital outputs Table 3 56 and Table 3 57 Figure 3 45 DigOUT1 circuit analogously valid for DigOUT2 and Compact Continued on next page Digital inputs...

Page 67: ...hange without prior notice WIRING EXAMPLES Figure 3 46 DigOUT1 sinks analogously valid for DigOUT2 and Compact Figure 3 47 DigOUT1 source analogously valid for DigOUT2 and Compact DigOUT sinks Max inp...

Page 68: ...s Pin assignment Figure 3 48 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 u...

Page 69: ...rior notice Figure 3 49 STO OUT circuit Table 3 59 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 70: ...in 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 si...

Page 71: ...r Subject to change without prior notice Figure 3 51 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 2 5 kHz An...

Page 72: ...2 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 standard bit rate setting factory s...

Page 73: ...change without prior notice 3 4 10 2 Compact CAN Table 3 62 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 RS2...

Page 74: ...ment 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 CAN versions automatic bit rate detection is set Use 120...

Page 75: ...adding the valences of all inputs connected externally to GND Use the following table as a non concluding guide Table 3 65 ID Examples Setting the ID by means of EPOS Studio The ID may be set by soft...

Page 76: ...gh 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 Ta...

Page 77: ...of controller and PC Notebook or if possible balance them Insert the USB connector first then switch on the power supply of the controller Figure 3 52 USB connector X13 Table 3 67 USB connector X13 Pi...

Page 78: ...ce 3 5 Status Indicators The EPOS4 features three sets of LED indicators to display the device condition A NET Status the LEDs display communication RUN states and errors conditions B Device Status th...

Page 79: ...ink EPOS4 is in state PRE OPERATIONAL Single flash EPOS4 is in state SAFE OPERATIONAL ON EPOS4 is in state OPERATIONAL Flicker EPOS4 is in state BOOTSTRAP OFF EPOS4 is in operating condition Double fl...

Page 80: ...rts X14 IN and X15 OUT Green LED indicates link activity Table 3 71 EtherCAT Port LED LED Description Green Red Slow OFF Power stage is disabled The EPOS4 is in status Switch ON Disabled Ready to Swit...

Page 81: ...on examples Get help If you are not trained in the design and development of printed circuit boards you will need additional support for this point maxon motor will be happy to provide you with a quot...

Page 82: ...supply cable In this regard please note the following recommendations Figure 4 54 Wiring of power supply INPUT FUSE FU1 An input fuse FU1 is necessary in order to provide reverse polarity protection...

Page 83: ...range is 10 50 V and must be either sourced separately or by the power supply voltage Figure 4 55 Wiring of logic supply TVS DIODE D2 If the logic supply voltage is sourced separately a transient vol...

Page 84: ...alculation is negative no additional chokes are necessary Nevertheless the use of chokes in combination with additional filter components can be useful to reduce the emission of electro magnetic inter...

Page 85: ...8 maxon motor Subject to change without prior notice Example 2 Figure 4 56 Wiring of motor winding 1 analogously valid also for motor windings 2 3 4 1 5 RS232 Transceiver If you intend to use an RS232...

Page 86: ...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 1 V 6 9 A Littelfuse SMBJ54A UR 54 V UBR 60 0 66 6 V 1 mA UC 87 1 V 6 9 A Capacitor...

Page 87: ...ble 4 72 Motherboard Design Guide Recommended components Motor Filter Example 1 Motor Choke L 22 H Filter Capacitor Cf 150 pF 100 V Snubber Capacitor Cs 330 pF 100 V Snubber Resistor Rs 390 0 125 W Ex...

Page 88: ...e conductive tracks Table 4 73 Motherboard Design Guide Grounding If an earth potential is in place or required the ground plane should be connected to the earth potential via one or more capacitors T...

Page 89: ...otor control EPOS4 Positioning Controller Document ID rel8399 4 89 EPOS4 Module Compact 50 8 Hardware Reference Edition November 2018 2018 maxon motor Subject to change without prior notice 4 3 THT Fo...

Page 90: ...n motor control 4 90 Document ID rel8399 EPOS4 Positioning Controller Edition November 2018 EPOS4 Module Compact 50 8 Hardware Reference 2018 maxon motor Subject to change without prior notice p a g e...

Page 91: ...iring diagrams Figure 5 60 and Figure 5 61 featuring the full scope of interconnectivity and pin assignment Or you may wish to use the connection overviews for either DC motor or EC BLDC motor that wi...

Page 92: ...e for DC motor Table 5 74 for EC BLDC motor Table 5 75 4 Pick the row with the corresponding wiring method and follow the link or links to the stated figure s to find the relevant wiring information 5...

Page 93: ...l encoder Digital incremental encoder Method EC6 Hall sensors Digital incremental encoder Analog incremental encoder Method EC7 Hall sensors Digital encoder SSI absolute encoder Method EC8 Digital inc...

Page 94: ...sitioning Controller Edition November 2018 EPOS4 Module Compact 50 8 Hardware Reference 2018 maxon motor Subject to change without prior notice 5 2 Main Wiring Diagrams 5 2 1 Module Compact CAN Figure...

Page 95: ...ler Document ID rel8399 5 95 EPOS4 Module Compact 50 8 Hardware Reference Edition November 2018 2018 maxon motor Subject to change without prior notice 5 2 2 Module Compact EtherCAT Figure 5 61 Main w...

Page 96: ...POS4 Module Compact 50 8 Hardware Reference 2018 maxon motor Subject to change without prior notice 5 3 Excerpts 5 3 1 Power Logic Supply Figure 5 62 Power logic supply 5 3 2 DC Motor Figure 5 63 DC m...

Page 97: ...mber 2018 2018 maxon motor Subject to change without prior notice 5 3 5 Digital Incremental Encoder 1 Sensor 1 Figure 5 66 Digital incremental encoder 1 Sensor 1 5 3 6 Digital Incremental Encoder 2 Se...

Page 98: ...5 98 Document ID rel8399 EPOS4 Positioning Controller Edition November 2018 EPOS4 Module Compact 50 8 Hardware Reference 2018 maxon motor Subject to change without prior notice 5 3 8 SSI Encoder Senso...

Page 99: ...ure 3 21 Digital I O connector X7 37 Figure 3 22 Analog I O connector X8 38 Figure 3 23 STO connector X9 39 Figure 3 24 RS232 connector X10 40 Figure 3 25 CAN 1 connector X11 and CAN 2 connector X12 4...

Page 100: ...nIN1 circuit analogously valid for AnIN2 70 Figure 3 51 AnOUT1 circuit analogously valid for AnOUT2 71 Figure 3 52 USB connector X13 77 Figure 3 53 LEDs Location 78 Figure 4 54 Wiring of power supply...

Page 101: ...X3a X3b Pin assignment for maxon EC motor 31 Table 3 19 Motor Cable 32 Table 3 20 Motor Cable High Current 32 Table 3 21 Hall sensor connector X4 Pin assignment 33 Table 3 22 Hall Sensor Cable 33 Tab...

Page 102: ...nment 59 Table 3 55 High speed digital I Os Pin assignment 61 Table 3 56 Digital I Os Pin assignment Module 64 Table 3 57 Digital I Os Pin assignment Compact 65 Table 3 58 STO I Os Pin assignment 68 T...

Page 103: ...ctor 39 USB Type A micro B Cable 77 CAN bus termination 46 74 CAN ID see ID CAN interface 74 choke motor 84 connectors X1 29 X2 30 X3a 31 X3b 31 X4 33 X5 34 X6 35 X7 37 X8 38 X9 39 X10 40 X11 41 X12 4...

Page 104: ...1 outputs analog 71 digital 66 high speed digital 63 STO 69 P part numbers 275829 30 275851 32 275878 33 275934 34 403968 77 422827 43 504384 11 520850 29 520851 32 520852 36 520853 37 520854 38 52085...

Page 105: ...otor Subject to change without prior notice T technical data 11 termination CAN bus 46 74 U USB port 77 W wiring examples additional inductance on Motherboard 84 analog incremental encoder 97 DC motor...

Page 106: ...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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maxon motor EPOS4 Compact 50/8 CAN, Hardware Reference Manual

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