Hardware Reference
MCD EPOS 60 W
December 2011 Edition / document number 791272-04 / subject to change
maxon motor control
Nominal torque (max. continuous torque) ............. 54 mNm (T
a
=25 °C, 5000 rpm)
1)
Max. torque ................................................................................................ 218 mNm
Max. permissible speed (restricted by Encoder) ..................................... 12000 rpm
Max. efficiency .................................................................................................. 70 %
Torque constant .................................................................................... 24.3 mNm/A
Speed constant ......................................................................................... 393 rpm/V
Speed / Torque gradient .................................................................... 20.6 rpm/mNm
Rotor inertia .............................................................................................. 21.9 gcm
2
Axial play at axial load < 6 N ....................................................................... 0 mm
> 6 N .................................................................. 0.14 mm
Radial play ................................................................................................ preloaded
Max. axial load (dynamic) ................................................................................. 5.5 N
Max. force for press fits (static) ....................................................................... 100 N
Max. radial loading, 5 mm from flange .............................................................. 25 N
Power supply voltage V
CC
(Ripple < 10%) .......................................... 12
… 50 VDC
Logic supply voltage V
C
(Ripple < 10%) (optional) ............................. 12
… 50 VDC
Max. output voltage .................................................................................... 0.9 · V
CC
Max. output current I
max
....................................................................................... 9 A
Continuous output current I
cont
..................................... 2.6 A (T
a
=25 °C, 5000 rpm)
1)
Switching frequency ....................................................................................... 50 kHz
Max. efficiency .................................................................................................. 93 %
Sample rate PI - current controller ................................................................. 10 kHz
Sample rate PI - speed controller .................................................................... 1 kHz
Sample rate PID - positioning controller .......................................................... 1 kHz
Position resolution ............................................................................................ 0.09°
Position accuracy ..................................................................................... typical ± 1°
Position reproducibility ........................................................................ typical ± 0.09°
Hall sensor signals ................................. Hall sensor 1, Hall sensor 2, Hall sensor 3
Encoder signals .............................................................................. 1000 Increments
A, A\, B, B\, I, I\ (max. 200 KHz)
Digital input 1
(“General Purpose”) ........ opto-isolated ..................... +9 ... +24 VDC
Digital input 2
(“Home Switch”) .............. opto-isolated ..................... +9 ... +24 VDC
Digital input 3
(“Positive Limit Switch”) .. opto-isolated ..................... +9 ... +24 VDC
Digital input 4
(“Negative Limit Switch”) . opto-isolated ..................... +9 ... +24 VDC
Digital input 7
(“High Speed Command”) ............ line receiver EIA standard RS-422
Digital input 8
(“High Speed Command”) ............ line receiver EIA standard RS-422
+V Opto IN ...................................................................................... +12
… +24 VDC
Digital output 3
(“General Purpose”) ...... opto-isolated max. 24 VDC (I
L
< 350 mA)
Digital output 4
(“General Purpose”) ...... opto-isolated max. 24 VDC (I
L
< 350 mA)
1)
Valid at
T
a
=25°C, thermally isolated, no convection and 5000 rpm
Higher value (
I
cont
max.3A) possible with better ambient conditions for example:
-
free convection or forced air cooling
-
thermal coupling
-
lower speed
