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Setup
Connections

EPOS4 Disk 60/8 Hardware Reference

3-38

CCMC | 2021-10 | rel10276

3.3.10

EtherCAT IN (X14) & EtherCAT OUT (X15)

The Disk EtherCAT features two NET connectors for EtherCAT. One serves for NET input, the other for
NET output. Both sockets are identical in respect to their external wiring.

Wrong plugging may cause hardware damage

Even though both NET sockets are prepared for identical external wiring, make sure to always connect
them as follows.
• Use IN (X14) as «Input».
• Use OUT (X15) as «Output».
For detailed information see separate document



«EPOS4 Communication Guide».

Figure 3-28

EtherCAT IN connector X14 / EtherCAT OUT connector X15

Table 3-45

EtherCAT IN connector X14 / EtherCAT OUT connector X15 – Pin assignment

Table 3-46

EtherCAT IN connector X14 / EtherCAT OUT connector X15 – Specifications

X14
X15

Pin

Signal

Description

1

TX+

Transmission Data+

2

TX

−

Transmission Data

−

3

—

not connected

4

—

not connected

5

—

not connected

6

RX+

Receive Data+

7

RX

−

Receive Data

−

8

—

not connected

9

—

not connected

10

—

not connected

—

Shield

Cable shield

Connector X14; X15

Suitable cables



EtherCAT-EtherCAT Cable on page 3-43



EtherCAT-COM Cable on page 3-44

Suitable plug

maxon (748166) (

HARTING (09 45 181 2562 XL) or Hirose (IX30G-A-10S-CV(7.0))

X14
X15

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Summary of Contents for 688770

Page 1: ...EPOS4 Disk 60 8 Positioning Controller P Ns 688770 688772 Hardware Reference CCMC Edition 2021 10 DocID rel10276 Hardware Reference ...

Page 2: ...ble Assemblies 40 TABLE OF CONTENTS READ THIS FIRST These instructions are intended for qualified technical personnel Prior commencing with any activities you must carefully read and understand this manual and you must follow the instructions given therein The EPOS4 Disk 60 8 positioning controllers are considered as partly completed machinery according to EU Directive 2006 42 EC Article 2 Clause ...

Page 3: ...onfiguration SW1 45 3 5 1 CAN ID Node ID DEV ID 45 3 5 2 CAN automatic Bit Rate Detection 47 3 5 3 CAN Bus Termination 47 3 6 Status Indicators 48 4 WIRING 51 4 1 Possible Combinations to connect a Motor 52 4 2 Main Wiring Diagrams 54 4 3 Excerpts 56 LIST OF FIGURES 59 LIST OF TABLES 60 INDEX 62 ...

Page 4: ...Table of Contents EPOS4 Disk 60 8 Hardware Reference A 4 CCMC 2021 10 rel10276 p a g e i n te n ti o n a l l y l e ft b l a n k ...

Page 5: ...dangerous situations to keep installation and or commissioning time at a minimum to increase reliability and service 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 assignment and wiring examples The below overview shows the documentation hierarchy ...

Page 6: ...will result in death or serious injury WARNING 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 not avoided it may result in injury Prohibited action typical Indicates a dangerous action Hence you must not Mandatory action typical Indicates a mandatory act...

Page 7: ...ic data processing without prior written approval is not permitted The men tioned trademarks belong to their respective owners and are protected under intellectual property rights 2021 maxon All rights reserved Subject to change without prior notice CCMC EPOS4 Disk 60 8 Hardware Reference Edition 2021 10 DocID rel10276 Brand Name Trademark Owner Adobe Reader Adobe Systems Incorporated USA San Jose...

Page 8: ...dows or Linux workstation Latest technology such as field oriented control FOC acceleration velocity feed forward or dual loop in combination with highest control cycle rates allow sophisticated ease of use motion control The device is available in the following versions EPOS4 Disk 60 8 CAN 688770 EPOS4 Disk 60 8 EtherCAT 688772 For easier legibility in the later course of this document naming of ...

Page 9: ...u must make sure that any machine apparatus has been fitted with independent monitoring and safety equip ment 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 drive system must return and be kept in a safe operating mode Be aware that you are not entitled to perform any repair on com...

Page 10: ...About About the Safety Precautions EPOS4 Disk 60 8 Hardware Reference 1 10 CCMC 2021 10 rel10276 p a g e i n te n ti o n a l l y l e ft b l a n k ...

Page 11: ...400 μs Max efficiency 98 Figure 2 3 Max speed EC motor block 100 000 rpm 1 pole pair Max speed EC motor sinusoidal 50 000 rpm 1 pole pair Built in motor choke Inputs Outputs Digital Input 1 general purpose Digital Input 2 general purpose Digital Input 3 general purpose Digital Input 4 general purpose Logic 2 1 36 VDC Digital Output 1 general purpose Digital Output 2 general purpose max 36 VDC IL 5...

Page 12: ...tus Operation green Error red Operation green Error red NET Status RUN state green Error red NET Port Link activity green Physical Disk CAN Disk EtherCAT Weight approx 24 g approx 26 g Dimensions D outside center hole x H Ø60 14 x 22 mm Mounting 4 mounting holes for M2 screws Environment Temperature Operation 30 45 C 30 35 C Extended range b 45 75 C Derating 0 267 A C Figure 2 2 35 65 C Derating 0...

Page 13: ...Specifications Thermal Data EPOS4 Disk 60 8 Hardware Reference CCMC 2021 10 rel10276 2 13 2 2 Thermal Data 2 2 1 Derating of Output Current Figure 2 2 Derating of output current Disk CAN Disk EtherCAT ...

Page 14: ...l10276 2 2 2 Power Dissipation and Efficiency Figure 2 3 Power dissipation and efficiency 2 3 Limitations Table 2 6 Limitations Protection functionality Switch off threshold Recovery threshold Undervoltage 8 0 V 8 5 V Overvoltage 64 V 63 V Overcurrent 39 A Thermal overload 95 C 90 C ...

Page 15: ...mensional Drawings EPOS4 Disk 60 8 Hardware Reference CCMC 2021 10 rel10276 2 15 2 4 Dimensional Drawings Figure 2 4 EPOS4 Disk 60 8 CAN Dimensional drawing mm Figure 2 5 EPOS4 Disk 60 8 EtherCAT Dimensional drawing mm ...

Page 16: ... for industrial environments IEC EN 61000 6 3 Emission standard for residential commercial and light industrial environments Applied IEC EN 55032 CISPR32 Radio disturbance characteristics radio interference IEC EN 61000 4 2 Electrostatic discharge immunity test 8 kV 4 kV IEC EN 61000 4 3 Radiated radio frequency electromagnetic field immunity test 10 V m IEC EN 61000 4 4 Electrical fast transient ...

Page 17: ...is being hot plugged connecting while the power supply is on the possibly high poten tial differences of the two power supplies of controller and PC Notebook can lead to damaged hardware Avoid potential differences between the power supply of controller and PC Notebook or if possible bal ance them Insert the USB connector first then switch on the power supply of the controller Hot plugging hot swa...

Page 18: ...ference to get the cable s pin assignment Table 3 8 Prefab maxon cables Connector Prefab Cable Assembly Designation Part Number Page X1 X2 Power Motor Cable 696283 3 40 X3 Power Motor Cable 696283 3 40 X4 Hall Sensor Cable 696284 3 40 X5 Encoder Cable 696285 3 41 X6 Sensor Cable 3x2core 696286 3 41 X7 Signal Cable 8core 696287 3 41 X8 Signal Cable 7core 696288 3 42 X13 USB Type A Micro Lock Cable ...

Page 19: ...5565 0501 1 X5 Molex Micro Lock Plus dual row 8 poles 505432 0801 1 X6 Molex Micro Lock Plus single row 6 poles 505565 0601 1 X7 Molex Micro Lock Plus single row 8 poles 505565 0801 1 X8 Molex Micro Lock Plus single row 7 poles 505565 0701 1 X13 Molex Micro Lock Plus single row 4 poles 505565 0401 1 X16 Molex Micro Fit 3 0 single row 2 poles 43645 0200 1 Crimp Terminals X1 X2 X3 Molex Mini Fit Plu...

Page 20: ...ircuitry Figure 3 6 EPOS4 Disk 60 8 CAN Connectors Figure 3 7 EPOS4 Disk 60 8 EtherCAT Connectors X1 X2 Power Logic Supply page 3 21 X8 Analog I O page 3 33 X3 Motor page 3 23 X13 USB page 3 35 X4 Hall Sensor page 3 24 X14 CAN IN page 3 36 X5 Encoder page 3 25 X15 CAN OUT page 3 36 X6 SSI page 3 28 X16 Brake page 3 39 X7 Digital I O page 3 30 X1 X2 Power Logic Supply page 3 21 X8 Analog I O page 3...

Page 21: ...hem Best practice Keep the motor mechanically disconnected during the setup and adjustment phase Figure 3 8 Power and logic supply combo connector X1 X2 Table 3 12 Power and logic supply combo connector X1 X2 Pin assignment Table 3 13 Power and logic supply combo connector X1 X2 Specifications Continued on next page X1 X2 Pin Signal Description 1 GND Ground 2 VCC Power supply voltage 12 60 VDC 3 V...

Page 22: ... c The maximal power supply voltage VCC must be equal or greater than the holding brake supply voltage The formula already takes the following into account Maximum PWM duty cycle of 90 Controller s max voltage drop of 1 V 8 A KNOWN VALUES Operating torque M mNm Operating speed n rpm Nominal motor voltage UN Volt Motor no load speed at UN nO rpm Speed torque gradient of the motor Δn ΔM rpm mNm SOUG...

Page 23: ...tor connector X3 Table 3 16 Motor connector X3 Pin assignment for maxon DC motor Table 3 17 Motor connector X3 Pin assignment for maxon EC motor Table 3 18 Motor connector X3 Specifications X3 Pin Signal Description 1 Motor M DC motor Motor 2 Motor M DC motor Motor 3 not connected X3 Pin Signal Description 1 Motor winding 1 EC motor Winding 1 2 Motor winding 2 EC motor Winding 2 3 Motor winding 3 ...

Page 24: ...tion 1 Hall sensor 1 Hall sensor 1 input 2 Hall sensor 2 Hall sensor 2 input 3 Hall sensor 3 Hall sensor 3 input 4 GND Ground 5 VSensor Sensor supply voltage 5 VDC IL 100 mA Connector X4 Suitable cable Hall Sensor Cable on page 3 40 Suitable plug Housing Molex Micro Lock 05055650501 Contact Molex Micro Lock 05054311000 AWG26 30 Hall sensor Sensor supply voltage VSensor 5 VDC Max Hall sensor supply...

Page 25: ... switching edges Even though 2 channel will do we strongly recommend to use only 3 channel versions Figure 3 12 Encoder connector X5 Table 3 22 Encoder connector X5 Pin assignment Table 3 23 Encoder connector X5 Specifications Continued on next page X5 Pin Signal Description 1 Channel A Channel A 2 Channel A Channel A complement 3 Channel B Channel B 4 Channel B Channel B complement 5 Channel I Ch...

Page 26: ...Digital incremental encoder input circuit Ch A differential analogously valid for Ch B Ch I Continued on next page Digital incremental encoder differential Sensor supply voltage VSensor 5 VDC Max auxiliary supply current 70 mA Min differential input voltage 200 mV Max input voltage 12 VDC Line receiver internal EIA RS422 standard Max input frequency 6 25 MHz ...

Page 27: ...analogously valid for Ch B Ch I Digital incremental encoder single ended Sensor supply voltage VSensor 5 VDC Max auxiliary supply current 70 mA Input voltage 0 5 VDC Max input voltage 12 VDC Logic 0 1 0 V Logic 1 2 4 V Input high current typically 250 μA 5 VDC Input low current typically 330 μA 0 VDC Max input frequency Open drain 6 25 MHz Push pull 40 kHz internal pull up only 150 kHz additional ...

Page 28: ...nector X6 Table 3 26 Sensor connector X6 Pin assignment Table 3 27 Sensor connector X6 Specifications Continued on next page X6 Pin Signal Description 1 Clock Clock SSI HsDigOUT1 High speed digital output 1 2 Clock Clock SSI complement HsDigOUT1 High speed digital output 1 complement 3 Data Data SSI HsDigIn4 High speed digital input 4 4 Data Data SSI complement HsDigIn4 High speed digital input 4 ...

Page 29: ... for HsDigIn4 Figure 3 17 SSI absolute encoder clock output analogously valid for HsDigOut1 SSI absolute encoder Auxiliary output voltage VAux 5 VDC Max auxiliary supply current 150 mA Min differential input voltage 200 mV Min differential output voltage 1 8 V external load R 54 Ω Max output current 40 mA Line receiver internal EIA RS422 standard Encoder input output frequency 0 4 2 MHz ...

Page 30: ...ifications Continued on next page X7 Pin Signal Description 1 DigIN1 Digital input 1 2 DigIN2 Digital input 2 3 DigIN3 Digital input 3 4 DigIN4 Digital input 4 5 DigOUT1 Digital output 1 6 DigOUT2 Digital output 2 7 GND Ground 8 VAux Auxiliary output voltage 5 IL 150 mA Connector X7 Suitable cable Signal Cable 8core on page 3 41 Suitable plug Housing Molex Micro Lock 05055650801 Contact Molex Micr...

Page 31: ...3 20 DigOUT1 circuit analogously valid for DigOUT2 Continued on next page Digital inputs 1 4 Input voltage 0 36 VDC Max input voltage 36 VDC Logic 0 0 8 V or floating Logic 1 2 1 V Input resistance typically 47 kΩ 3 3 V typically 37 5 kΩ 5 VDC typically 25 5 kΩ 24 VDC Input current at logic 1 typically 135 µA 5 VDC Switching delay 300 μs Digital outputs 1 2 Circuit Open drain internal pull up resi...

Page 32: ...ously valid for DigOUT2 Table 3 34 Digital output 1 2 specification Source Figure 3 22 DigOUT1 source analogously valid for DigOUT2 Digital output 1 2 sinks Max input voltage 36 VDC Max load current 500 mA Max voltage drop 0 5 V 500 mA Max load inductance 100 mH 24 VDC 500 mA Digital output 1 2 source Output voltage UOut 5 45 V 0 75 V ILoad x 2200 Ω Max load current ILoad 2 mA ...

Page 33: ...fications Continued on next page X8 Pin Signal Description 1 AnIN1 Analog input 1 positive signal 2 AnIN1 Analog input 1 negative signal 3 AnIN2 Analog input 2 positive signal 4 AnIN2 Analog input 2 negative signal 5 AnOUT1 Analog output 1 6 not connected 7 GND Ground Connector X8 Suitable cable Signal Cable 7core on page 3 42 Suitable plug Housing Molex Micro Lock 05055650701 Contact Molex Micro ...

Page 34: ...rential Max input voltage 24 VDC Common mode voltage 5 10 VDC referenced to GND Input resistance 80 kΩ differential 65 kΩ referenced to GND A D converter 12 bit Resolution 5 64 mV Bandwidth 10 kHz Analog output 1 Output voltage 4 VDC D A converter 12 bit Resolution 2 42 mV Refresh rate 2 5 kHz Analog bandwidth of output amplifier 25 kHz Max capacitive load 300 nF Note The increase rate is limited ...

Page 35: ...r first then switch on the power supply of the controller Figure 3 26 USB connector X13 Table 3 39 USB connector X13 Pin assignment Table 3 40 USB connector X13 Specifications Table 3 41 USB interface specification X13 Pin PC s USB Terminal Pin Signal Description 1 1 VBus USB bus supply voltage input 5 VDC 2 2 USB_D USB Data twisted pair with Data 3 3 USB_D USB Data twisted pair with Data 4 4 GND ...

Page 36: ...5 Pin assignment Table 3 43 CAN 1 connector X14 CAN 2 connector X15 Specifications Continued on next page X14 X15 Pin Signal Description 1 CAN high CAN high bus line 2 CAN low CAN low bus line 3 not connected 4 not connected 5 not connected 6 CAN V CAN external supply device internally not in use 7 GND Ground 8 not connected 9 not connected 10 not connected Shield Cable shield Connector X14 X15 Su...

Page 37: ...g factory setting is 1 Mbit s automatic bit rate detection is set Use 120 Ω termination resistor at both ends of the CAN bus For detailed CAN information see separate document EPOS4 Communication Guide CAN interface Standard ISO 11898 2 2003 Max bit rate 1 Mbit s Max number of CAN nodes 127 31 via software hardware setting Protocol CiA 301 version 4 2 0 Node ID setting By DIP switch or software ...

Page 38: ...tion see separate document EPOS4 Communication Guide Figure 3 28 EtherCAT IN connector X14 EtherCAT OUT connector X15 Table 3 45 EtherCAT IN connector X14 EtherCAT OUT connector X15 Pin assignment Table 3 46 EtherCAT IN connector X14 EtherCAT OUT connector X15 Specifications X14 X15 Pin Signal Description 1 TX Transmission Data 2 TX Transmission Data 3 not connected 4 not connected 5 not connected...

Page 39: ... 3 48 Brake connector X16 Specifications Table 3 49 Brake output specification Figure 3 30 HsDigOut 2 Holding Brake only circuit X16 Pin Signal Description 1 Brake Holding brake fused power supply voltage Vcc 2 Brake Holding Brake configurable open drain PWM output Connector X16 Suitable cable Brake Cable on page 3 44 Suitable plug Housing Molex Micro Fit 0436450200 Contact Molex Micro Fit 0430300...

Page 40: ...actually require in your setup Table 3 50 Power Motor Cable Table 3 51 Hall Sensor Cable Power Motor Cable 696283 This cable fits connectors X1 X2 X3 Type length 3 x 1 mm2 shielded grey 3 m Wire identifier Numbers 1 2 3 Head A Plug Molex Micro Fit 0436450300 Contacts Molex Micro Fit 0430300038 Head B Wire end sleeves 1 mm2 Hall Sensor Cable 696284 This cable fits connector X4 Type length 5 x 0 14 ...

Page 41: ... Lock 05054311000 Head B Wire end sleeves 0 14 mm2 Sensor Cable 3x2core 696286 This cable fits connector X6 Type length 3 x 2 x 0 14 mm2 twisted pair non shielded grey 3 m Wire identifier Colors white brown green yellow grey pink Head A Plug Molex Micro Lock 05055650601 Contacts Molex Micro Lock 05054311000 Head B Wire end sleeves 0 14 mm2 Signal Cable 8core 696287 This cable fits connector X7 Typ...

Page 42: ... A Plug Molex Micro Lock 05055650701 Contacts Molex Micro Lock 05054311000 Head B Wire end sleeves 0 14 mm2 USB Type A Micro Lock Cable 696289 This cable fits connector X13 Type length USB 2 0 USB3 0 full speed black 1 5 m Wire identifier Head A Plug Molex Micro Lock 05055650401 Contacts Molex Micro Lock 05054311000 Head B Plug Male USB A straight CAN CAN Cable 710931 This cable fits Disk CAN s co...

Page 43: ... AWG26 IEC61076 3 124 grey 3 m Wire identifier Colors white brown green yellow grey pink blue red black violet Head A HARTING ix Industrial Type B 09 45 181 9002 XL Head B D SUB socket 9 female EtherCAT EtherCAT Cable 710933 This cable fits Disk EtherCAT s connectors X14 X15 Type length 4 x 2 x AWG28 7 Cat 6A yellow 3 m e Wire identifier Colors white orange orange n c blue white blue white green g...

Page 44: ...isk EtherCAT s connectors X14 X15 Type length 4 x 2 x AWG28 7 Cat 6A yellow 3 m f Wire identifier Colors white orange orange n c blue white blue white green green n c white brown brown Head A HARTING ix Industrial Type A 09 45 181 2562 XL Head B RJ45 Brake Cable 710928 This cable fits connector X16 Type length 2 x 0 5 mm2 shielded grey 3 m Wire identifier Numbers 1 2 Head A Plug Molex Micro Fit 04...

Page 45: ...ng binary code Setting the ID by DIP switch SW1 and solder pads JP301 JP 302 By setting the DIP switch 1 4 address 0 OFF the ID may be set by software object 0x2000 Node ID range 1 127 The ID results in the summed values of DIP switch addresses 1 ON and shorted solder pads JP301 and JP 302 DIP switches 5 and 6 do not have any impact on the ID Table 3 62 DIP switch SW1 Binary code values Continued ...

Page 46: ...wing table as a non concluding guide Table 3 63 DIP switch SW1 Examples Setting Switch Solder pad ID 1 2 3 4 JP301 JP302 0 0 0 0 0 0 1 0 0 0 0 0 1 0 1 0 0 0 0 2 0 0 1 0 0 0 4 1 0 1 0 0 0 5 0 0 0 1 0 0 8 0 0 0 0 1 0 16 0 1 1 1 0 1 30 0 1 1 0 1 1 54 1 1 1 1 1 1 63 0 Switch OFF solder pad open 1 Switch ON solder pad shorted JP301 closed JP302 closed JP301 JP302 closed JP301 JP302 closed ...

Page 47: ...ble 3 64 DIP switch SW1 CAN automatic bit rate detection 3 5 3 CAN Bus Termination Table 3 65 DIP switch SW1 CAN bus termination Switch OFF ON 5 Automatic bit rate detection deactivated factory setting default 1 Mbit s Automatic bit rate detection activated Switch OFF ON 6 Without bus termination factory setting Bus termination with 120 Ω ...

Page 48: ...cators to display the device condition A NET Status the LEDs display communication RUN states and errors conditions B Device Status the LEDs display the device s operation status and error conditions C NET Port the LED displays the NET link activity For detailed information see separate document EPOS4 Firmware Specification Figure 3 32 LEDs Location ...

Page 49: ...lication watchdog timeout has occurred Example Timeout of Sync Manager Watchdog Single flash EPOS4 has changed the COM state due to an internal error Example Change of state Op to SafeOpError due to Sync Error Blink General Configuration Error Example State change commanded by master is not possible due to actual settings register object hardware configuration Blink continuous blinking 2 5 Hz Flas...

Page 50: ...gure 3 32 C displays the link activity of the NET port applies for both ports X14 IN and X15 OUT Green LED indicates link activity Table 3 68 NET Port LED LED Description Green OFF Port is closed Flicker Port is open activity is present ON Port is open Data rate is 100 Mbit s Flicker continuous flickering 10 Hz ...

Page 51: ...e of interconnectivity and pin assignment Or you may wish to use the connection overviews for either DC motor or EC BLDC motor that will assist you in determining the wiring for your particular motor type and the appropriate feedback signals Figure 4 33 Interfaces Designations and location Signs and abbreviations used The subsequent diagrams feature these signs and abbreviations EC Motor stands fo...

Page 52: ... the combination that best suits your setup Pick the wiring method and go to the respective table for DC motor Table 4 69 for EC BLDC motor Table 4 70 4 Pick the row with the corresponding wiring method and follow the link or links to the stated fig ure s to find the relevant wiring information 4 1 1 DC Motor Power supply optional logic supply Figure 4 36 Motor feedback signals Without sensor Meth...

Page 53: ...emental encoder Method EC2 Hall sensors SSI absolute encoder Method EC3 Hall sensors Digital incremental encoder SSI absolute encoder Method EC4 SSI absolute encoder Method EC5 Table 4 70 Possible combinations of feedback signals for EC BLDC motor Method Hall sensors Sensor 3 Digital Incremental Encoder Sensor 1 SSI Absolute Encoder Sensor 2 Figure s X4 X5 X6 EC1 4 38 4 39 EC2 4 38 4 39 4 40 EC3 4...

Page 54: ...Wiring Main Wiring Diagrams EPOS4 Disk 60 8 Hardware Reference 4 54 CCMC 2021 10 rel10276 4 2 Main Wiring Diagrams EPOS4 Disk 60 8 CAN Figure 4 34 EPOS4 Disk 60 8 CAN Main wiring diagram ...

Page 55: ...Wiring Main Wiring Diagrams EPOS4 Disk 60 8 Hardware Reference CCMC 2021 10 rel10276 4 55 EPOS4 Disk 60 8 EtherCAT Figure 4 35 EPOS4 Disk 60 8 EtherCAT Main wiring diagram ...

Page 56: ...erence 4 56 CCMC 2021 10 rel10276 4 3 Excerpts 4 3 1 Power Logic Supply Figure 4 36 Power logic supply 4 3 2 DC Motor Figure 4 37 DC motor 4 3 3 EC BLDC Motor Figure 4 38 EC BLDC motor 4 3 4 Hall Sensors Sensor 3 Figure 4 39 Hall sensors Sensor 3 ...

Page 57: ...s EPOS4 Disk 60 8 Hardware Reference CCMC 2021 10 rel10276 4 57 4 3 5 Digital Incremental Encoder Sensor 1 Figure 4 40 Digital incremental encoder Sensor 1 4 3 6 SSI Encoder Sensor 2 Figure 4 41 SSI encoder Sensor 2 ...

Page 58: ...Wiring Excerpts EPOS4 Disk 60 8 Hardware Reference 4 58 CCMC 2021 10 rel10276 p a g e i n te n ti o n a l l y l e ft b l a n k ...

Page 59: ...3 17 SSI absolute encoder clock output analogously valid for HsDigOut1 29 Figure 3 18 Digital I O connector X7 30 Figure 3 19 DigIN1 circuit analogously valid for DigIN2 4 31 Figure 3 20 DigOUT1 circuit analogously valid for DigOUT2 31 Figure 3 21 DigOUT1 sinks analogously valid for DigOUT2 32 Figure 3 22 DigOUT1 source analogously valid for DigOUT2 32 Figure 3 23 Analog I O connector X8 33 Figure...

Page 60: ... Hall sensor connector Specifications 24 Table 3 21 Hall sensor specification 24 Table 3 22 Encoder connector X5 Pin assignment 25 Table 3 23 Encoder connector X5 Specifications 25 Table 3 24 Differential digital incremental encoder specification 26 Table 3 25 Single ended digital incremental encoder specification 27 Table 3 26 Sensor connector X6 Pin assignment 28 Table 3 27 Sensor connector X6 S...

Page 61: ... 40 Table 3 51 Hall Sensor Cable 40 Table 3 52 Encoder Cable 41 Table 3 53 Sensor Cable 3x2core 41 Table 3 54 Signal Cable 8core 41 Table 3 55 Signal Cable 7core 42 Table 3 56 USB Type A Micro Lock Cable 42 Table 3 57 CAN CAN Cable 42 Table 3 58 CAN COM Cable 43 Table 3 59 EtherCAT EtherCAT Cable 43 Table 3 60 EtherCAT COM Cable 44 Table 3 61 Brake Cable 44 Table 3 62 DIP switch SW1 Binary code va...

Page 62: ...X13 35 X14 CAN 36 X14 EtherCAT 38 X15 CAN 36 X15 EtherCAT 38 X16 39 country specific regulations 9 D DEV ID see ID device condition display of 48 digital incremental encoder differential 26 digital incremental encoder single ended 27 digital outputs 31 DIP switch SW1 45 E encoders absolute 29 incremental 26 serial 29 EnDat encoder wiring 57 EPOS4 Disk Communication Plugs 19 EPOS4 Disk Connector Se...

Page 63: ... 19 performance data 11 precautions 9 prerequisites prior installation 17 prohibitive signs 6 protective measures ESD 9 purpose of the device 8 of the document 5 R regulations applicable 9 S safety alerts 6 safety first 9 signs used 6 solder pads JP301 JP302 45 SSI encoder specification 29 wiring 57 standards fulfilled 16 status LEDs 48 supply voltage required 22 SW1 45 switch SW1 45 symbols used ...

Page 64: ...eans of electronic data processing without prior written approval is not permitted The mentioned trademarks belong to their respective owners and are protected under intellectual property rights 2021 maxon All rights reserved Subject to change without prior notice CCMC EPOS4 Disk 60 8 Hardware Reference Edition 2021 10 DocID rel10276 maxon motor ag Brünigstrasse 220 CH 6072 Sachseln 41 41 666 15 0...

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