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Maxon EPOS 50/5, Hardware Reference Manual

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Maxon EPOS 50/5 Hardware Reference Manual Download Page 73

  

EPOS4 50/5 Hardware Reference
CCMC  |  2022-04  |  rel10445

Z-73

Index

A

alerts

 

6

analog incremental encoder (differential)

 

33

analog inputs

 

44

analog outputs

 

44

applicable EU directive

 

15

applicable regulations

 

8

B

Beckhoff TwinCAT

 

54

BiSS encoder, wiring

 

67

bit rate detection

 

57

bit rate, default

 

50

C

cables (prefab)

CAN-CAN Cable

 

50

CAN-COM Cable

 

49

Encoder Cable

 

26

Ethernet Cable

 

53

Hall Sensor Cable

 

23

Motor Cable

 

22

Power Cable

 

19

RS232-COM Cable

 

48

Sensor Cable 5x2core

 

29

Signal Cable 7core

 

43

Signal Cable 8core

 

39

STO Idle Connector

 

45

USB Type A - micro B Cable

 

51

CAN bus termination

 

50

, 

57

CAN ID (see “ID”)
CAN interface

 

50

connectors

EXT1

 

54

EXT2

 

54

X1

 

19

X2

 

21

X3

 

22

X4

 

23

X5

 

25

X6

 

28

X7

 

39

X8

 

43

X9

 

45

X10

 

48

X11

 

49

X12

 

49

X13

 

51

X14

 

52

X15

 

52

X16

 

53

country-specific regulations

 

8

D

DEV ID (see “ID”)
device condition, display of

 

59

digital high-speed inputs (differential)

 

36

digital high-speed inputs (single-ended)

 

37

digital high-speed output

 

38

digital incremental encoder (differential)

 

29

digital incremental encoder (single-ended)

 

31

digital outputs

 

41

DIP switch SW1

 

56

E

encoders

absolute

 

35

differential

 

26

incremental

 

29

serial

 

35

SinCos

 

33

single-ended

 

27

EnDat encoder, wiring

 

67

EPOS4 Connector Set

 

17

EPOS4 EtherCAT Card

 

56

ESD

 

8

, 

54

EtherCAT

network

 

54

option card

 

56

EU directive, applicable

 

15

extension card (insert/remove)

 

54

H

Hall sensor

 

24

how to

calculate the required supply voltage

 

20

connect extension signals

 

53

interpret icons (and signs) used in this document

 

6

unplug an extension card

 

54

I

ID (of the device)

 

56

incorporation into surrounding system

 

15

informatory signs

 

6

inputs

analog

 

44

high-speed digital

 

36

STO

 

46

interfaces

CAN

 

49

location and designation

 

61

RS232

 

48

USB

 

51

INDEX

Summary of Contents for EPOS 50/5

Page 1: ...EPOS4 50 5 Positioning Controller P N 546047 Hardware Reference CCMC Edition 2022 04 DocID rel10445 Hardware Reference...

Page 2: ...AD 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 instruct...

Page 3: ...52 3 3 14 Extension Signal X16 53 3 3 15 Extension Slots EXT1 EXT2 54 3 3 16 DIP Switch Configuration SW1 56 3 3 16 1 CAN ID Node ID DEV ID 56 3 3 16 2 CAN automatic Bit Rate Detection 57 3 3 16 3 CAN...

Page 4: ...Table of Contents EPOS4 50 5 Hardware Reference A 4 CCMC 2022 04 rel10445 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: ...ous 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 c...

Page 6: ...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 t...

Page 7: ...val is not permitted The men tioned trademarks belong to their respective owners and are protected under intellectual property rights 2022 maxon All rights reserved Subject to change without prior not...

Page 8: ...Safety Precautions Keep in mind Safety first Always Make sure that you have read and understood the note READ THIS FIRST on page A 2 Do not engage with any work unless you possess the stated skills ch...

Page 9: ...d EC motor block 100 000 rpm 1 pole pair Max speed EC motor sinusoidal 50 000 rpm 1 pole pair Built in motor choke 3 x 15 H 5 A Inputs Outputs Digital Input 1 general purpose Digital Input 2 general p...

Page 10: ...s to IEEE 802 3 100 Base T Status Indicators Device Status Operation green LED Error red LED NET Status RUN state green LED Error red LED NET Port Link activity green LED Physical Weight approx 206 g...

Page 11: ...Specifications Thermal Data EPOS4 50 5 Hardware Reference CCMC 2022 04 rel10445 2 11 2 2 Thermal Data 2 2 1 Derating of Output Current Figure 2 2 Derating of output current...

Page 12: ...45 2 2 2 Power Dissipation and Efficiency Figure 2 3 Power dissipation and efficiency 2 3 Limitations Table 2 5 Limitations Protection functionality Switch off threshold Recovery threshold Undervoltag...

Page 13: ...Specifications Dimensional Drawing EPOS4 50 5 Hardware Reference CCMC 2022 04 rel10445 2 13 2 4 Dimensional Drawing Figure 2 4 Dimensional drawing mm...

Page 14: ...eric IEC EN 61000 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 disturbanc...

Page 15: ...g 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 diff...

Page 16: ...Cable Assembly Designation Part Number Page X1 Power Cable Mandatory for supply of power stage 275829 3 19 X2 Power Cable Optional for separate logic supply 275829 3 19 X3 Motor Cable 275851 3 22 X4 H...

Page 17: ...X6 X16 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 single row 7 poles 502578 0700 1 X10 Molex CLIK Mate single row 5 poles...

Page 18: ...he first column describes 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 colu...

Page 19: ...ply Best practice Keep the motor mechanically disconnected during the setup and adjustment phase Figure 3 6 Power supply connector X1 Table 3 10 Power supply connector X1 Pin assignment Table 3 11 Pow...

Page 20: ...sure that the overcurrent pro tection circuit is configured inoperative within the operating range The formula already takes the following into account Maximum PWM duty cycle of 90 Controller s max v...

Page 21: ...logic supply is internally connected to the power supply Figure 3 7 Logic supply connector X2 Table 3 13 Logic supply connector X2 Pin assignment For the matching prefab cable assembly Table 3 11 Tab...

Page 22: ...b Cable Head B Signal Description Pin Color Pin 1 white Motor M DC motor Motor 2 brown Motor M DC motor Motor 3 green not connected 4 black Motor shield Cable shield X3 Head A Prefab Cable Head B Sign...

Page 23: ...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 sensor 3 Hall sensor 3 input 4 yellow GND G...

Page 24: ...ure 3 10 Hall sensor 1 input circuit analogously valid for Hall sensors 2 3 Hall sensor Sensor supply voltage VSensor 5 VDC Max Hall sensor supply current 30 mA Input voltage 0 24 VDC Max input voltag...

Page 25: ...r X5 Table 3 21 Encoder connector X5 Pin assignment Table 3 22 Encoder connector X5 Accessories Continued on next page X5 Head A Prefab Cable Head B Signal Description Pin Color Pin 1 brown 1 not conn...

Page 26: ...e Encoder Cable 275934 Cross section 10 x AWG28 round jacket flat cable pitch 1 27 mm Length 3 m Head A DIN 41651 female pitch 2 54 mm 10 poles with strain relief Head B DIN 41651 plug pitch 2 54 mm 1...

Page 27: ...d for Ch B Ch I Encoder single ended Sensor supply voltage VSensor 5 VDC Max encoder 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...

Page 28: ...tal analog incremental encoder channel A complement HsDigIN1 High speed digital input 1 complement 3 green 3 Channel B Digital analog incremental encoder channel B HsDigIN2 High speed digital input 2...

Page 29: ...B Continued on next page Sensor Cable 5x2core 520852 Cross section 5 x 2 x 0 14 mm2 twisted pair grey Length 3 m Head A Plug Molex CLIK Mate dual row 10 poles 503149 1000 Contacts Molex CLIK Mate crim...

Page 30: ...Setup Connections EPOS4 50 5 Hardware Reference 3 30 CCMC 2022 04 rel10445 Figure 3 16 Digital incremental encoder input circuit Ch I Continued on next page...

Page 31: ...xt 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 voltage 12 VDC Logic 0 1 0 V Logic 1 2 4 V Inpu...

Page 32: ...Setup Connections EPOS4 50 5 Hardware Reference 3 32 CCMC 2022 04 rel10445 Figure 3 18 Digital incremental encoder input circuit Ch I Continued on next page...

Page 33: ...ircuit Ch A differential analogously valid for Ch B Continued on next page Analog incremental encoder SinCos differential Auxiliary output voltage VAux 5 VDC Max auxiliary supply current 150 mA Input...

Page 34: ...Setup Connections EPOS4 50 5 Hardware Reference 3 34 CCMC 2022 04 rel10445 Figure 3 20 Analog incremental encoder input circuit Ch I digital evaluation Continued on next page...

Page 35: ...solute encoder data input Figure 3 22 SSI absolute encoder clock output SSI absolute encoder Auxiliary output voltage VAux 5 VDC Max auxiliary supply current 150 mA Min differential input voltage 200...

Page 36: ...peed digital I O operation Table 3 32 Differential high speed digital input specification Figure 3 23 HsDigIN1 circuit differential analogously valid for HsDigIN2 4 Continued on next page High speed d...

Page 37: ...ended analogously valid for HsDigIN2 4 Continued on next page High speed digital input 1 4 single ended Input voltage 0 5 VDC Max input voltage 12 VDC Logic 0 1 0 V Logic 1 2 4 V Input high current t...

Page 38: ...Table 3 34 High speed digital output specification Figure 3 25 HsDigOUT1 output circuit High speed digital output 1 Min differential output voltage 1 8 V external load R 54 Max output current 40 mA L...

Page 39: ...lor 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 DigIN4 Digital input 4 5 grey 5 DigOUT1 Digital output 1 6 pink 6 DigOUT2 Digital...

Page 40: ...e 3 28 DigIN1 circuit analogously valid for DigIN2 4 PLC level setting Continued on next page Digital inputs 1 4 Logic level setting Input voltage 0 30 VDC Max input voltage 30 VDC Logic 0 0 8 V Logic...

Page 41: ...ence CCMC 2022 04 rel10445 3 41 Table 3 39 Digital output specification Figure 3 29 DigOUT1 circuit analogously valid for DigOUT2 Continued on next page Digital outputs 1 2 Circuit Open drain internal...

Page 42: ...nks analogously valid for DigOUT2 Table 3 41 Digital output Source Figure 3 31 DigOUT1 source analogously valid for DigOUT2 DigOUT sinks Max input voltage 36 VDC Max load current 500 mA Max voltage dr...

Page 43: ...lor Pin 1 white 1 AnIN1 Analog input 1 positive signal 2 brown 2 AnIN1 Analog input 1 negative signal 3 green 3 AnIN2 Analog input 2 positive signal 4 yellow 4 AnIN2 Analog input 2 negative signal 5 g...

Page 44: ...VDC differential Max input voltage 24 VDC Common mode voltage 5 10 VDC referenced to GND Input resistance 80 k differential 65 k referenced to GND A D converter 12 bit Resolution 5 64 mV Bandwidth 10...

Page 45: ...ble 3 47 must be plugged Table 3 46 STO connector X9 Pin assignment For the matching prefab cable assembly Table 3 36 on page 3 39 Table 3 47 STO Idle Connector Continued on next page X9 Head A Prefab...

Page 46: ...age Safe Torque Off inputs 1 2 Circuit type Optically isolated input Input voltage 0 30 VDC Max input voltage 30 VDC Logic 0 1 0 VDC Logic 1 4 5 VDC Input current at logic 1 2 mA 5 VDC typically 3 2 m...

Page 47: ...ns EPOS4 50 5 Hardware Reference CCMC 2022 04 rel10445 3 47 Table 3 50 STO logic state STO Logic State STO IN1 STO IN2 STO OUT Power Stage 0 0 open inactive 1 0 closed inactive 0 1 closed inactive 1 1...

Page 48: ...eceive 2 brown 5 GND Ground 3 green 2 EPOS_TxD EPOS RS232 transmit 4 yellow 5 GND Ground 5 Shield Housing Shield Cable shield RS232 COM Cable 520856 Cross section 2 x 2 x 0 14 mm2 twisted pair shielde...

Page 49: ...connector X11 CAN 2 connector X12 Table 3 54 CAN 1 connector X11 CAN 2 connector X12 Pin assignment Table 3 55 CAN COM Cable Continued on next page X11 X12 Head A Prefab Cable 520857 Head B 520858 Hea...

Page 50: ...information see separate document EPOS4 Communication Guide CAN CAN Cable 520858 Cross section 2 x 2 x 0 14 mm2 twisted pair shielded Length 3 m Head A Plug Molex CLIK Mate single row 4 poles 502578 0...

Page 51: ...then switch on the power supply of the controller Figure 3 40 USB connector X13 Table 3 58 USB connector X13 Pin assignment Table 3 59 USB Type A micro B Cable Table 3 60 USB interface specification...

Page 52: ...connect them as follows Use only standard Cat5 cables with RJ45 plug such as maxon s Ethernet Cable 422827 Use IN X14 as Input Use OUT X15 as Output For detailed information see separate document EPO...

Page 53: ...tension card Figure 3 42 Extension Signal connector X16 Table 3 63 Extension Signal connector X16 Pin assignment For the matching prefab cable assembly Table 3 27 on page 3 29 Ethernet Cable 422827 Cr...

Page 54: ...ve network For further details see separate document EPOS4 Communication Guide EXT2 provides connectivity for advanced signal extension cards such as for additional absolute sensors or customized sign...

Page 55: ...ts corners 4 Insert the catch into the extension card s bore C 5 Pull both the plastic lid together with the extension card straight upward D Make sure that the extension slots are clean and free of a...

Page 56: ...f 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 Node ID range 1 1...

Page 57: ...Table 3 67 DIP switch SW1 CAN automatic bit rate detection 3 3 16 3 CAN Bus Termination Table 3 68 DIP switch SW1 CAN bus termination Setting Switch ID 1 2 3 4 5 0 0 0 0 0 1 0 0 0 0 1 0 1 0 0 0 2 0 0...

Page 58: ...16 4 Digital Input Level For details chapter 3 3 7 Digital I O X7 on page 3 39 Table 3 69 DIP switch SW1 Digital input level 3 3 17 Spare Parts Table 3 70 Spare parts list Switch OFF ON 8 Logic level...

Page 59: ...Green LED shows the RUN state Red LED indicates errors Table 3 71 NET Status LEDs LED Description Green Red OFF EPOS4 is in state INIT Blink EPOS4 is in state PRE OPERATIONAL Single flash EPOS4 is in...

Page 60: ...Port LED LED Description Green Red Slow OFF Power stage is disabled The EPOS4 is in status Switch ON Disabled Ready to Switch ON Switched ON ON OFF Power stage is enabled The EPOS4 is in status Operat...

Page 61: ...nnectivity 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...

Page 62: ...e corresponding wiring method and follow the link or links to the stated figure s to find the relevant wiring information 4 1 1 DC Motor Power supply optional logic supply Figure 4 49 Motor feedback s...

Page 63: ...incremental encoder Analog incremental encoder SinCos Method EC7 Hall sensors Digital encoder SSI absolute encoder Method EC8 Digital incremental encoder SSI absolute encoder Method EC9 SSI absolute e...

Page 64: ...Wiring Main Wiring Diagram EPOS4 50 5 Hardware Reference 4 64 CCMC 2022 04 rel10445 4 2 Main Wiring Diagram Figure 4 48 Main wiring diagram Figure 4 54 Figure 4 55 Figure 4 56...

Page 65: ...ce CCMC 2022 04 rel10445 4 65 4 3 Excerpts 4 3 1 Power Logic Supply Figure 4 49 Power logic supply 4 3 2 DC Motor Figure 4 50 DC motor 4 3 3 EC BLDC Motor Figure 4 51 EC BLDC motor 4 3 4 Hall Sensors...

Page 66: ...gital Incremental Encoder 1 Sensor 1 Figure 4 53 Digital incremental encoder 1 Sensor 1 4 3 6 Digital Incremental Encoder 2 Sensor 2 Figure 4 54 Digital incremental encoder 2 Sensor 2 4 3 7 Analog inc...

Page 67: ...Wiring Excerpts EPOS4 50 5 Hardware Reference CCMC 2022 04 rel10445 4 67 4 3 8 SSI Encoder Sensor 2 Figure 4 56 SSI encoder Sensor 2...

Page 68: ...Wiring Excerpts EPOS4 50 5 Hardware Reference 4 68 CCMC 2022 04 rel10445 p a g e i n te n ti o n a l l y l e ft b l a n k...

Page 69: ...tal encoder input circuit Ch A differential analogously valid for Ch B 33 Figure 3 20 Analog incremental encoder input circuit Ch I digital evaluation 34 Figure 3 21 SSI absolute encoder data input 35...

Page 70: ...Figure 3 46 LEDs Location 59 Figure 4 47 Interfaces Designations and location 61 Figure 4 48 Main wiring diagram 64 Figure 4 49 Power logic supply 65 Figure 4 50 DC motor 65 Figure 4 51 EC BLDC motor...

Page 71: ...der connector X5 Pin assignment 25 Table 3 22 Encoder connector X5 Accessories 25 Table 3 23 Encoder Cable 26 Table 3 24 Differential encoder specification 26 Table 3 25 Single ended encoder specifica...

Page 72: ...Table 3 57 CAN interface specification 50 Table 3 58 USB connector X13 Pin assignment 51 Table 3 59 USB Type A micro B Cable 51 Table 3 60 USB interface specification 51 Table 3 61 Extension IN OUT c...

Page 73: ...3 country specific regulations 8 D DEV ID see ID device condition display of 59 digital high speed inputs differential 36 digital high speed inputs single ended 37 digital high speed output 38 digital...

Page 74: ...supply requirements 21 precautions 8 prerequisites prior installation 15 prohibitive signs 6 protective measures ESD 8 54 purpose of the device 8 of the document 5 R regulations applicable 8 Requirem...

Page 75: ...EPOS4 50 5 Hardware Reference CCMC 2022 04 rel10445 Z 75 Index p age intention ally left blank...

Page 76: ...means 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 202...

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