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Document ID: rel7748

EPOS2 Positioning Controller

Edition: November 2017

EPOS2 24/2 Hardware Reference

Table 1-1

Notations used in this Document . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 5

Table 1-2

Symbols & Signs . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 6

Table 1-3

Brand Names and Trademark Owners. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 6

Table 3-4

Electrical Data – Rating . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 9

Table 3-5

Electrical Data – Inputs . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 9

Table 3-6

Electrical Data – Outputs . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 9

Table 3-7

Electrical Data – Voltage Outputs . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 10

Table 3-8

Electrical Data – Motor Connections . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 10

Table 3-9

Electrical Data – Connections . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 10

Table 3-10

Electrical Data – Interfaces . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 11

Table 3-11

Electrical Data – LEDs . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 11

Table 3-12

Mechanical Data. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 11

Table 3-13

Environmental Conditions . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 13

Table 3-14

Order Details . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 13

Table 3-15

Standards . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 14

Table 4-16

Controller Types and their Connectors. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 19

Table 4-17

CAN ID – Binary Code Values . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 39

Table 4-18

CAN ID – DIP Switch Settings (Example) . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 39

Table 4-19

LEDs – Interpretation of Condition . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 40

IST

ABLES

Содержание EPOS2 24/2

Страница 1: ...Box 263 CH 6072 Sachseln Phone 41 41 666 15 00 Fax 41 41 666 16 50 www maxonmotor com Edition November 2017 EPOS2 Positioning Controller Hardware Reference maxon motor control Positioning Controller H...

Страница 2: ...hings 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 be d...

Страница 3: ...4 1 3 EPOS2 24 2 for maxon DCX motors 530239 17 4 1 4 EPOS2 24 2 for maxon EC motors 380264 18 4 2 Connectors 19 4 2 1 Supply Control Signals Connector J1 20 4 2 2 Communication Analog Inputs Connect...

Страница 4: ...rol A 4 Document ID rel7748 EPOS2 Positioning Controller Edition November 2017 EPOS2 24 2 Hardware Reference 2017 maxon motor Subject to change without prior notice p a g e i n t e n ti o n a l l y l...

Страница 5: ...working with the equipment described It con veys information on how to understand and fulfill the respective work and duties This document is a reference book It does require particular knowledge and...

Страница 6: ...ncluding repro duction translation microfilming and other means of electronic data processing beyond the narrow restrictions of the copyright law without the prior approval of maxon motor ag is not pe...

Страница 7: ...art motion controller Due to its flexi ble and high efficient power stage the EPOS2 24 2 drives brushed DC motors with digital encoder as well as brushless EC motors with digital Hall sensors and enco...

Страница 8: ...t return and be kept in a safe operating mode Be aware that you are not entitled to perform any repair on components supplied by maxon motor Best Practice For initial operation make sure that the moto...

Страница 9: ...h 1 pole pair 25 000 rpm Max speed block commutation motors with 1 pole pair 100 000 rpm Built in motor choke per phase 47 H 2 A Inputs Hall sensor signals 380264 and 390003 only Hall sensor 1 Hall se...

Страница 10: ...421 C52 left J4 Encoder Half pitch box header 2 x 5 poles pitch 1 27 1 27 mm J5 Motor PCB screw clamps 2 poles pitch 2 54 mm J6 Motor Hirose DF3 3P 2DSA Suitable plug terminal Hirose DF3 3S 2C Hirose...

Страница 11: ...Data Figure 3 2 Dimensional Drawing mm DC 390438 Interfaces RS232 RxD TxD max 115 200 bit s USB 2 0 USB 3 0 Data Data full speed CAN 1 CAN_H high CAN_L low max 1 Mbit s CAN 2 CAN_H high CAN_L low max...

Страница 12: ...prior notice maxon motor control 3 12 Document ID rel7748 EPOS2 Positioning Controller Edition November 2017 EPOS2 24 2 Hardware Reference Figure 3 3 Dimensional Drawing mm DC EC 390003 Figure 3 4 Dim...

Страница 13: ...e stated values will apply 2 Operating altitude in meters above Mean Sea Level MSL Table 3 13 Environmental Conditions Figure 3 6 Derating Output Current 3 4 Order Details Table 3 14 Order Details Env...

Страница 14: ...y 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...

Страница 15: ...otor control EPOS2 Positioning Controller Document ID rel7748 4 15 EPOS2 24 2 Hardware Reference Edition November 2017 4 Connections 4 1 Wiring Diagrams 4 1 1 EPOS2 24 2 for maxon DC motors 390438 Fig...

Страница 16: ...tice maxon motor control 4 16 Document ID rel7748 EPOS2 Positioning Controller Edition November 2017 EPOS2 24 2 Hardware Reference 4 1 2 EPOS2 24 2 for maxon DC EC motors 390003 Figure 4 9 Interfaces...

Страница 17: ...notice maxon motor control EPOS2 Positioning Controller Document ID rel7748 4 17 EPOS2 24 2 Hardware Reference Edition November 2017 4 1 3 EPOS2 24 2 for maxon DCX motors 530239 Figure 4 11 Interface...

Страница 18: ...r notice maxon motor control 4 18 Document ID rel7748 EPOS2 Positioning Controller Edition November 2017 EPOS2 24 2 Hardware Reference 4 1 4 EPOS2 24 2 for maxon EC motors 380264 Figure 4 13 Interface...

Страница 19: ...respective connector Table 4 16 Controller Types and their Connectors EPOS2 24 2 Purpose Find detailed information here DC 390438 DC EC 390003 DCX 530239 EC 380264 J1 J1 J1 Supply Control Signals pag...

Страница 20: ...Os and supply voltage Figure 4 15 Supply Control Signals Connector J1 Pin Signal Description 1 DigIN1 Digital Input 1 General Purpose 2 DigIN2 Digital Input 2 General Purpose 3 DigIN3 Digital Input 3...

Страница 21: ...e 4 17 DigIN2 analogously valid also for DigIN3 DigIN1 General Purpose D_Gnd Connector J1 Pin 1 Connector J1 Pin 7 Input voltage 0 24 VDC Max input voltage 30 VDC Logic 0 Uin 0 7 VDC Logic 1 Uin 2 4 V...

Страница 22: ...Negative Limit Switch Figure 4 18 DigIN4 analogously valid also for DigIN5 6 WIRING EXAMPLE PROXIMITY SWITCH TYPE PNP Figure 4 19 DigIN4 Type PNP Proximity Switch analogously valid also for DigIN5 6...

Страница 23: ...control EPOS2 Positioning Controller Document ID rel7748 4 23 EPOS2 24 2 Hardware Reference Edition November 2017 WIRING EXAMPLE PHOTOELECTRIC SENSOR Figure 4 20 DigIN4 Photoelectric Sensor analogousl...

Страница 24: ...the digital outputs are defined as General Purpose and may be configured via software Figure 4 21 DigOUT3 Circuit analogously valid also for DigOUT4 WIRING EXAMPLES Figure 4 22 DigOUT3 Sinks Circuit a...

Страница 25: ...maxon motor control EPOS2 Positioning Controller Document ID rel7748 4 25 EPOS2 24 2 Hardware Reference Edition November 2017 Figure 4 23 DigOUT3 Source Circuit analogously valid also for DigOUT4 DigO...

Страница 26: ...ating torque MB mNm Operating speed nB min 1 Nominal motor voltage UN Volt Motor no load speed at UN n0 min 1 Speed torque gradient of the motor n M min 1 mNm 1 SOUGHT VALUE Supply voltage VCC Volt SO...

Страница 27: ...setting factory setting is Auto Bit Rate Use termination resistor at both ends of the CAN bus chapter 4 3 2 CAN Bus Termination on page 4 40 For detailed CAN information separate document EPOS2 Commun...

Страница 28: ...efined as General Purpose and may be configured via software Figure 4 25 AnIN1 Circuit analogously valid also for AnIN2 Max input voltage 30 V Output voltage typically 9 V 3 k to Ground Max bit rate 1...

Страница 29: ...t respective settings via software Figure 4 27 Encoder Input Circuit Channel A analogously valid also for Channel B Index Pin Signal Description 1 Motor Motor terminal DC version 390438 only 2 5 VDC 1...

Страница 30: ...29 Motor Connectors J5 left J6 center J7 right Pin Signal Description 1 not connected 2 5 VDC 100 mA Encoder supply voltage 3 GND Ground 4 not connected 5 Channel A Channel A complement 6 Channel A C...

Страница 31: ...cription 1 Motor winding 1 Winding 1 2 Motor winding 2 Winding 2 3 Motor winding 3 Winding 3 4 VHall Hall sensor supply voltage 5 VDC 30 mA 5 GND Ground of Hall sensor supply 6 Hall Sensor 1 Hall sens...

Страница 32: ...32 Encoder Connector J9 For further details page 4 29 Pin Signal Description 1 not connected 2 5 VDC 100 mA Encoder supply voltage 3 GND Ground 4 not connected 5 Channel A Channel A complement 6 Chan...

Страница 33: ...Cable DC Motor Cable 303490 Notes Suitable connector Suitable crimp terminals Suitable hand crimper Molex Micro Fit 8 poles 430 25 0800 Molex Micro Fit female crimp terminals 43030 xxxx Molex hand cr...

Страница 34: ...sible configurations are A maxon DC motor with separated motor encoder cable For further details Motor Encoder Connector J3 on page 4 29 B maxon DC motor with integrated motor encoder ribbon cable Pro...

Страница 35: ...S RS232 receive 2 EPOS TxD EPOS RS232 transmit 3 not connected 4 GND RS232_Ground 5 GND RS232_Ground 6 Shield Cable shield Accessories Cable RS232 COM Cable 275900 Notes Suitable connector Suitable cr...

Страница 36: ...munication Guide Pin Signal Description 1 CAN high CAN high bus line 2 CAN low CAN low bus line 3 CAN GND CAN Ground 4 CAN Shield Cable shield Accessories Cable CAN COM Cable 275908 CAN CAN Cable 2759...

Страница 37: ...e 4 24 Digital Outputs 3 and 4 on page 4 24 Supply Voltage on page 4 26 Pin Signal Description 1 D_Gnd Digital signal ground 2 D_Gnd Digital signal ground 3 DigIN6 Digital Input 6 Negative Limit Switc...

Страница 38: ...hem Insert the USB connector first then switch on the power supply of the controller Figure 4 39 USB Connector J15 CONNECTION OF POSITIONING CONTROLLER TO PC Pin Signal Description 1 VBUS USB bus supp...

Страница 39: ...the DIP switch 1 4 address 0 OFF the CAN ID may be configured by software changing object Node ID range 1 15 The CAN ID results in the summed values of DIP switch addresses 1 ON DIP switches 5 and 6...

Страница 40: ...N Bit Rate Detection Automatic bit rate detection may be forced by DIP switch 5 Figure 4 41 DIP Switch JP1 5 Auto Bit Rate left OFF right ON 4 5 Status LEDs The LEDs display the current status of the...

Страница 41: ...LEDs 2017 maxon motor Subject to change without prior notice maxon motor control EPOS2 Positioning Controller Document ID rel7748 4 41 EPOS2 24 2 Hardware Reference Edition November 2017 p age intent...

Страница 42: ...maxon motor Subject to change without prior notice maxon motor control 4 42 Document ID rel7748 EPOS2 Positioning Controller Edition November 2017 EPOS2 24 2 Hardware Reference p a g e i n t e n ti o...

Страница 43: ...Type PNP Proximity Switch analogously valid also for DigIN5 6 22 Figure 4 20 DigIN4 Photoelectric Sensor analogously valid also for DigIN5 6 23 Figure 4 21 DigOUT3 Circuit analogously valid also for...

Страница 44: ...able 3 6 Electrical Data Outputs 9 Table 3 7 Electrical Data Voltage Outputs 10 Table 3 8 Electrical Data Motor Connections 10 Table 3 9 Electrical Data Connections 10 Table 3 10 Electrical Data Inter...

Страница 45: ...31 J9 32 country specific regulations 8 D digital inputs 21 22 digital outputs 24 DIP switches JP1 39 JP1 bus termination 40 E electrical data 9 environmental conditions permitted 13 error display 40...

Страница 46: ...17 maxon motor Subject to change without prior notice R regulations additionally applicable 8 RS232 interface 28 35 S safety alerts 5 safety first 8 signs used 5 solder pads JP701 34 JP702 34 standard...

Страница 47: ...motor control EPOS2 Positioning Controller Document ID rel7748 Z 47 EPOS2 24 2 Hardware Reference Edition November 2017 2017 maxon motor Subject to change without prior notice p age intentionally left...

Страница 48: ...g 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 copyright law...

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