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maxon motor control

4-20

Document ID: rel4270

EPOS2 Positioning Controller

Edition: December 2013

EPOS2 70/10 Hardware Reference

© 2013 maxon motor. Subject to change without prior notice.

4.3

Motor Connector (J2)

The controller is set to drive either maxon EC motor (brushless) or maxon DC motor (brushed) with sep-
arated motor/encoder cable.

Figure 4-7 

Motor Connector (J2)

4.3.1

maxon EC motor (brushless)

4.3.2

maxon DC motor with separated Motor/Encoder Cable

Accessories

Cable

Motor Cable (275851)

Notes

Suitable connector
Suitable crimp terminals
Suitable hand crimper

Molex Mini-Fit Jr. 4 poles (39-01-2040)
Molex Mini-Fit Jr. female crimp terminals (44476-xxxx)
Molex hand crimper (63819-0900)

Pin

Signal

Description

1

Motor winding 1

EC motor: Winding 1

2

Motor winding 2

EC motor: Winding 2

3

Motor winding 3

EC motor: Winding 3

4

Motor shield

Cable shield

Pin

Signal

Description

1

Motor (+M)

DC motor: Motor +

2

Motor (-M)

DC motor: Motor -

3

do not connect

–

4

Motor shield

Cable shield

Содержание EPOS2 70/10

Страница 1: ...Box 263 CH 6072 Sachseln Phone 41 41 666 15 00 Fax 41 41 666 16 50 www maxonmotor com Edition December 2013 EPOS2 Positioning Controller Hardware Reference maxon motor control Positioning Controller H...

Страница 2: ...gs 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 dire...

Страница 3: ...Encoder Cable 20 4 4 Hall Sensor Connector J3 21 4 5 Encoder Connector J4 22 4 6 Signal 1 Connector J5 24 4 6 1 Digital Inputs 1 2 and 3 25 4 6 2 Digital Inputs 4 5 and 6 26 4 6 3 Supply Voltage for D...

Страница 4: ...rol A 4 Document ID rel4270 EPOS2 Positioning Controller Edition December 2013 EPOS2 70 10 Hardware Reference 2013 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: ...ence This document is meant for trained and skilled personnel working with the equipment described It con veys information on how to understand and fulfill the respective work and duties This document...

Страница 6: ...d a hazard So you must Examples 1 4 3 Informatory Signs Requirement Note Remark Indicates an action you must perform prior continuing or refers to information on a particular item Best Practice Gives...

Страница 7: ...and Trademark Owners 1 6 Copyright 2013 maxon motor All rights reserved The present document including all parts thereof is protected by copyright Any use including repro duction translation microfil...

Страница 8: ...rol 1 8 Document ID rel4270 EPOS2 Positioning Controller Edition December 2013 EPOS2 70 10 Hardware Reference 2013 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 9: ...sensors and encoder The sinusoidal current commutation by space vector control offers the possibility to drive brushless EC motors with minimal torque ripple and low noise The integrated position vel...

Страница 10: ...monitoring and safety equipment 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 dri...

Страница 11: ...Hall effect sensor ICs Schmitt trigger with open collector output Encoder signals A A B B I I max 5 MHz internal line receiver EIA RS422 Standard Digital Input 1 General Purpose optically isolated 9 2...

Страница 12: ...0 mA Digital Output 3 General Purpose optically isolated max 24 VDC IL 20 mA Digital Output 4 Brake optically isolated max 24 VDC IL 500 mA Digital Output 5 High Speed Output internal line driver EIA...

Страница 13: ...al 1 On board Suitable plug Suitable terminal dual row male header 6 poles Molex Micro Fit 3 0 dual row female receptacle 6 poles Molex Micro Fit 3 0 430 25 0600 female crimp terminal Molex Micro Fit...

Страница 14: ...tal Conditions Remark 1 Operation within the extended temperature range is permitted However a respective derating declination of max output current as to the stated value will apply Table 3 12 Enviro...

Страница 15: ...of your operational system you must perform EMC testing of the involved equipment as a whole Table 3 14 Standards Order Details EPOS2 70 10 Order number 375711 Electromagnetic Compatibility Generic S...

Страница 16: ...ol 3 16 Document ID rel4270 EPOS2 Positioning Controller Edition December 2013 EPOS2 70 10 Hardware Reference 2013 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 17: ...ng Controller Document ID rel4270 4 17 EPOS2 70 10 Hardware Reference Edition December 2013 2013 maxon motor Subject to change without prior notice 4 Connections Figure 4 3 Interfaces Designations and...

Страница 18: ...1 Sought value Supply voltage VCC Volt Solution 2 Choose power supply capable as to above calculation Thereby consider a During braking of the load the power supply must be capable of buffering the fe...

Страница 19: ...ture Basically any power supply may be used provided it meets below stated minimal requirements Figure 4 6 Power Connector J1A Power Supply Requirements Output voltage VC min 11 VDC VC max 70 VDC Abso...

Страница 20: ...tor brushless 4 3 2 maxon DC motor with separated Motor Encoder Cable Accessories Cable Motor Cable 275851 Notes Suitable connector Suitable crimp terminals Suitable hand crimper Molex Mini Fit Jr 4 p...

Страница 21: ...supply voltage 5 VDC Max Hall sensor supply current 30 mA Input voltage 0 24 VDC Logic 0 typically 0 8 VDC Logic 1 typically 2 4 VDC Internal pull up resistor 2 7 k against 5 VDC Pin Signal Descripti...

Страница 22: ...id state The receivers indicate whether a receiver input is in open circuit condition except index channel short circuit condition or beyond the common mode range smaller 10 V or higher 13 2 V They al...

Страница 23: ...er Connector J4 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 Channel A 7 Channel B Channel B c...

Страница 24: ...t 5 Positive Limit Switch 5 DigIN4 Digital Input 4 Home Switch 6 DigIN3 Digital Input 3 General Purpose 7 DigIN2 Digital Input 2 General Purpose 8 DigIN1 Digital Input 1 General Purpose 9 V Opto IN Ex...

Страница 25: ...via software Figure 4 14 DigIN1 3 Logic Level Figure 4 15 DigIN1 3 Circuit DigIN1 General Purpose DigIN2 General Purpose DigIN3 General Purpose IN_COM1 common signal Connector J5 Pin 8 Connector J5 P...

Страница 26: ...sitive Limit Switch Digital Input 6 Negative Limit Switch Figure 4 16 DigIN4 6 Logic Level Figure 4 17 DigIN4 6 Circuit DigIN4 Home Switch DigIN5 Positive Limit Switch DigIN6 Negative Limit Switch IN_...

Страница 27: ...r notice Wiring Example Different Types of Proximity Switches Figure 4 18 DigIN4 6 Wiring Example for different Types of Proximity Switches Best Practice Preferably use 3 wire PNP proximity switches U...

Страница 28: ...ents 4 6 4 Digital Outputs 1 2 and 3 By default the optically isolated digital outputs are defined as General Purpose and may be configured via software Figure 4 19 DigOUT1 3 Circuit V Opto IN DigOUT_...

Страница 29: ...tage applied to serve as magnet brake and may be configured via software Figure 4 20 DigOUT4 Circuit Wiring Example Permanent Magnet Brake Figure 4 21 DigOUT4 Wiring Example for Permanent Magnet Brake...

Страница 30: ...ing Power Stage Enable deactivated DIP switch JP4 switch 2 OFF Power Stage Enable activated Figure 4 22 DigIN11 Logic Level Figure 4 23 DigIN11 Circuit Figure 4 24 DIP Switch JP4 2 Factory Setting Pow...

Страница 31: ...ltage 5 V 2 A_Gnd Analog signal ground 3 AnIN2 Analog Input 2 negative signal 4 AnIN2 Analog Input 2 positive signal 5 AnIN1 Analog Input 1 negative signal 6 AnIN1 Analog Input 1 positive signal 7 D_G...

Страница 32: ...ed as General Purpose and may be configured via software Figure 4 27 AnIN1 Circuit analogously valid also for AnIN2 AnIN1 AnIN1 AnIN2 AnIN2 Connector J5A Pin 5 Connector J5A Pin 6 Connector J5A Pin 3...

Страница 33: ...ifferential Circuit analogously valid also for DigIN8 Figure 4 29 DigIN7 Sin Cos Circuit analogously valid also for DigIN8 Differential DigIN7 High Speed Command DigIN8 High Speed Command Connector J5...

Страница 34: ...13 maxon motor Subject to change without prior notice Figure 4 30 DigIN7 Single ended Circuit analogously valid also for DigIN8 Single ended Input voltage 0 5 VDC Max input voltage 12 VDC Logic 0 1 0...

Страница 35: ...ion 1 DigIN9 Digital Input 9 High Speed Command complement 2 DigIN9 Digital Input 9 High Speed Command 3 DigOUT5 Digital Output 5 High Speed Output complement 4 VAUX Auxiliary output voltage 5DC 150 m...

Страница 36: ...via software Figure 4 32 DigIN9 Differential Circuit Figure 4 33 DigIN9 Single ended Circuit Differential DigIN9 High Speed Command Connector J5B Pins 1 2 Min differential input voltage 200 mV Line r...

Страница 37: ...r 2013 2013 maxon motor Subject to change without prior notice 4 8 2 Auxiliary Output Voltage Can be used as supply voltage for external loads connected to EPOS2 70 10 digital inputs Figure 4 34 Auxil...

Страница 38: ...t and may be configured via software Figure 4 35 DigOUT5 Differential Circuit Figure 4 36 DigOUT5 Single ended Circuit Differential DigOUT5 High Speed Output Connector J5B Pins 3 6 Differential output...

Страница 39: ...V 3 k to Ground Max bit rate 115 200 bit s Internal RS232 driver receiver EIA RS232 Standard EPOS2 70 10 PC Interface RS232 DIN41652 Connector J6 Pins 4 5 GND Pin 5 GND Connector J6 Pin 1 EPOS RxD Pin...

Страница 40: ...03 Max bit rate 1 Mbit s Max number of CAN nodes 127 Protocol CANopen DS 301 V4 02 Identifier setting DIP switch or software EPOS2 70 10 CAN 9 pin D Sub DIN41652 Connector J7 or J8 Pin 1 CAN high Pin...

Страница 41: ...Typical input current 15 mA Max DC data input voltage 0 5 3 8 VDC EPOS2 70 10 PC Interface USB 2 0 Connector J9 Pin 1 VBUS Pin 1 VBUS Connector J9 Pin 2 USB D Pin 2 USB D Connector J9 Pin 3 USB D Pin...

Страница 42: ...nfigured by software changing object Node ID range 1 127 The CAN ID results in the summed values of DIP switch addresses 1 ON DIP switch 8 does not have any impact on the CAN ID Table 4 15 CAN ID Bina...

Страница 43: ...r individual CAN bus termination settings must be performed Using DIP switch 8 the controller internal bus termination resistor can be activated deactivated By default bus termination is OFF neverthel...

Страница 44: ...formation separate document EPOS2 Firmware Specification Table 4 17 LEDs Interpretation of Condition LED Status Error Red Green OFF Slow Power stage is disabled Device is in status Switch ON Disabled...

Страница 45: ...uit 28 Figure 4 20 DigOUT4 Circuit 29 Figure 4 21 DigOUT4 Wiring Example for Permanent Magnet Brake 29 Figure 4 22 DigIN11 Logic Level 30 Figure 4 23 DigIN11 Circuit 30 Figure 4 24 DIP Switch JP4 2 Fa...

Страница 46: ...ata Inputs 11 Table 3 5 Electrical Data Outputs 12 Table 3 6 Electrical Data Voltage Outputs 12 Table 3 7 Electrical Data Motor Connections 12 Table 3 8 Electrical Data Interfaces 12 Table 3 9 Electri...

Страница 47: ...41 country specific regulations 10 D digital inputs 25 26 digital outputs 28 29 DIP switch JP1 42 JP1 bus termination 43 E electrical data 11 environmental conditions permitted 14 error display 44 ESD...

Страница 48: ...n motor Subject to change without prior notice R regulations additionally applicable 10 RS232 interface 39 S safety alerts 5 safety first 10 signs informative 6 mandatory 6 prohibitive 6 signs used 5...

Страница 49: ...otor control EPOS2 Positioning Controller Document ID rel4270 Z 49 EPOS2 70 10 Hardware Reference Edition December 2013 2013 maxon motor Subject to change without prior notice p age intentionally left...

Страница 50: ...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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