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About

About the Device

maxon motor control
EPOS4 Positioning Controller

Document ID: rel7777

1-5

EPOS4 EtherCAT Card Hardware Reference

Edition: December 2017

© 2017 maxon motor. Subject to change without prior notice.

1.1.5

Trademarks and Brand Names

For easier legibility, registered brand names are listed below and will not be further tagged with their
respective trademark. It must be understood that the brands (the list below is not necessarily conclud-
ing) are protected by copyright and/or other intellectual property rights even if their legal trademarks are
omitted in the later course of this document.

Table 1-3

Brand names and trademark owners

1.1.6

Copyright

© 2017 maxon motor. All rights reserved.

The present document – including all parts thereof – is protected by copyright. Any use (including 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 permitted and sub-
ject to prosecution under the applicable law.

1.2

About the Device

Capabilities of the
device, included fea-
tures, and supported
controllers.

maxon motor control's «EPOS4 EtherCAT Card» is a plug-in extension card to provide complete Ether-
CAT communication capability for an EPOS4 positioning controller. It is optionally available to equip
either an EPOS4 encased housing variant or an EPOS4 Module with full EtherCAT functionality. For the
latter, development of an own motherboard as to particular guidelines is needed (for details



chapter “4

Motherboard Design Guide” on page 4-17).

Find the latest edition of the present document as well as additional documentation and software for
EPOS4 positioning controllers also on the Internet:



http://epos.maxonmotor.com

In addition, you may wish to browse the EPOS video library. It features video tutorials that provide easy
to follow instructions on how to get started with «EPOS Studio» and shows you tips and tricks on how to
setup communication interfaces, and so on. Explore on Vimeo:



https://vimeo.com/album/4646388

Brand Name

Trademark Owner

Adobe® Reader®

© Adobe Systems Incorporated, USA-San Jose, CA

EtherCAT®

© EtherCAT Technology Group, DE-Nuremberg, licensed by Beckhoff
Automation GmbH, DE-Verl

PCI Express®
PCIe®

© PCI-SIG, USA-Beaverton, OR

Windows®

© Microsoft Corporation, USA-Redmond, WA

maxon motor ag

Brünigstrasse 220
P.O.Box 263
CH-6072 Sachseln

Phone

Fax

Web

+41 41 666 15 00
+41 41 666 16 50
www.maxonmotor.com

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Содержание EPOS4 EtherCAT Card

Страница 1: ...ox 263 CH 6072 Sachseln Phone 41 41 666 15 00 Fax 41 41 666 16 50 www maxonmotor com Edition December 2017 EPOS4 Positioning Controller Hardware Reference maxon motor control Extension Card P N 581245 Hardware Reference Document ID rel7777 ...

Страница 2: ... 3 3 1 EPOS4 Controllers with encased Housing 13 3 3 2 EPOS4 Modules 15 4 Motherboard Design Guide 17 4 1 Schematic Overview 17 4 2 Requirements for Components of Third party Suppliers 18 4 2 1 Card Edge Connector Socket Headers 18 4 2 2 Supply Voltage 18 4 2 3 EtherCAT Status LEDs 19 4 2 4 EtherCAT Port LEDs 20 4 2 5 EtherCAT Connectors 21 4 2 6 Recommended Components and Manufacturers 23 4 3 THT...

Страница 3: ...mmissioning Follow the described instruc tions to avoid 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 exampl...

Страница 4: ...o Type Symbol Meaning Safety alert typical DANGER Indicates an imminent hazardous situation If not avoided it 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 act...

Страница 5: ...supported controllers maxon motor control s EPOS4 EtherCAT Card is a plug in extension card to provide complete Ether CAT communication capability for an EPOS4 positioning controller It is optionally available to equip either an EPOS4 encased housing variant or an EPOS4 Module with full EtherCAT functionality For the latter development of an own motherboard as to particular guidelines is needed fo...

Страница 6: ...re that any machine apparatus has been fitted with independent 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 drive system must return and be kept in a safe operating mode Be aware that you are not entitled to perform any repair on components supplie...

Страница 7: ...EtherCAT output As to IEEE 802 3 100 Base T Max bit rate 100 Mbit s full duplex Physical Weight approx 7 g Dimensions L x W x H 41 x 25 x 9 2 mm Mounting Card edge connector PCIe 2x18 position Environ mental Conditions Temperature Operation 30 60 C Extended range 1 For details consult Hardware Reference of respective EPOS4 controller Storage 40 85 C Altitude 2 Operation 0 10 000 m MSL Humidity 5 9...

Страница 8: ... ID rel7777 EPOS4 Positioning Controller Edition December 2017 EPOS4 EtherCAT Card Hardware Reference 2017 maxon motor Subject to change without prior notice 2 2 Dimensional Drawings Figure 2 2 EPOS4 EtherCAT Card with card edge connector retainer Dimensional drawing mm ...

Страница 9: ...ent as a whole Table 2 5 Standards Electromagnetic Compatibility Generic 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 disturbance characteristics radio interference IEC EN 61000 4 3 Radiated radio frequency electromagnetic field immunity test 10 V m IEC EN 610...

Страница 10: ...otor control 2 10 Document ID rel7777 EPOS4 Positioning Controller Edition December 2017 EPOS4 EtherCAT Card 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 e f t b l a n k ...

Страница 11: ...notice 3 Setup 3 1 Generally applicable Rules Maximal permitted supply voltage Make sure that supply power is between 10 70 VDC Supply voltages above 76 VDC or wrong polarity will destroy the unit Hot plugging hot swapping the card may cause hardware damage Switch off the controller s power supply before removing or inserting an extension card 3 2 Connections Figure 3 3 EPOS4 EtherCAT Card PCB wit...

Страница 12: ...5 TX _IN EtherCAT IN Transmission Data A6 Connect to EtherCAT IN X14 5 B6 TX _IN EtherCAT IN Transmission Data A7 Connect to EtherCAT IN X14 7 B7 RX _IN EtherCAT IN Receive Data A8 Connect to EtherCAT IN X14 8 B8 RX _IN EtherCAT IN Receive Data A9 LED_EtherCAT_OUT Link activity of port EtherCAT OUT X15 B9 LED_EtherCAT_IN Link activity of port EtherCAT IN X14 A10 not connected B10 not connected A11...

Страница 13: ...se hardware damage Switch off the controller s power supply before removing or inserting an extension card Electrostatic sensitive device ESD Wear working cloth and use equipment in compliance with ESD protective measures Handle device with extra care 3 3 1 EPOS4 Controllers with encased Housing The controllers provide two extension slots EXT1 EXT2 located underneath the plastic lid at the housing...

Страница 14: ...astic lid over and look for the molded catch in one of its 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 any foreign objects Insert extension card 6 Align the extension card with the PCIe card edge connector and keep it right angled E 7 Carefully ins...

Страница 15: ...a a custom made motherboard which defines the actual installation procedure Depending on the case of application with possibly involved strong movements and high dynamic accelerations and to guarantee failsafe operation you might wish to consider the use of a PCIe card edge connector with retainer Figure 3 6 The retainer will mechanically interlock the inserted exten sion card in both horizontal a...

Страница 16: ...r control 3 16 Document ID rel7777 EPOS4 Positioning Controller Edition December 2017 EPOS4 EtherCAT Card 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 e f t b l a n k ...

Страница 17: ...et help If you are not trained in the design and development of printed circuit boards you will need additional support for this point maxon motor will be happy to provide you with a quote for designing and manufacturing a motherboard for your specific application 4 1 Schematic Overview Figure 4 7 Schematic overview CAUTION Dangerous action Errors in implementing the design can result in serious I...

Страница 18: ... 1 5 536630 and EPOS4 Module 50 5 534130 feature 1 27 mm box headers EPOS4 Module 50 8 504384 and EPOS4 Module 50 15 504383 have pin headers that per mit two ways of mounting They can either be plugged in a socket header or be directly sol dered to a printed circuit board Find further details on the hardware in the separate document Hardware Reference of th e respec tive EPOS4 Module 4 2 2 Supply ...

Страница 19: ...o less than 20 mA with an matching series resis tor Rs Figure 4 8 EtherCAT status LED sinks analogously valid for B11 LED Description Green Red OFF EPOS4 is in state INIT Blink EPOS4 is in state PRE OPERATIONAL Single flash EPOS4 is in state SAFE OPERATIONAL ON EPOS4 is in state OPERATIONAL OFF EPOS4 is in operating condition Double flash An application watchdog timeout has occurred Example Timeou...

Страница 20: ...rt s link activity applies for both ports X14 EtherCAT IN and X15 EtherCAT OUT Green LED indicates link activity Table 4 8 EtherCAT port LEDs The outputs are designed to drive integrated LEDs of standard modular port jacks according the follow ing specification Figure 4 9 EtherCAT port activity LED source LED Description Green OFF Port is closed Flicker Port is open activity is present ON Port is ...

Страница 21: ...hs and isolation spacing must be provided Wrong plugging may cause hardware damage Even though both sockets are prepared for identical external wiring make sure to always connect them as follows Use only standard Cat5 cables with RJ45 plug such as maxon s Ethernet Cable 422827 Use EtherCAT IN as Input Use EtherCAT OUT as Output For detailed information separate document EPOS4 Communication Guide F...

Страница 22: ...S4 Positioning Controller Edition December 2017 EPOS4 EtherCAT Card Hardware Reference 2017 maxon motor Subject to change without prior notice Table 4 10 Ethernet Cable Ethernet Cable 422827 Cross section Cat 5e SF UTP ISO IEC 11801 1 1 patch cable green Length 2 m Head A RJ45 8P8CS EIA TIA 568B Head B RJ45 8P8CS EIA TIA 568B ...

Страница 23: ...I 10018784 10200TLF Sullins Connector Solutions NWE18DHHN T911 TE Connectivity 7 1734774 6 Retainer for Card Edge Connector optional PCI express retainer Amphenol FCI 10042618 002LF EtherCAT Two Port Modular Jack X14 X15 Amphenol RJHSE 5381 02 Würth 615016137721 TVS Diode D1 Vishay SMBJ54A UR 54 V UBR 60 0 66 3 V 1 mA UC 87 1 V 6 9 A Fairchild SMBJ54A UR 54 V UBR 60 0 66 3 V 1 mA UC 87 1 V 6 9 A L...

Страница 24: ... then mechanically interlock the inserted extension card in both horizontal and vertical direction Possible strong mechanical loads during operation may cause hardware damage Operation involving strong movements and high dynamic accelerations can cause an unsecured exten sion card to shake loose This can lead to serious damage of hardware or equipment and to complete failure of the system To avoid...

Страница 25: ...with connector arrays 11 Figure 3 4 Extension slots as an example EPOS4 50 5 13 Figure 3 5 EPOS4 EtherCAT Card Installation removal 14 Figure 3 6 EPOS4 EtherCAT Card with PCIe card edge connector and retainer 15 Figure 4 7 Schematic overview 17 Figure 4 8 EtherCAT status LED sinks analogously valid for B11 19 Figure 4 9 EtherCAT port activity LED source 20 Figure 4 10 EtherCAT connector 21 Figure ...

Страница 26: ...otation used 4 Table 1 2 Symbols and signs 4 Table 1 3 Brand names and trademark owners 5 Table 2 4 Technical data 7 Table 2 5 Standards 9 Table 3 6 Connector arrays Pin assignment 12 Table 4 7 EtherCAT status LEDs 19 Table 4 8 EtherCAT port LEDs 20 Table 4 9 EtherCAT connectors Pin assignment 21 Table 4 10 Ethernet Cable 22 Table 4 11 Motherboard Design Guide Recommended components 23 LIST OF TAB...

Страница 27: ...ulations 6 E ESD 6 13 H how to get help in designing the motherboard 17 interpret icons and signs used in this document 4 I informatory signs 4 L LEDs EtherCAT port activity 20 EtherCAT status 19 M mandatory action signs 4 N notations used 4 P part numbers 422827 22 504383 18 504384 18 534130 18 536630 18 581245 7 performance data 7 pin assignment 12 precautions 6 prohibitive signs 4 protective me...

Страница 28: ...n motor All rights reserved The present document including 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 without the prior approval of maxon motor ag is not permitted and subject to prosecution under the applicable law maxon motor ag Brünigstrasse ...

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