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maxon motor EPOS2 24/2 Hardware Reference Manual

Positioning controller
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maxon motor control
EPOS2 Positioning Controller
Hardware Reference
Edition November 2017
Positioning Controller
Hardware Reference
Document ID: rel7748
maxon motor ag Brünigstrasse 220 P.O.Box 263 CH-6072 Sachseln Phone +41 41 666 15 00 Fax +41 41 666 16 50 www.maxonmotor.com

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  • Page 1 EPOS2 Positioning Controller Hardware Reference Edition November 2017 Positioning Controller Hardware Reference Document ID: rel7748 maxon motor ag Brünigstrasse 220 P.O.Box 263 CH-6072 Sachseln Phone +41 41 666 15 00 Fax +41 41 666 16 50 www.maxonmotor.com...
  • Page 2 ERMISSION TO COMMENCE NSTALLATION The EPOS2 24/2 is considered as partly completed machinery according to EU directive 2006/42/EC, Article 2, Clause (g) and therefore is intended to be incorporated into or assembled with other machinery or other partly completed machinery or equipment.

  • Page 3: Table Of Contents

    4.1.3 EPOS2 24/2 for maxon DCX motors (530239) ....... 17...
  • Page 4 • • p a g e i n t e n t i o n a l l y l e f t b l a n k • • maxon motor control Document ID: rel7748 EPOS2 Positioning Controller Edition: November 2017 EPOS2 24/2 Hardware Reference © 2017 maxon motor. Subject to change without prior notice.

  • Page 5: Table 1-1 Table

    Use for other and/or additional purposes is not permitted. maxon motor, the manufacturer of the equip- ment described, does not assume any liability for loss or damage that may arise from any other and/or additional use than the intended purpose.
  • Page 6 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 persecution under the applicable law.

  • Page 7: Documentation Structure

    EPOS2 24/2 is a small-sized, full digital, smart 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 encoder.

  • Page 8: Safety Precautions

    – 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 •...

  • Page 9: Electrical Data

    <50 mA) Digital Output 4 (“General Purpose”), open drain Table 3-6 Electrical Data – Outputs maxon motor control EPOS2 Positioning Controller Document ID: rel7748 EPOS2 24/2 Hardware Reference Edition: November 2017 © 2017 maxon motor. Subject to change without prior notice.

  • Page 10: Table 3-7 Electrical Data - Voltage Outputs

    MR Encoder Type S with Line Driver and MR Encoder Type M with Line Driver. Table 3-9 Electrical Data – Connections maxon motor control 3-10 Document ID: rel7748 EPOS2 Positioning Controller Edition: November 2017 EPOS2 24/2 Hardware Reference © 2017 maxon motor. Subject to change without prior notice.

  • Page 11: Mechanical Data

    Max. tightening torque 0.16 Nm. Table 3-12 Mechanical Data Figure 3-2 Dimensional Drawing [mm] – DC (390438) maxon motor control 3-11 EPOS2 Positioning Controller Document ID: rel7748 EPOS2 24/2 Hardware Reference Edition: November 2017 © 2017 maxon motor. Subject to change without prior notice.

  • Page 12: Figure 3-3 Dimensional Drawing [Mm] - Dc/Ec (390003)

    Dimensional Drawing [mm] – DCX (530239) Figure 3-5 Dimensional Drawing [mm] – EC (380264) maxon motor control 3-12 Document ID: rel7748 EPOS2 Positioning Controller Edition: November 2017 EPOS2 24/2 Hardware Reference © 2017 maxon motor. Subject to change without prior notice.

  • Page 13: Environmental Conditions

    DC motors 530239 EPOS2 24/2 for maxon DCX motors Table 3-14 Order Details maxon motor control 3-13 EPOS2 Positioning Controller Document ID: rel7748 EPOS2 24/2 Hardware Reference Edition: November 2017 © 2017 maxon motor. Subject to change without prior notice.

  • Page 14: Standards

    • DCX (530239): 912'810 hours • EC (380264): 750'015 hours Table 3-15 Standards maxon motor control 3-14 Document ID: rel7748 EPOS2 Positioning Controller Edition: November 2017 EPOS2 24/2 Hardware Reference © 2017 maxon motor. Subject to change without prior notice.

  • Page 15: Wiring Diagrams

    Interfaces – Designations and Location «DC» (390438) Figure 4-8 Wiring Diagram «DC» (390438) maxon motor control 4-15 EPOS2 Positioning Controller Document ID: rel7748 EPOS2 24/2 Hardware Reference Edition: November 2017 © 2017 maxon motor. Subject to change without prior notice.

  • Page 16: Epos2 24/2 For Maxon Dc/Ec Motors (390003)

    Interfaces – Designations and Location «DC/EC» (390003) Figure 4-10 Wiring Diagram «DC/EC» (390003) maxon motor control 4-16 Document ID: rel7748 EPOS2 Positioning Controller Edition: November 2017 EPOS2 24/2 Hardware Reference © 2017 maxon motor. Subject to change without prior notice.

  • Page 17: Epos2 24/2 For Maxon Dcx Motors (530239)

    Interfaces – Designations and Location «DCX» (530239) Figure 4-12 Wiring Diagram «DCX» (530239) maxon motor control 4-17 EPOS2 Positioning Controller Document ID: rel7748 EPOS2 24/2 Hardware Reference Edition: November 2017 © 2017 maxon motor. Subject to change without prior notice.

  • Page 18: Epos2 24/2 For Maxon Ec Motors (380264)

    Interfaces – Designations and Location «EC» (380264) Figure 4-14 Wiring Diagram «EC» (380264) maxon motor control 4-18 Document ID: rel7748 EPOS2 Positioning Controller Edition: November 2017 EPOS2 24/2 Hardware Reference © 2017 maxon motor. Subject to change without prior notice.

  • Page 19: Connectors

    Supply/Control Signals page 4-37 page 4-38 Table 4-16 Controller Types and their Connectors maxon motor control 4-19 EPOS2 Positioning Controller Document ID: rel7748 EPOS2 24/2 Hardware Reference Edition: November 2017 © 2017 maxon motor. Subject to change without prior notice.

  • Page 20: Supply/Control Signals Connector (J1)

    Digital Output 4 “General Purpose” D_Gnd Digital signal ground Power_Gnd Power ground Power supply voltage (+9…24 VDC) maxon motor control 4-20 Document ID: rel7748 EPOS2 Positioning Controller Edition: November 2017 EPOS2 24/2 Hardware Reference © 2017 maxon motor. Subject to change without prior notice.

  • Page 21: Figure 4-16 Digin1

    <1 µs @ 5 VDC Figure 4-17 DigIN2 (analogously valid also for DigIN3) maxon motor control 4-21 EPOS2 Positioning Controller Document ID: rel7748 EPOS2 24/2 Hardware Reference Edition: November 2017 © 2017 maxon motor. Subject to change without prior notice.

  • Page 22: Figure 4-18 Digin4 (Analogously Valid Also For Digin5/6)

    Figure 4-19 DigIN4 – Type PNP Proximity Switch (analogously valid also for DigIN5/6) maxon motor control 4-22 Document ID: rel7748 EPOS2 Positioning Controller Edition: November 2017 EPOS2 24/2 Hardware Reference © 2017 maxon motor. Subject to change without prior notice.

  • Page 23: Figure 4-20 Digin4 - Photoelectric Sensor (Analogously Valid Also For Digin5/6)

    = 11 kΩ Figure 4-20 DigIN4 – Photoelectric Sensor (analogously valid also for DigIN5/6) maxon motor control 4-23 EPOS2 Positioning Controller Document ID: rel7748 EPOS2 24/2 Hardware Reference Edition: November 2017 © 2017 maxon motor. Subject to change without prior notice.

  • Page 24: Figure 4-21 Digout3 Circuit (Analogously Valid Also For Digout4)

    <1.0 V @ 50 mA Figure 4-22 DigOUT3 “Sinks” Circuit (analogously valid also for DigOUT4) maxon motor control 4-24 Document ID: rel7748 EPOS2 Positioning Controller Edition: November 2017 EPOS2 24/2 Hardware Reference © 2017 maxon motor. Subject to change without prior notice.

  • Page 25: Figure 4-23 Digout3 "Source" Circuit (Analogously Valid Also For Digout4)

    Max. load current load Figure 4-23 DigOUT3 “Source” Circuit (analogously valid also for DigOUT4) maxon motor control 4-25 EPOS2 Positioning Controller Document ID: rel7748 EPOS2 24/2 Hardware Reference Edition: November 2017 © 2017 maxon motor. Subject to change without prior notice.
  • Page 26 Depending on load (continuous max. 2 A / acceleration, short-time max. 4 A) Calculate required voltage under load using following scheme (the formula takes a max. PWM cycle of 90% and a max. voltage drop of −1 V at EPOS2 24/2 into account): NOWN VALUES •...

  • Page 27: Communication/Analog Inputs Connector (J2)

    4-40).  • For detailed CAN information separate document «EPOS2 Communication Guide». maxon motor control 4-27 EPOS2 Positioning Controller Document ID: rel7748 EPOS2 24/2 Hardware Reference Edition: November 2017 © 2017 maxon motor. Subject to change without prior notice.

  • Page 28: Figure 4-25 Anin1 Circuit (Analogously Valid Also For Anin2)

    0.0012 V Bandwidth 5 kHz Figure 4-25 AnIN1 Circuit (analogously valid also for AnIN2) maxon motor control 4-28 Document ID: rel7748 EPOS2 Positioning Controller Edition: November 2017 EPOS2 24/2 Hardware Reference © 2017 maxon motor. Subject to change without prior notice.

  • Page 29: Motor/Encoder Connector (J3)

    Figure 4-27 Encoder Input Circuit Channel A (analogously valid also for Channel B/Index) maxon motor control 4-29 EPOS2 Positioning Controller Document ID: rel7748 EPOS2 24/2 Hardware Reference Edition: November 2017 © 2017 maxon motor. Subject to change without prior notice.

  • Page 30: Encoder Connector (J4)

    Signal Description Motor+ Motor terminal “+” Motor− Motor terminal “−” not connected – maxon motor control 4-30 Document ID: rel7748 EPOS2 Positioning Controller Edition: November 2017 EPOS2 24/2 Hardware Reference © 2017 maxon motor. Subject to change without prior notice.

  • Page 31: Motor/Hall Sensors Connector (J8)

    Internal pull-up resistor 2.7 kΩ (against +5 VDC) Figure 4-31 Hall Sensor Input Circuit maxon motor control 4-31 EPOS2 Positioning Controller Document ID: rel7748 EPOS2 24/2 Hardware Reference Edition: November 2017 © 2017 maxon motor. Subject to change without prior notice.

  • Page 32: Encoder Connector (J9)

    DIN 41651 Plug, pitch 2.54 mm, 10 poles, plug strain relief For further details page 4-29. maxon motor control 4-32 Document ID: rel7748 EPOS2 Positioning Controller Edition: November 2017 EPOS2 24/2 Hardware Reference © 2017 maxon motor. Subject to change without prior notice.

  • Page 33: Motor/Hall Sensors Connector (J10)

    Molex Micro-Fit female crimp terminals (43030-xxxx) Suitable hand crimper Molex hand crimper (63819-0000) For further details page 4-31. maxon motor control 4-33 EPOS2 Positioning Controller Document ID: rel7748 EPOS2 24/2 Hardware Reference Edition: November 2017 © 2017 maxon motor. Subject to change without prior notice.

  • Page 34: Encoder Connector (J11)

    With maxon DC motor with integrated motor/encoder ribbon cable, connector J10 will not be used! Accessories Cable Encoder Cable (275934) For further details page 4-29. maxon motor control 4-34 Document ID: rel7748 EPOS2 Positioning Controller Edition: November 2017 EPOS2 24/2 Hardware Reference © 2017 maxon motor. Subject to change without prior notice.

  • Page 35: Rs232 Connector (J12)

    • Consider your PC's serial port maximal baud rate. • The standard baud rate setting (factory setting) is 115'200 bauds. maxon motor control 4-35 EPOS2 Positioning Controller Document ID: rel7748 EPOS2 24/2 Hardware Reference Edition: November 2017 © 2017 maxon motor. Subject to change without prior notice.

  • Page 36: Can Connector (J13)

    4-40).  • For detailed CAN information separate document «EPOS2 Communication Guide». maxon motor control 4-36 Document ID: rel7748 EPOS2 Positioning Controller Edition: November 2017 EPOS2 24/2 Hardware Reference © 2017 maxon motor. Subject to change without prior notice.

  • Page 37: Supply/Control Signals Connector (J14)

    “Digital Outputs 3 and 4” on page 4-24 • “Supply Voltage” on page 4-26 maxon motor control 4-37 EPOS2 Positioning Controller Document ID: rel7748 EPOS2 24/2 Hardware Reference Edition: November 2017 © 2017 maxon motor. Subject to change without prior notice.

  • Page 38: Usb Connector (J15)

    Connector [J15] Pin [5] “GND” Pin 4 “GND” Connector [J15] Housing “Shield” Housing “Shield” maxon motor control 4-38 Document ID: rel7748 EPOS2 Positioning Controller Edition: November 2017 EPOS2 24/2 Hardware Reference © 2017 maxon motor. Subject to change without prior notice.

  • Page 39: Can Node Identification (Jp1)

    1 + 2 + 4 + 8 Table 4-18 CAN ID – DIP Switch Settings (Example) maxon motor control 4-39 EPOS2 Positioning Controller Document ID: rel7748 EPOS2 24/2 Hardware Reference Edition: November 2017 © 2017 maxon motor. Subject to change without prior notice.

  • Page 40: Can Bus Termination

    Figure 4-41 DIP Switch (JP1 [5]) – Auto Bit Rate (left “OFF” / right “ON”) Status LEDs The LEDs display the current status of the EPOS2 24/2 as well as possible errors: • Green LED shows the operating status •...

  • Page 41: Epos2 24/2 Hardware Reference Edition: November

    • • p a g e i n t e n t i o n a l l y l e f t b l a n k • • maxon motor control 4-41 EPOS2 Positioning Controller Document ID: rel7748 EPOS2 24/2 Hardware Reference Edition: November 2017 © 2017 maxon motor. Subject to change without prior notice.
  • Page 42 • • p a g e i n t e n t i o n a l l y l e f t b l a n k • • maxon motor control 4-42 Document ID: rel7748 EPOS2 Positioning Controller Edition: November 2017 EPOS2 24/2 Hardware Reference © 2017 maxon motor. Subject to change without prior notice.
  • Page 43 DIP Switch (JP1 [5]) – Auto Bit Rate (left “OFF” / right “ON”)........40 maxon motor control Z-43 EPOS2 Positioning Controller Document ID: rel7748 EPOS2 24/2 Hardware Reference Edition: November 2017 © 2017 maxon motor. Subject to change without prior notice.
  • Page 44 LEDs – Interpretation of Condition ............40 maxon motor control Z-44 Document ID: rel7748 EPOS2 Positioning Controller Edition: November 2017 EPOS2 24/2 Hardware Reference © 2017 maxon motor. Subject to change without prior notice.
  • Page 45 JP1 39 of the device 7 JP1, bus termination 40 of this document 5 maxon motor control Z-45 EPOS2 Positioning Controller Document ID: rel7748 EPOS2 24/2 Hardware Reference Edition: November 2017 © 2017 maxon motor. Subject to change without prior notice.
  • Page 46 LEDs 40 supply voltage, required 26 symbols used 5 technical data 9 interface 38 maxon motor control Z-46 Document ID: rel7748 EPOS2 Positioning Controller Edition: November 2017 EPOS2 24/2 Hardware Reference © 2017 maxon motor. Subject to change without prior notice.
  • Page 47 • • p a g e i n t e n t i o n a l l y l e f t b l a n k • • maxon motor control Z-47 EPOS2 Positioning Controller Document ID: rel7748 EPOS2 24/2 Hardware Reference Edition: November 2017 © 2017 maxon motor. Subject to change without prior notice.
  • Page 48 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 persecution under the applicable law. maxon motor ag Brünigstrasse 220...

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