maxon motor EPOS4 Module 50/8 Hardware Reference Manual
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maxon motor EPOS4 Module 50/8 Hardware Reference Manual

Positioning controller
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maxon motor control
Hardware Reference
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
P/N 504384
P/N 520885
P/N 605298
Hardware Reference
Document ID: rel8399
EPOS4 Positioning Controller
Edition November 2018

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Summary of Contents for maxon motor EPOS4 Module 50/8

  • Page 1 EPOS4 Positioning Controller Hardware Reference Edition November 2018 P/N 504384 P/N 520885 P/N 605298 Hardware Reference Document ID: rel8399 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: Table Of Contents

    • you must follow the instructions given therein. EPOS4 Module 50/8 and EPOS4 Compact 50/8 positioning controllers are considered as partly completed machinery according to EU Directive 2006/42/EC, Article 2, Clause (g) and are intended to be incorporated into or assembled with other machinery or other partly completed machinery or equipment.
  • Page 3 THT Footprint..........89 maxon motor control EPOS4 Positioning Controller Document ID: rel8399 EPOS4 Module/Compact 50/8 Hardware Reference Edition: November 2018 © 2018 maxon motor. Subject to change without prior notice.
  • Page 4 Excerpts ........... . . 96 maxon motor control Document ID: rel8399 EPOS4 Positioning Controller Edition: November 2018 EPOS4 Module/Compact 50/8 Hardware Reference © 2018 maxon motor. Subject to change without prior notice.

  • Page 5: About

    About this Document 1.1.1 Intended Purpose The purpose of the present document is to familiarize you with the EPOS4 Module 50/8 and EPOS4 Use the document Compact 50/8 positioning controllers. It will highlight the tasks for safe and adequate installation and/or to…...
  • Page 6 Indicates information particular to possible damage Damage of the equipment. Table 1-2 Symbols and signs maxon motor control Document ID: rel8399 EPOS4 Positioning Controller Edition: November 2018 EPOS4 Module/Compact 50/8 Hardware Reference © 2018 maxon motor. Subject to change without prior notice.
  • Page 7 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.

  • Page 8: About The Devices

    Thanks to its smart design, the EPOS4 Module 50/8 can either be used in combination with EPOS4 CB Power connector boards as a compact, integrated solution or be incorporated into customer-specific motherboards for single axis or multi axes motion control systems.
  • Page 9 «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 maxon motor control EPOS4 Positioning Controller Document ID: rel8399 EPOS4 Module/Compact 50/8 Hardware Reference Edition: November 2018 © 2018 maxon motor. Subject to change without prior notice.

  • Page 10: About The 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. Electrostatic sensitive device (ESD) •...

  • Page 11: Specifications

    Digital Hall sensor signals +2.0…+24 VDC (internal pull-up) H1, H2, H3 Continued on next page. maxon motor control 2-11 EPOS4 Positioning Controller Document ID: rel8399 EPOS4 Module/Compact 50/8 Hardware Reference Edition: November 2018 © 2018 maxon motor. Subject to change without prior notice.
  • Page 12 M2.5 screws M2.5 screws mounting holes for M2.5 screws Continued on next page. maxon motor control 2-12 Document ID: rel8399 EPOS4 Positioning Controller Edition: November 2018 EPOS4 Module/Compact 50/8 Hardware Reference © 2018 maxon motor. Subject to change without prior notice.
  • Page 13 Operating altitude in meters above Mean Sea Level, MSL. Table 2-5 Technical data maxon motor control 2-13 EPOS4 Positioning Controller Document ID: rel8399 EPOS4 Module/Compact 50/8 Hardware Reference Edition: November 2018 © 2018 maxon motor. Subject to change without prior notice.

  • Page 14: Thermal Data

    Thermal Data 2.2.1 Derating of Output Current Figure 2-3 Derating of output current maxon motor control 2-14 Document ID: rel8399 EPOS4 Positioning Controller Edition: November 2018 EPOS4 Module/Compact 50/8 Hardware Reference © 2018 maxon motor. Subject to change without prior notice.

  • Page 15: Limitations

    40 A — Thermal overload 100 °C 90 °C Table 2-6 Limitations maxon motor control 2-15 EPOS4 Positioning Controller Document ID: rel8399 EPOS4 Module/Compact 50/8 Hardware Reference Edition: November 2018 © 2018 maxon motor. Subject to change without prior notice.

  • Page 16: Dimensional Drawings

    Dimensional Drawings Dimensional Drawings Figure 2-6 EPOS4 Module 50/8 – Dimensional drawing [mm] maxon motor control 2-16 Document ID: rel8399 EPOS4 Positioning Controller Edition: November 2018 EPOS4 Module/Compact 50/8 Hardware Reference © 2018 maxon motor. Subject to change without prior notice.

  • Page 17: Figure 2-7 Epos4 Cb Power Can - Dimensional Drawing [Mm]

    EPOS4 CB Power CAN – Dimensional drawing [mm] Figure 2-8 EPOS4 Compact 50/8 CAN – Dimensional drawing [mm] maxon motor control 2-17 EPOS4 Positioning Controller Document ID: rel8399 EPOS4 Module/Compact 50/8 Hardware Reference Edition: November 2018 © 2018 maxon motor. Subject to change without prior notice.

  • Page 18: Figure 2-9 Epos4 Cb Power Ethercat - Dimensional Drawing [Mm]

    EPOS4 CB Power EtherCAT – Dimensional drawing [mm] Figure 2-10 EPOS4 Compact 50/8 EtherCAT – Dimensional drawing [mm] maxon motor control 2-18 Document ID: rel8399 EPOS4 Positioning Controller Edition: November 2018 EPOS4 Module/Compact 50/8 Hardware Reference © 2018 maxon motor. Subject to change without prior notice.

  • Page 19: Standards

    • Compact CAN: 210’109 hours • Compact EtherCAT: 197’129 hours Table 2-7 Standards maxon motor control 2-19 EPOS4 Positioning Controller Document ID: rel8399 EPOS4 Module/Compact 50/8 Hardware Reference Edition: November 2018 © 2018 maxon motor. Subject to change without prior notice.
  • Page 20 • • 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 2-20 Document ID: rel8399 EPOS4 Positioning Controller Edition: November 2018 EPOS4 Module/Compact 50/8 Hardware Reference © 2018 maxon motor. Subject to change without prior notice.

  • Page 21: Setup

    ERMISSION TO COMMENCE NSTALLATION EPOS4 Module 50/8 and EPOS4 Compact 50/8 positioning controllers are considered as partly com- pleted machinery according to EU Directive 2006/42/EC, Article 2, Clause (g) and are intended to be incorporated into or assembled with other machinery or other partly completed machinery or equipment.

  • Page 22: Pin Assignment For Module Version

    ** Connect all pins in respect to the individual pin current rating. Table 3-8 Pin assignment A1…A32 (X1…X5) maxon motor control 3-22 Document ID: rel8399 EPOS4 Positioning Controller Edition: November 2018 EPOS4 Module/Compact 50/8 Hardware Reference © 2018 maxon motor. Subject to change without prior notice.
  • Page 23 AnOUT1 Analog output 1 AnOUT2 Analog output 2 Continued on next page. maxon motor control 3-23 EPOS4 Positioning Controller Document ID: rel8399 EPOS4 Module/Compact 50/8 Hardware Reference Edition: November 2018 © 2018 maxon motor. Subject to change without prior notice.
  • Page 24 Table 3-9 Pin assignment B1…B46 (X6…X12) maxon motor control 3-24 Document ID: rel8399 EPOS4 Positioning Controller Edition: November 2018 EPOS4 Module/Compact 50/8 Hardware Reference © 2018 maxon motor. Subject to change without prior notice.

  • Page 25: Pin Assignment For Connector Boards & Compact Versions

    Figure 3-13 EPOS4 CB Power EtherCAT (left) / EPOS4 Compact 50/8 EtherCAT (right) maxon motor control 3-25 EPOS4 Positioning Controller Document ID: rel8399 EPOS4 Module/Compact 50/8 Hardware Reference Edition: November 2018 © 2018 maxon motor. Subject to change without prior notice.

  • Page 26: Cabling

    422827 3-43 — Ethernet Cable 422827 3-43 Table 3-10 Prefab maxon cables maxon motor control 3-26 Document ID: rel8399 EPOS4 Positioning Controller Edition: November 2018 EPOS4 Module/Compact 50/8 Hardware Reference © 2018 maxon motor. Subject to change without prior notice.

  • Page 27: Tools

    Pin Assignment for Connector Boards & Compact Versions &B AKE YOUR If you decide not to employ maxon motor’s prefab cable assemblies, you might wish to use the prepack- aged kit that contains all connectors required to make up your own cabling. EPOS4 Connector Set (520859)

  • Page 28: Connections

    • The third column describes the pin number of the prefab maxon cable’s Head B. maxon motor control 3-28 Document ID: rel8399 EPOS4 Positioning Controller Edition: November 2018 EPOS4 Module/Compact 50/8 Hardware Reference © 2018 maxon motor. Subject to change without prior notice.

  • Page 29: Power Supply (X1)

    Head B Wire end sleeves 2.5 mm Table 3-14 Power Cable High Current maxon motor control 3-29 EPOS4 Positioning Controller Document ID: rel8399 EPOS4 Module/Compact 50/8 Hardware Reference Edition: November 2018 © 2018 maxon motor. Subject to change without prior notice.

  • Page 30: Logic Supply (X2)

    Molex Mini-Fit Jr. female crimp terminals (45750) Head B Wire end sleeves 0.75 mm Table 3-16 Power Cable maxon motor control 3-30 Document ID: rel8399 EPOS4 Positioning Controller Edition: November 2018 EPOS4 Module/Compact 50/8 Hardware Reference © 2018 maxon motor. Subject to change without prior notice.

  • Page 31: Motor (X3A) (X3B)

    Motor connector X3a / X3b – Pin assignment for maxon EC motor Continued on next page. maxon motor control 3-31 EPOS4 Positioning Controller Document ID: rel8399 EPOS4 Module/Compact 50/8 Hardware Reference Edition: November 2018 © 2018 maxon motor. Subject to change without prior notice.
  • Page 32 Head B Wire end sleeves 2.5 mm Table 3-20 Motor Cable High Current maxon motor control 3-32 Document ID: rel8399 EPOS4 Positioning Controller Edition: November 2018 EPOS4 Module/Compact 50/8 Hardware Reference © 2018 maxon motor. Subject to change without prior notice.

  • Page 33: Hall Sensor (X4)

    Head B Wire end sleeves 0.14 mm Table 3-22 Hall Sensor Cable maxon motor control 3-33 EPOS4 Positioning Controller Document ID: rel8399 EPOS4 Module/Compact 50/8 Hardware Reference Edition: November 2018 © 2018 maxon motor. Subject to change without prior notice.

  • Page 34: Encoder (X5)

    DIN 41651 plug, pitch 2.54 mm, 10 poles, with strain relief Table 3-25 Encoder Cable maxon motor control 3-34 Document ID: rel8399 EPOS4 Positioning Controller Edition: November 2018 EPOS4 Module/Compact 50/8 Hardware Reference © 2018 maxon motor. Subject to change without prior notice.

  • Page 35: Sensor (X6)

    Table 3-26 Sensor connector X6 – Pin assignment Continued on next page. maxon motor control 3-35 EPOS4 Positioning Controller Document ID: rel8399 EPOS4 Module/Compact 50/8 Hardware Reference Edition: November 2018 © 2018 maxon motor. Subject to change without prior notice.
  • Page 36 Head B Wire end sleeves 0.14 mm Table 3-27 Sensor Cable 5x2core maxon motor control 3-36 Document ID: rel8399 EPOS4 Positioning Controller Edition: November 2018 EPOS4 Module/Compact 50/8 Hardware Reference © 2018 maxon motor. Subject to change without prior notice.

  • Page 37: Digital I/O (X7)

    Head B Wire end sleeves 0.14 mm Table 3-29 Signal Cable 8core maxon motor control 3-37 EPOS4 Positioning Controller Document ID: rel8399 EPOS4 Module/Compact 50/8 Hardware Reference Edition: November 2018 © 2018 maxon motor. Subject to change without prior notice.

  • Page 38: Analog I/O (X8)

    Head B Wire end sleeves 0.14 mm Table 3-31 Signal Cable 7core maxon motor control 3-38 Document ID: rel8399 EPOS4 Positioning Controller Edition: November 2018 EPOS4 Module/Compact 50/8 Hardware Reference © 2018 maxon motor. Subject to change without prior notice.

  • Page 39: Sto (X9)

    Molex CLIK-Mate, single row, 8 poles (502578-0800) with cable bridges Table 3-33 STO Idle Connector maxon motor control 3-39 EPOS4 Positioning Controller Document ID: rel8399 EPOS4 Module/Compact 50/8 Hardware Reference Edition: November 2018 © 2018 maxon motor. Subject to change without prior notice.

  • Page 40: Rs232 (X10)

    Female D-Sub connector DIN 41652, 9 poles, with mounting screws Table 3-35 RS232-COM Cable maxon motor control 3-40 Document ID: rel8399 EPOS4 Positioning Controller Edition: November 2018 EPOS4 Module/Compact 50/8 Hardware Reference © 2018 maxon motor. Subject to change without prior notice.

  • Page 41: Can 1 (X11) Can 2 (X12)

    Head B Contacts Molex CLIK-Mate crimp terminals (502579) Table 3-38 CAN-CAN Cable maxon motor control 3-41 EPOS4 Positioning Controller Document ID: rel8399 EPOS4 Module/Compact 50/8 Hardware Reference Edition: November 2018 © 2018 maxon motor. Subject to change without prior notice.

  • Page 42: Ethercat In (X14) & Ethercat Out (X15)

    EtherCAT IN & EtherCAT OUT connectors X14 & X15 – Pin assignment Continued on next page. maxon motor control 3-42 Document ID: rel8399 EPOS4 Positioning Controller Edition: November 2018 EPOS4 Module/Compact 50/8 Hardware Reference © 2018 maxon motor. Subject to change without prior notice.
  • Page 43 RJ45 (8P8CS) EIA/TIA-568B Head B RJ45 (8P8CS) EIA/TIA-568B Table 3-40 Ethernet Cable maxon motor control 3-43 EPOS4 Positioning Controller Document ID: rel8399 EPOS4 Module/Compact 50/8 Hardware Reference Edition: November 2018 © 2018 maxon motor. Subject to change without prior notice.

  • Page 44: Dip Switch Configuration (Sw1)

    Table 3-41 DIP switch SW1 – Binary code values Continued on next page. maxon motor control 3-44 Document ID: rel8399 EPOS4 Positioning Controller Edition: November 2018 EPOS4 Module/Compact 50/8 Hardware Reference © 2018 maxon motor. Subject to change without prior notice.
  • Page 45 0 = Switch “OFF” 1 = Switch “ON” Table 3-42 DIP switch SW1 – Examples maxon motor control 3-45 EPOS4 Positioning Controller Document ID: rel8399 EPOS4 Module/Compact 50/8 Hardware Reference Edition: November 2018 © 2018 maxon motor. Subject to change without prior notice.

  • Page 46: Can Automatic Bit Rate Detection (Compact Can)

    Description number 520860 STO Idle Connector X9 Table 3-46 Spare parts list maxon motor control 3-46 Document ID: rel8399 EPOS4 Positioning Controller Edition: November 2018 EPOS4 Module/Compact 50/8 Hardware Reference © 2018 maxon motor. Subject to change without prior notice.

  • Page 47: Connection Specifications

    Continued on next page. maxon motor control 3-47 EPOS4 Positioning Controller Document ID: rel8399 EPOS4 Module/Compact 50/8 Hardware Reference Edition: November 2018 © 2018 maxon motor. Subject to change without prior notice.

  • Page 48: Logic Supply

    8 VDC; max. 56 VDC min. 3.5 W Min. output power maxon motor control 3-48 Document ID: rel8399 EPOS4 Positioning Controller Edition: November 2018 EPOS4 Module/Compact 50/8 Hardware Reference © 2018 maxon motor. Subject to change without prior notice.

  • Page 49: Motor

    ** Connect all pins in respect to the individual pin current rating. Table 3-50 EC motor – Pin assignment maxon motor control 3-49 EPOS4 Positioning Controller Document ID: rel8399 EPOS4 Module/Compact 50/8 Hardware Reference Edition: November 2018 © 2018 maxon motor. Subject to change without prior notice.

  • Page 50: Hall Sensor

    Hall sensor 1 input circuit (analogously valid for Hall sensors 2 & 3) maxon motor control 3-50 Document ID: rel8399 EPOS4 Positioning Controller Edition: November 2018 EPOS4 Module/Compact 50/8 Hardware Reference © 2018 maxon motor. Subject to change without prior notice.

  • Page 51: Encoder

    EIA RS422 standard Max. input frequency 6.25 MHz Continued on next page. maxon motor control 3-51 EPOS4 Positioning Controller Document ID: rel8399 EPOS4 Module/Compact 50/8 Hardware Reference Edition: November 2018 © 2018 maxon motor. Subject to change without prior notice.

  • Page 52: Figure 3-29 Encoder Input Circuit Ch A "Differential" (Analogously Valid For Ch B & Ch I)

    Encoder input circuit Ch A “single-ended” (analogously valid for Ch B & Ch I) maxon motor control 3-52 Document ID: rel8399 EPOS4 Positioning Controller Edition: November 2018 EPOS4 Module/Compact 50/8 Hardware Reference © 2018 maxon motor. Subject to change without prior notice.

  • Page 53: Sensor

    EIA RS422 standard Max. input frequency 6.25 MHz Continued on next page. maxon motor control 3-53 EPOS4 Positioning Controller Document ID: rel8399 EPOS4 Module/Compact 50/8 Hardware Reference Edition: November 2018 © 2018 maxon motor. Subject to change without prior notice.

  • Page 54: Figure 3-31 Digital Incremental Encoder Input Circuit Ch A "Differential" (Analogously Valid For Ch B)

    Digital incremental encoder input circuit Ch A “differential” (analogously valid for Ch B) Figure 3-32 Digital incremental encoder input circuit Ch I maxon motor control 3-54 Document ID: rel8399 EPOS4 Positioning Controller Edition: November 2018 EPOS4 Module/Compact 50/8 Hardware Reference © 2018 maxon motor. Subject to change without prior notice.

  • Page 55: Figure 3-33 Digital Incremental Encoder Input Circuit Ch A "Single-Ended" (Analogously Valid For Ch B)

    Digital incremental encoder input circuit Ch A “single-ended” (analogously valid for Ch B) Continued on next page. maxon motor control 3-55 EPOS4 Positioning Controller Document ID: rel8399 EPOS4 Module/Compact 50/8 Hardware Reference Edition: November 2018 © 2018 maxon motor. Subject to change without prior notice.

  • Page 56: Figure 3-34 Digital Incremental Encoder Input Circuit Ch I

    Setup Connection Specifications Figure 3-34 Digital incremental encoder input circuit Ch I maxon motor control 3-56 Document ID: rel8399 EPOS4 Positioning Controller Edition: November 2018 EPOS4 Module/Compact 50/8 Hardware Reference © 2018 maxon motor. Subject to change without prior notice.

  • Page 57: Figure 3-35 Analog Incremental Encoder Input Circuit Ch A "Differential" (Analogously Valid For Ch B)

    Analog incremental encoder input circuit Ch A “differential” (analogously valid for Ch B) Continued on next page. maxon motor control 3-57 EPOS4 Positioning Controller Document ID: rel8399 EPOS4 Module/Compact 50/8 Hardware Reference Edition: November 2018 © 2018 maxon motor. Subject to change without prior notice.

  • Page 58: Figure 3-36 Analog Incremental Encoder Input Circuit Ch I (Digital Evaluation)

    Connection Specifications Figure 3-36 Analog incremental encoder input circuit Ch I (digital evaluation) maxon motor control 3-58 Document ID: rel8399 EPOS4 Positioning Controller Edition: November 2018 EPOS4 Module/Compact 50/8 Hardware Reference © 2018 maxon motor. Subject to change without prior notice.

  • Page 59: Ssi Absolute Encoder

    0.4… 2 MHz Figure 3-37 SSI absolute encoder data input Continued on next page. maxon motor control 3-59 EPOS4 Positioning Controller Document ID: rel8399 EPOS4 Module/Compact 50/8 Hardware Reference Edition: November 2018 © 2018 maxon motor. Subject to change without prior notice.

  • Page 60: Figure 3-38 Ssi Absolute Encoder Clock Output

    Setup Connection Specifications Figure 3-38 SSI absolute encoder clock output maxon motor control 3-60 Document ID: rel8399 EPOS4 Positioning Controller Edition: November 2018 EPOS4 Module/Compact 50/8 Hardware Reference © 2018 maxon motor. Subject to change without prior notice.

  • Page 61: High-Speed Digital I/Os

    Max. input frequency 6.25 MHz Figure 3-39 HsDigIN1 circuit “differential” (analogously valid for HsDigIN2…4) maxon motor control 3-61 EPOS4 Positioning Controller Document ID: rel8399 EPOS4 Module/Compact 50/8 Hardware Reference Edition: November 2018 © 2018 maxon motor. Subject to change without prior notice.

  • Page 62: Figure 3-40 Hsdigin1 Circuit "Single-Ended" (Analogously Valid For Hsdigin2

    Max. input frequency 6.25 MHz Figure 3-40 HsDigIN1 circuit “single-ended” (analogously valid for HsDigIN2…4) maxon motor control 3-62 Document ID: rel8399 EPOS4 Positioning Controller Edition: November 2018 EPOS4 Module/Compact 50/8 Hardware Reference © 2018 maxon motor. Subject to change without prior notice.

  • Page 63: Figure 3-41 Hsdigout1 Output Circuit

    EIA RS422 standard Max. output frequency 6.25 MHz Figure 3-41 HsDigOUT1 output circuit maxon motor control 3-63 EPOS4 Positioning Controller Document ID: rel8399 EPOS4 Module/Compact 50/8 Hardware Reference Edition: November 2018 © 2018 maxon motor. Subject to change without prior notice.

  • Page 64: Digital I/Os

    Switching delay Figure 3-42 DigIN1 circuit (analogously valid for DigIN2…4) – Module maxon motor control 3-64 Document ID: rel8399 EPOS4 Positioning Controller Edition: November 2018 EPOS4 Module/Compact 50/8 Hardware Reference © 2018 maxon motor. Subject to change without prior notice.

  • Page 65: Compact

    DigIN1 circuit (analogously valid for DigIN2…4) – Compact / Logic level setting Continued on next page. maxon motor control 3-65 EPOS4 Positioning Controller Document ID: rel8399 EPOS4 Module/Compact 50/8 Hardware Reference Edition: November 2018 © 2018 maxon motor. Subject to change without prior notice.

  • Page 66: Figure 3-44 Digin1 Circuit (Analogously Valid For Digin2

    DigOUT1 circuit (analogously valid for DigOUT2 and Compact) Continued on next page. maxon motor control 3-66 Document ID: rel8399 EPOS4 Positioning Controller Edition: November 2018 EPOS4 Module/Compact 50/8 Hardware Reference © 2018 maxon motor. Subject to change without prior notice.

  • Page 67: Figure 3-46 Digout1 "Sinks" (Analogously Valid For Digout2 And Compact)

    Max. load current Load Figure 3-47 DigOUT1 “source” (analogously valid for DigOUT2 and Compact) maxon motor control 3-67 EPOS4 Positioning Controller Document ID: rel8399 EPOS4 Module/Compact 50/8 Hardware Reference Edition: November 2018 © 2018 maxon motor. Subject to change without prior notice.

  • Page 68: Safe Torque Off I/Os

    Reaction time <25 ms Figure 3-48 STO-IN1 circuit (analogously valid for STO-IN2) maxon motor control 3-68 Document ID: rel8399 EPOS4 Positioning Controller Edition: November 2018 EPOS4 Module/Compact 50/8 Hardware Reference © 2018 maxon motor. Subject to change without prior notice.

  • Page 69: Figure 3-49 Sto-Out Circuit

    Table 3-59 STO logic state maxon motor control 3-69 EPOS4 Positioning Controller Document ID: rel8399 EPOS4 Module/Compact 50/8 Hardware Reference Edition: November 2018 © 2018 maxon motor. Subject to change without prior notice.

  • Page 70: Analog I/Os

    5.64 mV Bandwidth 10 kHz Figure 3-50 AnIN1 circuit (analogously valid for AnIN2) maxon motor control 3-70 Document ID: rel8399 EPOS4 Positioning Controller Edition: November 2018 EPOS4 Module/Compact 50/8 Hardware Reference © 2018 maxon motor. Subject to change without prior notice.

  • Page 71: Figure 3-51 Anout1 Circuit (Analogously Valid For Anout2)

    Max. output current limit 1 mA Figure 3-51 AnOUT1 circuit (analogously valid for AnOUT2) maxon motor control 3-71 EPOS4 Positioning Controller Document ID: rel8399 EPOS4 Module/Compact 50/8 Hardware Reference Edition: November 2018 © 2018 maxon motor. Subject to change without prior notice.

  • Page 72: 3.4.10 Serial Communication Interface (Sci) / Rs232

    Low-level output voltage <0.4 VDC Max. bit rate 115’200 bit/s Data format NRZ (non-return-to-zero) maxon motor control 3-72 Document ID: rel8399 EPOS4 Positioning Controller Edition: November 2018 EPOS4 Module/Compact 50/8 Hardware Reference © 2018 maxon motor. Subject to change without prior notice.

  • Page 73: Compact Can

    ±9 V @ 3 kΩ to GND Max. bit rate 115’200 bit/s RS232 transceiver EIA RS232 standard maxon motor control 3-73 EPOS4 Positioning Controller Document ID: rel8399 EPOS4 Module/Compact 50/8 Hardware Reference Edition: November 2018 © 2018 maxon motor. Subject to change without prior notice.

  • Page 74: Can Interface / Id Setting

    CAN bus.  • For detailed CAN information separate document «EPOS4 Communication Guide». maxon motor control 3-74 Document ID: rel8399 EPOS4 Positioning Controller Edition: November 2018 EPOS4 Module/Compact 50/8 Hardware Reference © 2018 maxon motor. Subject to change without prior notice.

  • Page 75: Configuration

    • The ID set by software is valid if the ID is set to “0” (none of the ID input lines connected). maxon motor control 3-75 EPOS4 Positioning Controller Document ID: rel8399 EPOS4 Module/Compact 50/8 Hardware Reference Edition: November 2018 © 2018 maxon motor. Subject to change without prior notice.

  • Page 76: Serial Peripheral Interface (Spi)

    Serial Peripheral Interface chip select 1 Table 3-66 SPI – Pin assignment maxon motor control 3-76 Document ID: rel8399 EPOS4 Positioning Controller Edition: November 2018 EPOS4 Module/Compact 50/8 Hardware Reference © 2018 maxon motor. Subject to change without prior notice.

  • Page 77: Usb (X13)

    Max. bus supply voltage +5.25 VDC Max. DC data input voltage −0.5…+3.8 VDC maxon motor control 3-77 EPOS4 Positioning Controller Document ID: rel8399 EPOS4 Module/Compact 50/8 Hardware Reference Edition: November 2018 © 2018 maxon motor. Subject to change without prior notice.

  • Page 78: Status Indicators

    For detailed information separate document «EPOS4 Firmware Specification». Figure 3-53 LEDs – Location maxon motor control 3-78 Document ID: rel8399 EPOS4 Positioning Controller Edition: November 2018 EPOS4 Module/Compact 50/8 Hardware Reference © 2018 maxon motor. Subject to change without prior notice.
  • Page 79 Flash = flashing (≈0.2 s), followed by pause of 1 s Flicker = continuous flickering (≈10Hz) Table 3-69 NET Status LEDs maxon motor control 3-79 EPOS4 Positioning Controller Document ID: rel8399 EPOS4 Module/Compact 50/8 Hardware Reference Edition: November 2018 © 2018 maxon motor. Subject to change without prior notice.
  • Page 80 Data rate is 100 Mbit/s Flicker = continuous flickering (≈10 Hz) Table 3-71 EtherCAT Port LED maxon motor control 3-80 Document ID: rel8399 EPOS4 Positioning Controller Edition: November 2018 EPOS4 Module/Compact 50/8 Hardware Reference © 2018 maxon motor. Subject to change without prior notice.

  • Page 81: Motherboard Design Guide

    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.

  • Page 82: Requirements For Components Of Third-Party Suppliers

    Module’s built-in capacitors that could lead to a voltage over- shoot at power plug-in. maxon motor control 4-82 Document ID: rel8399 EPOS4 Positioning Controller Edition: November 2018 EPOS4 Module/Compact 50/8 Hardware Reference © 2018 maxon motor. Subject to change without prior notice.

  • Page 83: Logic Supply Voltage

    Module’s built-in capacitors that could lead to a voltage over- shoot at power plug-in. maxon motor control 4-83 EPOS4 Positioning Controller Document ID: rel8399 EPOS4 Module/Compact 50/8 Hardware Reference Edition: November 2018 © 2018 maxon motor. Subject to change without prior notice.

  • Page 84: Motor Cables And Motor Chokes

    Should you need further help with the filter design, contact maxon Support at http://support.maxonmotor.com. Example 1 maxon motor control 4-84 Document ID: rel8399 EPOS4 Positioning Controller Edition: November 2018 EPOS4 Module/Compact 50/8 Hardware Reference © 2018 maxon motor. Subject to change without prior notice.

  • Page 85: Rs232 Transceiver

    If you do not intend to use the RS232 interface, you must connect pin [B39] (DSP_RxD) with pin [A26] (sensor supply voltage V Sensor maxon motor control 4-85 EPOS4 Positioning Controller Document ID: rel8399 EPOS4 Module/Compact 50/8 Hardware Reference Edition: November 2018 © 2018 maxon motor. Subject to change without prior notice.

  • Page 86: Recommended Components And Manufacturers

    6.5 A, 12.5 x 12.5 x 10 mm Continued on next page. maxon motor control 4-86 Document ID: rel8399 EPOS4 Positioning Controller Edition: November 2018 EPOS4 Module/Compact 50/8 Hardware Reference © 2018 maxon motor. Subject to change without prior notice.
  • Page 87 • 100 nF, X7R, 16 V Table 4-72 Motherboard Design Guide – Recommended components maxon motor control 4-87 EPOS4 Positioning Controller Document ID: rel8399 EPOS4 Module/Compact 50/8 Hardware Reference Edition: November 2018 © 2018 maxon motor. Subject to change without prior notice.

  • Page 88: Design Guidelines

    75 mil and a minimum copper coating thickness of 35 μm are recommended. maxon motor control 4-88 Document ID: rel8399 EPOS4 Positioning Controller Edition: November 2018 EPOS4 Module/Compact 50/8 Hardware Reference © 2018 maxon motor. Subject to change without prior notice.

  • Page 89: Tht Footprint

    THT Footprint THT Footprint Figure 4-58 THT footprint [mm] – Top View maxon motor control 4-89 EPOS4 Positioning Controller Document ID: rel8399 EPOS4 Module/Compact 50/8 Hardware Reference Edition: November 2018 © 2018 maxon motor. Subject to change without prior notice.
  • Page 90 • • 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 4-90 Document ID: rel8399 EPOS4 Positioning Controller Edition: November 2018 EPOS4 Module/Compact 50/8 Hardware Reference © 2018 maxon motor. Subject to change without prior notice.

  • Page 91: Figure 5-59 Interfaces - Designations And Location

    • «EC Motor» stands for brushless EC motor (BLDC). • Ground safety earth connection (optional). maxon motor control 5-91 EPOS4 Positioning Controller Document ID: rel8399 EPOS4 Module/Compact 50/8 Hardware Reference Edition: November 2018 © 2018 maxon motor. Subject to change without prior notice.
  • Page 92 5-66 / 5-69 Table 5-74 Possible combinations of feedback signals for DC motor maxon motor control 5-92 Document ID: rel8399 EPOS4 Positioning Controller Edition: November 2018 EPOS4 Module/Compact 50/8 Hardware Reference © 2018 maxon motor. Subject to change without prior notice.
  • Page 93 5-69 Table 5-75 Possible combinations of feedback signals for EC (BLDC) motor maxon motor control 5-93 EPOS4 Positioning Controller Document ID: rel8399 EPOS4 Module/Compact 50/8 Hardware Reference Edition: November 2018 © 2018 maxon motor. Subject to change without prior notice.

  • Page 94: Figure 5-60 Main Wiring Diagram - Module & Compact Can

    Figure 5-69 Figure 5-60 Main wiring diagram – Module & Compact CAN maxon motor control 5-94 Document ID: rel8399 EPOS4 Positioning Controller Edition: November 2018 EPOS4 Module/Compact 50/8 Hardware Reference © 2018 maxon motor. Subject to change without prior notice.

  • Page 95: Figure 5-61 Main Wiring Diagram - Module & Compact Ethercat

    Figure 5-69 Figure 5-61 Main wiring diagram – Module & Compact EtherCAT maxon motor control 5-95 EPOS4 Positioning Controller Document ID: rel8399 EPOS4 Module/Compact 50/8 Hardware Reference Edition: November 2018 © 2018 maxon motor. Subject to change without prior notice.

  • Page 96: Figure 5-62 Power & Logic Supply

    EC (BLDC) motor 5.3.4 Hall Sensors (Sensor 3) Figure 5-65 Hall sensors (Sensor 3) maxon motor control 5-96 Document ID: rel8399 EPOS4 Positioning Controller Edition: November 2018 EPOS4 Module/Compact 50/8 Hardware Reference © 2018 maxon motor. Subject to change without prior notice.

  • Page 97: Figure 5-66 Digital Incremental Encoder 1 (Sensor 1)

    Analog Incremental Encoder (Sensor 2) Figure 5-68 Analog incremental encoder (Sensor 2) maxon motor control 5-97 EPOS4 Positioning Controller Document ID: rel8399 EPOS4 Module/Compact 50/8 Hardware Reference Edition: November 2018 © 2018 maxon motor. Subject to change without prior notice.

  • Page 98: Figure 5-69 Ssi Encoder (Sensor 2)

    Excerpts 5.3.8 SSI Encoder (Sensor 2) Figure 5-69 SSI encoder (Sensor 2) maxon motor control 5-98 Document ID: rel8399 EPOS4 Positioning Controller Edition: November 2018 EPOS4 Module/Compact 50/8 Hardware Reference © 2018 maxon motor. Subject to change without prior notice.
  • Page 99 EPOS4 Module 50/8 – Dimensional drawing [mm]........
  • Page 100 SSI encoder (Sensor 2) ..............98 maxon motor control Z-100 Document ID: rel8399 EPOS4 Positioning Controller Edition: November 2018 EPOS4 Module/Compact 50/8 Hardware Reference © 2018 maxon motor. Subject to change without prior notice.
  • Page 101 DIP switch SW1 – Examples .............45 maxon motor control Z-101 EPOS4 Positioning Controller Document ID: rel8399 EPOS4 Module/Compact 50/8 Hardware Reference Edition: November 2018 © 2018 maxon motor. Subject to change without prior notice.
  • Page 102 Possible combinations of feedback signals for EC (BLDC) motor ....... . . 93 maxon motor control Z-102 Document ID: rel8399 EPOS4 Positioning Controller Edition: November 2018 EPOS4 Module/Compact 50/8 Hardware Reference © 2018 maxon motor. Subject to change without prior notice.
  • Page 103 (and signs) used in this document 6 X6 35 X7 37 X8 38 X9 39 X10 40 maxon motor control Z-103 EPOS4 Positioning Controller Document ID: rel8399 EPOS4 Module/Compact 50/8 Hardware Reference Edition: November 2018 © 2018 maxon motor. Subject to change without prior notice.
  • Page 104 STO (Safe Torque Off) 68 supply voltage, required 47 SW1 44 symbols used 6 maxon motor control Z-104 Document ID: rel8399 EPOS4 Positioning Controller Edition: November 2018 EPOS4 Module/Compact 50/8 Hardware Reference © 2018 maxon motor. Subject to change without prior notice.
  • Page 105 EC (BLDC) motor 96 Hall sensors 96 power & logic supply 96 SSI encoder 98 maxon motor control Z-105 EPOS4 Positioning Controller Document ID: rel8399 EPOS4 Module/Compact 50/8 Hardware Reference Edition: November 2018 © 2018 maxon motor. Subject to change without prior notice.
  • Page 106 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 220...

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