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maxon motor EPOS4 EtherCAT Card Hardware Reference Manual

Positioning controller ethercat card
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maxon motor control
EPOS4 Positioning Controller
Hardware Reference
Edition December 2017
Extension Card
P/N 581245
Hardware Reference
Document ID: rel7777
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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Summary of Contents for maxon motor EPOS4 EtherCAT Card

  • Page 1 EPOS4 Positioning Controller Hardware Reference Edition December 2017 Extension Card P/N 581245 Hardware Reference Document ID: rel7777 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 carefully read and understand this manual and • you must follow the instructions given therein. maxon motor control Document ID: rel7777 EPOS4 Positioning Controller Edition: December 2017 EPOS4 EtherCAT Card Hardware Reference © 2017 maxon motor. Subject to change without prior notice.

  • Page 3: About

    About this Document 1.1.1 Intended Purpose The purpose of the present document is to familiarize you with the EPOS4 EtherCAT Card. It will high- Use the document light the tasks for safe and adequate installation and/or commissioning. Follow the described instruc- to…...

  • Page 4: Table 1-1 Table

    Indicates information particular to possible damage Damage of the equipment. Table 1-2 Symbols and signs maxon motor control Document ID: rel7777 EPOS4 Positioning Controller Edition: December 2017 EPOS4 EtherCAT Card Hardware Reference © 2017 maxon motor. Subject to change without prior notice.

  • Page 5: About The Device

    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 6: 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 7: Specifications

    Operating altitude in meters above Mean Sea Level, MSL. Table 2-4 Technical data maxon motor control EPOS4 Positioning Controller Document ID: rel7777 EPOS4 EtherCAT Card Hardware Reference Edition: December 2017 © 2017 maxon motor. Subject to change without prior notice.

  • Page 8: Dimensional Drawings

    Specifications Dimensional Drawings Dimensional Drawings Figure 2-2 EPOS4 EtherCAT Card with card edge connector & retainer – Dimensional drawing [mm] maxon motor control Document ID: rel7777 EPOS4 Positioning Controller Edition: December 2017 EPOS4 EtherCAT Card Hardware Reference © 2017 maxon motor. Subject to change without prior notice.

  • Page 9: Standards

    Component stress: In accordance with circuit diagram and nominal power Mean Time Between Failures (MTBF) 544’021 hours Table 2-5 Standards maxon motor control EPOS4 Positioning Controller Document ID: rel7777 EPOS4 EtherCAT Card Hardware Reference Edition: December 2017 © 2017 maxon motor. Subject to change without prior notice.
  • Page 10 • • 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 2-10 Document ID: rel7777 EPOS4 Positioning Controller Edition: December 2017 EPOS4 EtherCAT Card Hardware Reference © 2017 maxon motor. Subject to change without prior notice.

  • Page 11: Setup

    Switch off the controller’s power supply before removing or inserting an extension card. Connections Figure 3-3 EPOS4 EtherCAT Card – PCB with connector arrays maxon motor control 3-11 EPOS4 Positioning Controller Document ID: rel7777 EPOS4 EtherCAT Card Hardware Reference Edition: December 2017 © 2017 maxon motor. Subject to change without prior notice.

  • Page 12: Table 3-6 Connector Arrays - Pin Assignment

    (+10…+70 VDC) Table 3-6 Connector arrays – Pin assignment maxon motor control 3-12 Document ID: rel7777 EPOS4 Positioning Controller Edition: December 2017 EPOS4 EtherCAT Card Hardware Reference © 2017 maxon motor. Subject to change without prior notice.

  • Page 13: Installation

    Extension slots – as an example «EPOS4 50/5» Continued on next page. maxon motor control 3-13 EPOS4 Positioning Controller Document ID: rel7777 EPOS4 EtherCAT Card Hardware Reference Edition: December 2017 © 2017 maxon motor. Subject to change without prior notice.

  • Page 14: Figure 3-5 Epos4 Ethercat Card - Installation & Removal

    Figure 3-5 EPOS4 EtherCAT Card – Installation & removal maxon motor control 3-14 Document ID: rel7777 EPOS4 Positioning Controller Edition: December 2017 EPOS4 EtherCAT Card Hardware Reference © 2017 maxon motor. Subject to change without prior notice.

  • Page 15: Epos4 Modules

    Installation 3.3.2 EPOS4 Modules The connection of the «EPOS4 EtherCAT Card» can be established via 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).
  • Page 16 • • 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 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.

  • Page 17: 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 18: Requirements For Components Of Third-Party Suppliers

    4.2.2 Supply Voltage For voltage supply of the «EPOS4 EtherCAT Card», you may employ the EPOS4 Module’s power sup- ply. For details separate document «Hardware Reference» of the respective EPOS4 Module. If you intend to use another source as power supply, we recommend to connect a TVS (transient voltage suppressor) diode (D1) to the voltage supply line to protect against overvoltage resulting from voltage transients or brake energy feedback.

  • Page 19: Ethercat Status Leds

    Motherboard Design Guide Requirements for Components of Third-party Suppliers 4.2.3 EtherCAT Status LEDs The «EPOS4 EtherCAT Card» provides two outputs to display the actual status and possible errors of the EtherCAT network with LEDs (D2): • Green LED shows the RUN state •...

  • Page 20: Ethercat Port Leds

    Requirements for Components of Third-party Suppliers 4.2.4 EtherCAT Port LEDs The «EPOS4 EtherCAT Card» provides two outputs to display the EtherCAT port’s link activity (applies for both ports, X14 “EtherCAT IN” and X15 “EtherCAT OUT”): • Green LED indicates link activity...

  • Page 21: Ethercat Connectors

    4.2.5 EtherCAT Connectors The «EPOS4 EtherCAT Card» provides both transmission and receive signals for input as well as out- put for an EtherCAT interface. Unused connections of the EtherCAT IN/OUT connectors (pins 4, 5, 7, and 8) must be connected through to the PCIe plug-in contact.

  • Page 22: Table 4-10 Ethernet Cable

    RJ45 (8P8CS) EIA/TIA-568B Head B RJ45 (8P8CS) EIA/TIA-568B Table 4-10 Ethernet Cable maxon motor control 4-22 Document ID: rel7777 EPOS4 Positioning Controller Edition: December 2017 EPOS4 EtherCAT Card Hardware Reference © 2017 maxon motor. Subject to change without prior notice.

  • Page 23: Recommended Components And Manufacturers

    • Chip capacitor 10 nF, 500 V Table 4-11 Motherboard Design Guide – Recommended components maxon motor control 4-23 EPOS4 Positioning Controller Document ID: rel7777 EPOS4 EtherCAT Card Hardware Reference Edition: December 2017 © 2017 maxon motor. Subject to change without prior notice.

  • Page 24: Tht Footprint

    Figure 4-12 PCIe card edge connector – THT footprint [mm] – Top view maxon motor control 4-24 Document ID: rel7777 EPOS4 Positioning Controller Edition: December 2017 EPOS4 EtherCAT Card Hardware Reference © 2017 maxon motor. Subject to change without prior notice.
  • Page 25 EPOS4 EtherCAT Card with PCIe card edge connector and retainer ......15...
  • Page 26 Motherboard Design Guide – Recommended components ........23 maxon motor control Z-26 Document ID: rel7777 EPOS4 Positioning Controller Edition: December 2017 EPOS4 EtherCAT Card Hardware Reference © 2017 maxon motor. Subject to change without prior notice.
  • Page 27 EtherCAT port activity 20 EtherCAT status 19 technical data 7 mandatory action signs 4 maxon motor control Z-27 EPOS4 Positioning Controller Document ID: rel7777 EPOS4 EtherCAT Card Hardware Reference Edition: December 2017 © 2017 maxon motor. Subject to change without prior notice.
  • Page 28 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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