maxon motor EPOS4 50/5 Hardware Reference Manual
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maxon motor EPOS4 50/5 Hardware Reference Manual

Positioning controller
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maxon motor control
EPOS4 Positioning Controller
Hardware Reference
Edition May 2017
Positioning Controller
P/N 546047
Hardware Reference
Document ID: rel6852
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 50/5

  • Page 1 EPOS4 Positioning Controller Hardware Reference Edition May 2017 Positioning Controller P/N 546047 Hardware Reference Document ID: rel6852 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. The EPOS4 50/5 positioning controller is considered as partly completed machinery according to EU Directive 2006/42/EC, Article 2, Clause (g) and is intended to be incorporated into or assembled with other machinery or other partly com- pleted machinery or equipment.
  • Page 3 4.3.10 SSI Encoder ............65 maxon motor control EPOS4 Positioning Controller Document ID: rel6852 EPOS4 50/5 Hardware Reference Edition: May 2017 © 2017 maxon motor. Subject to change without prior notice.
  • 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: rel6852 EPOS4 Positioning Controller Edition: May 2017 EPOS4 50/5 Hardware Reference © 2017 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 50/5 positioning controller. It Use the document will highlight the tasks for safe and adequate installation and/or commissioning. Follow the described to…...
  • Page 6 Indicates information particular to possible damage Damage of the equipment. Table 1-2 Symbols and signs maxon motor control Document ID: rel6852 EPOS4 Positioning Controller Edition: May 2017 EPOS4 50/5 Hardware Reference © 2017 maxon motor. Subject to change without prior notice.

  • Page 7: 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 8: 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 9: Specifications

    • High-speed digital input 1…4 and High-speed digital output 1 EIA RS422, max. 6.25 MHz Continued on next page. maxon motor control EPOS4 Positioning Controller Document ID: rel6852 EPOS4 50/5 Hardware Reference Edition: May 2017 © 2017 maxon motor. Subject to change without prior notice.
  • Page 10 Table 2-4 Technical data maxon motor control 2-10 Document ID: rel6852 EPOS4 Positioning Controller Edition: May 2017 EPOS4 50/5 Hardware Reference © 2017 maxon motor. Subject to change without prior notice.

  • Page 11: Thermal Data

    Thermal Data 2.2.1 Derating of Output Current Figure 2-2 Derating of output current maxon motor control 2-11 EPOS4 Positioning Controller Document ID: rel6852 EPOS4 50/5 Hardware Reference Edition: May 2017 © 2017 maxon motor. Subject to change without prior notice.

  • Page 12: Limitations

    Overcurrent 20 A — Thermal overload 100 °C 90 °C Table 2-5 Limitations maxon motor control 2-12 Document ID: rel6852 EPOS4 Positioning Controller Edition: May 2017 EPOS4 50/5 Hardware Reference © 2017 maxon motor. Subject to change without prior notice.

  • Page 13: Dimensional Drawing

    Specifications Dimensional Drawing Dimensional Drawing Figure 2-4 Dimensional drawing [mm] maxon motor control 2-13 EPOS4 Positioning Controller Document ID: rel6852 EPOS4 50/5 Hardware Reference Edition: May 2017 © 2017 maxon motor. Subject to change without prior notice.

  • Page 14: Standards

    Component stress: In accordance with circuit diagram and nominal power Mean Time Between Failures (MTBF): 296'741 hours Table 2-6 Standards maxon motor control 2-14 Document ID: rel6852 EPOS4 Positioning Controller Edition: May 2017 EPOS4 50/5 Hardware Reference © 2017 maxon motor. Subject to change without prior notice.

  • Page 15: Setup

    ERMISSION TO COMMENCE NSTALLATION The EPOS4 50/5 positioning controller is considered as partly completed machinery according to EU Directive 2006/42/EC, Article 2, Clause (g) and is intended to be incorporated into or assembled with other machinery or other partly completed machinery or equipment.

  • Page 16: Cabling

    Ethernet Cable 422827 3-51 Sensor Cable 5x2core 520852 3-29 Table 3-7 Prefab maxon cables maxon motor control 3-16 Document ID: rel6852 EPOS4 Positioning Controller Edition: May 2017 EPOS4 50/5 Hardware Reference © 2017 maxon motor. Subject to change without prior notice.
  • Page 17 Cabling &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) Connector...

  • Page 18: Connections

    Extension Signal page 3-52 5) Requires an optionally available maxon Extension Card Figure 3-5 Connectors maxon motor control 3-18 Document ID: rel6852 EPOS4 Positioning Controller Edition: May 2017 EPOS4 50/5 Hardware Reference © 2017 maxon motor. Subject to change without prior notice.

  • Page 19: Power Supply (X1)

    • continuous max. 5 A • short-time (acceleration, <15 s) max. 15 A Continued on next page. maxon motor control 3-19 EPOS4 Positioning Controller Document ID: rel6852 EPOS4 50/5 Hardware Reference Edition: May 2017 © 2017 maxon motor. Subject to change without prior notice.
  • Page 20 1 V [ ] ------ - -------- - M ------ -   ΔM maxon motor control 3-20 Document ID: rel6852 EPOS4 Positioning Controller Edition: May 2017 EPOS4 50/5 Hardware Reference © 2017 maxon motor. Subject to change without prior notice.

  • Page 21: Logic Supply (X2)

    Absolute supply voltage min. 8 VDC; max. 56 VDC min. 3.5 W Min. output power maxon motor control 3-21 EPOS4 Positioning Controller Document ID: rel6852 EPOS4 50/5 Hardware Reference Edition: May 2017 © 2017 maxon motor. Subject to change without prior notice.

  • Page 22: Motor (X3)

    Molex Mini-Fit Jr. female crimp terminals (45750) Head B Wire end sleeves 0.75 mm Table 3-15 Motor Cable maxon motor control 3-22 Document ID: rel6852 EPOS4 Positioning Controller Edition: May 2017 EPOS4 50/5 Hardware Reference © 2017 maxon motor. Subject to change without prior notice.

  • Page 23: Hall Sensor (X4)

    Wire end sleeves 0.14 mm Table 3-17 Hall Sensor Cable Continued on next page. maxon motor control 3-23 EPOS4 Positioning Controller Document ID: rel6852 EPOS4 50/5 Hardware Reference Edition: May 2017 © 2017 maxon motor. Subject to change without prior notice.

  • Page 24: Figure 3-10 Hall Sensor 1 Input Circuit (Analogously Valid For Hall Sensors 2 & 3)

    Hall sensor 1 input circuit (analogously valid for Hall sensors 2 & 3) maxon motor control 3-24 Document ID: rel6852 EPOS4 Positioning Controller Edition: May 2017 EPOS4 50/5 Hardware Reference © 2017 maxon motor. Subject to change without prior notice.

  • Page 25: Encoder (X5)

    For sockets with strain relief: 2 pieces, 3M (3505-33B) Table 3-19 Encoder connector X5 – Accessories Continued on next page. maxon motor control 3-25 EPOS4 Positioning Controller Document ID: rel6852 EPOS4 50/5 Hardware Reference Edition: May 2017 © 2017 maxon motor. Subject to change without prior notice.

  • Page 26: Figure 3-12 Encoder Input Circuit Ch A "Differential" (Analogously Valid For Ch B & Ch I)

    Encoder input circuit Ch A “differential” (analogously valid for Ch B & Ch I) Continued on next page. maxon motor control 3-26 Document ID: rel6852 EPOS4 Positioning Controller Edition: May 2017 EPOS4 50/5 Hardware Reference © 2017 maxon motor. Subject to change without prior notice.

  • Page 27: Figure 3-13 Encoder Input Circuit Ch A "Single-Ended" (Analogously Valid For Ch B & Ch I)

    Encoder input circuit Ch A “single-ended” (analogously valid for Ch B & Ch I) maxon motor control 3-27 EPOS4 Positioning Controller Document ID: rel6852 EPOS4 50/5 Hardware Reference Edition: May 2017 © 2017 maxon motor. Subject to change without prior notice.

  • Page 28: Sensor (X6)

    Table 3-21 Sensor connector X6 – Pin assignment Continued on next page. maxon motor control 3-28 Document ID: rel6852 EPOS4 Positioning Controller Edition: May 2017 EPOS4 50/5 Hardware Reference © 2017 maxon motor. Subject to change without prior notice.

  • Page 29: Figure 3-15 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) Continued on next page. maxon motor control 3-29 EPOS4 Positioning Controller Document ID: rel6852 EPOS4 50/5 Hardware Reference Edition: May 2017 © 2017 maxon motor. Subject to change without prior notice.

  • Page 30: Figure 3-16 Digital Incremental Encoder Input Circuit Ch I

    Figure 3-16 Digital incremental encoder input circuit Ch I Continued on next page. maxon motor control 3-30 Document ID: rel6852 EPOS4 Positioning Controller Edition: May 2017 EPOS4 50/5 Hardware Reference © 2017 maxon motor. Subject to change without prior notice.

  • Page 31: Figure 3-17 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 3-31 EPOS4 Positioning Controller Document ID: rel6852 EPOS4 50/5 Hardware Reference Edition: May 2017 © 2017 maxon motor. Subject to change without prior notice.

  • Page 32: Figure 3-18 Digital Incremental Encoder Input Circuit Ch I

    Figure 3-18 Digital incremental encoder input circuit Ch I Continued on next page. maxon motor control 3-32 Document ID: rel6852 EPOS4 Positioning Controller Edition: May 2017 EPOS4 50/5 Hardware Reference © 2017 maxon motor. Subject to change without prior notice.

  • Page 33: Figure 3-19 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 3-33 EPOS4 Positioning Controller Document ID: rel6852 EPOS4 50/5 Hardware Reference Edition: May 2017 © 2017 maxon motor. Subject to change without prior notice.

  • Page 34: Figure 3-20 Analog Incremental Encoder Input Circuit Ch I (Digital Evaluation)

    Analog incremental encoder input circuit Ch I (digital evaluation) Continued on next page. maxon motor control 3-34 Document ID: rel6852 EPOS4 Positioning Controller Edition: May 2017 EPOS4 50/5 Hardware Reference © 2017 maxon motor. Subject to change without prior notice.

  • Page 35: Figure 3-21 Ssi Absolute Encoder Data Input

    Figure 3-21 SSI absolute encoder data input Figure 3-22 SSI absolute encoder clock output maxon motor control 3-35 EPOS4 Positioning Controller Document ID: rel6852 EPOS4 50/5 Hardware Reference Edition: May 2017 © 2017 maxon motor. Subject to change without prior notice.

  • Page 36: Figure 3-23 Hsdigin1 Circuit "Differential" (Analogously Valid For Hsdigin2

    Figure 3-24 HsDigIN1 circuit “single-ended” (analogously valid for HsDigIN2…4) Continued on next page. maxon motor control 3-36 Document ID: rel6852 EPOS4 Positioning Controller Edition: May 2017 EPOS4 50/5 Hardware Reference © 2017 maxon motor. Subject to change without prior notice.

  • Page 37: Figure 3-25 Hsdigout1 Output Circuit

    EIA RS422 standard Max. output frequency 6.25 MHz Figure 3-25 HsDigOUT1 output circuit maxon motor control 3-37 EPOS4 Positioning Controller Document ID: rel6852 EPOS4 50/5 Hardware Reference Edition: May 2017 © 2017 maxon motor. Subject to change without prior notice.

  • Page 38: Digital I/O (X7)

    Wire end sleeves 0.14 mm Table 3-24 Signal Cable 8core Continued on next page. maxon motor control 3-38 Document ID: rel6852 EPOS4 Positioning Controller Edition: May 2017 EPOS4 50/5 Hardware Reference © 2017 maxon motor. Subject to change without prior notice.

  • Page 39: Figure 3-27 Digin1 Circuit (Analogously Valid For Digin2

    DigIN1 circuit (analogously valid for DigIN2…4) – PLC level setting Continued on next page. maxon motor control 3-39 EPOS4 Positioning Controller Document ID: rel6852 EPOS4 50/5 Hardware Reference Edition: May 2017 © 2017 maxon motor. Subject to change without prior notice.

  • Page 40: Figure 3-29 Digout1 Circuit (Analogously Valid For Digout2)

    +5.45 VDC Figure 3-29 DigOUT1 circuit (analogously valid for DigOUT2) Continued on next page. maxon motor control 3-40 Document ID: rel6852 EPOS4 Positioning Controller Edition: May 2017 EPOS4 50/5 Hardware Reference © 2017 maxon motor. Subject to change without prior notice.

  • Page 41: Figure 3-30 Digout1 "Sinks" (Analogously Valid For Digout2)

    ≤2 mA Max. load current Load Figure 3-31 DigOUT1 “source” (analogously valid for DigOUT2) maxon motor control 3-41 EPOS4 Positioning Controller Document ID: rel6852 EPOS4 50/5 Hardware Reference Edition: May 2017 © 2017 maxon motor. Subject to change without prior notice.

  • Page 42: Analog I/O (X8)

    Wire end sleeves 0.14 mm Table 3-26 Signal Cable 7core Continued on next page. maxon motor control 3-42 Document ID: rel6852 EPOS4 Positioning Controller Edition: May 2017 EPOS4 50/5 Hardware Reference © 2017 maxon motor. Subject to change without prior notice.

  • Page 43: Figure 3-33 Anin1 Circuit (Analogously Valid For Anin2)

    Max. output current limit 1 mA Figure 3-34 AnOUT1 circuit (analogously valid for AnOUT2) maxon motor control 3-43 EPOS4 Positioning Controller Document ID: rel6852 EPOS4 50/5 Hardware Reference Edition: May 2017 © 2017 maxon motor. Subject to change without prior notice.

  • Page 44: Sto (X9)

    Molex CLIK-Mate, single row, 8 poles (502578-0800) with cable bridges Table 3-28 STO Idle Connector Continued on next page. maxon motor control 3-44 Document ID: rel6852 EPOS4 Positioning Controller Edition: May 2017 EPOS4 50/5 Hardware Reference © 2017 maxon motor. Subject to change without prior notice.

  • Page 45: Figure 3-36 Sto-In1 Circuit (Analogously Valid For Sto-In2)

    Table 3-29 STO logic state maxon motor control 3-45 EPOS4 Positioning Controller Document ID: rel6852 EPOS4 50/5 Hardware Reference Edition: May 2017 © 2017 maxon motor. Subject to change without prior notice.

  • Page 46: Rs232 (X10)

    ±9 V @ 3 kΩ to GND Max. bit rate 115’200 bit/s RS232 transceiver EIA RS232 standard maxon motor control 3-46 Document ID: rel6852 EPOS4 Positioning Controller Edition: May 2017 EPOS4 50/5 Hardware Reference © 2017 maxon motor. Subject to change without prior notice.

  • Page 47: Can 1 (X11) & Can 2 (X12)

    Female D-Sub connector DIN 41652, 9 poles, with mounting screws Table 3-33 CAN-COM Cable Continued on next page. maxon motor control 3-47 EPOS4 Positioning Controller Document ID: rel6852 EPOS4 50/5 Hardware Reference Edition: May 2017 © 2017 maxon motor. Subject to change without prior notice.
  • Page 48 CAN bus.  • For detailed CAN information separate document «EPOS4 Communication Guide». maxon motor control 3-48 Document ID: rel6852 EPOS4 Positioning Controller Edition: May 2017 EPOS4 50/5 Hardware Reference © 2017 maxon motor. Subject to change without prior notice.

  • Page 49: Usb (X13)

    Max. bus supply voltage +5.25 VDC Max. DC data input voltage −0.5…+3.8 VDC maxon motor control 3-49 EPOS4 Positioning Controller Document ID: rel6852 EPOS4 50/5 Hardware Reference Edition: May 2017 © 2017 maxon motor. Subject to change without prior notice.

  • Page 50: Extension Net In (X14) & Extension Net Out (X15)

    3.3.13 Extension NET IN (X14) & Extension NET OUT (X15) The EPOS4 50/5 features two NET connectors for extension communication interfaces, such as Ether- CAT. One serves for NET input, the other for NET output. Both sockets are identical in respect to their external wiring.
  • Page 51 Head A RJ45 (8P8CS) EIA/TIA-568B Head B RJ45 (8P8CS) EIA/TIA-568B Table 3-38 Ethernet Cable maxon motor control 3-51 EPOS4 Positioning Controller Document ID: rel6852 EPOS4 50/5 Hardware Reference Edition: May 2017 © 2017 maxon motor. Subject to change without prior notice.

  • Page 52: Extension Signal (X16)

    Extension Signal connector X16 – Pin assignment For the matching prefab cable assembly Table 3-22 on page 3-29. maxon motor control 3-52 Document ID: rel6852 EPOS4 Positioning Controller Edition: May 2017 EPOS4 50/5 Hardware Reference © 2017 maxon motor. Subject to change without prior notice.

  • Page 53: Extension Slots (Ext1 & Ext2)

    Pull both – the plastic lid together with the extension card – straight upward. maxon motor control 3-53 EPOS4 Positioning Controller Document ID: rel6852 EPOS4 50/5 Hardware Reference Edition: May 2017 © 2017 maxon motor. Subject to change without prior notice.

  • Page 54: Dip Switch Configuration (Sw1)

    Table 3-41 DIP switch SW1 – Binary code values Continued on next page. maxon motor control 3-54 Document ID: rel6852 EPOS4 Positioning Controller Edition: May 2017 EPOS4 50/5 Hardware Reference © 2017 maxon motor. Subject to change without prior notice.
  • Page 55 Table 3-44 DIP switch SW1 – CAN bus termination Continued on next page. maxon motor control 3-55 EPOS4 Positioning Controller Document ID: rel6852 EPOS4 50/5 Hardware Reference Edition: May 2017 © 2017 maxon motor. Subject to change without prior notice.

  • Page 56: 3.3.17 Spare Parts

    Order Description number 520860 STO Idle Connector X9 Table 3-46 Spare parts list maxon motor control 3-56 Document ID: rel6852 EPOS4 Positioning Controller Edition: May 2017 EPOS4 50/5 Hardware Reference © 2017 maxon motor. Subject to change without prior notice.

  • Page 57: Status Indicators

    Flash = Flashing (≈0.2 s), followed by pause of 1 s Table 3-47 NET Status LEDs maxon motor control 3-57 EPOS4 Positioning Controller Document ID: rel6852 EPOS4 50/5 Hardware Reference Edition: May 2017 © 2017 maxon motor. Subject to change without prior notice.
  • Page 58 Data rate is 100 MBit/s Flicker = Continuous flickering (≈10 Hz) Table 3-49 NET Port LED maxon motor control 3-58 Document ID: rel6852 EPOS4 Positioning Controller Edition: May 2017 EPOS4 50/5 Hardware Reference © 2017 maxon motor. Subject to change without prior notice.

  • Page 59: Figure 4-46 Interfaces - Designations And Location

    Excerpts ............... 4-63 maxon motor control 4-59 EPOS4 Positioning Controller Document ID: rel6852 EPOS4 50/5 Hardware Reference Edition: May 2017 © 2017 maxon motor. Subject to change without prior notice.

  • Page 60: Possible Combinations To Connect A Motor

    4-49 / 4-57 Table 4-50 Possible combinations of feedback signals for DC motor maxon motor control 4-60 Document ID: rel6852 EPOS4 Positioning Controller Edition: May 2017 EPOS4 50/5 Hardware Reference © 2017 maxon motor. Subject to change without prior notice.

  • Page 61: Ec (Bldc) Motor

    4-50 / 4-57 Table 4-51 Possible combinations of feedback signals for EC (BLDC) motor maxon motor control 4-61 EPOS4 Positioning Controller Document ID: rel6852 EPOS4 50/5 Hardware Reference Edition: May 2017 © 2017 maxon motor. Subject to change without prior notice.

  • Page 62: Main Wiring Diagram

    Wiring Main Wiring Diagram Main Wiring Diagram Figure 4-47 Main wiring diagram maxon motor control 4-62 Document ID: rel6852 EPOS4 Positioning Controller Edition: May 2017 EPOS4 50/5 Hardware Reference © 2017 maxon motor. Subject to change without prior notice.

  • Page 63: Excerpts

    EC (BLDC) Motor Figure 4-50 EC (BLDC) motor 4.3.4 Hall Sensors Figure 4-51 Hall sensors maxon motor control 4-63 EPOS4 Positioning Controller Document ID: rel6852 EPOS4 50/5 Hardware Reference Edition: May 2017 © 2017 maxon motor. Subject to change without prior notice.

  • Page 64: Digital Incremental Encoder

    4.3.7 Digital & Analog Incremental Encoder Figure 4-54 Digital & Analog incremental encoder maxon motor control 4-64 Document ID: rel6852 EPOS4 Positioning Controller Edition: May 2017 EPOS4 50/5 Hardware Reference © 2017 maxon motor. Subject to change without prior notice.

  • Page 65: Digital Incremental & Ssi Encoder

    Analog Incremental Encoder Figure 4-56 Analog incremental encoder 4.3.10 SSI Encoder Figure 4-57 SSI encoder maxon motor control 4-65 EPOS4 Positioning Controller Document ID: rel6852 EPOS4 50/5 Hardware Reference Edition: May 2017 © 2017 maxon motor. Subject to change without prior notice.
  • Page 66 • • 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 4-66 Document ID: rel6852 EPOS4 Positioning Controller Edition: May 2017 EPOS4 50/5 Hardware Reference © 2017 maxon motor. Subject to change without prior notice.
  • Page 67 Extension Signal connector X16............52 maxon motor control Z-67 EPOS4 Positioning Controller Document ID: rel6852 EPOS4 50/5 Hardware Reference Edition: May 2017 © 2017 maxon motor. Subject to change without prior notice.
  • Page 68 SSI encoder ................65 maxon motor control Z-68 Document ID: rel6852 EPOS4 Positioning Controller Edition: May 2017 EPOS4 50/5 Hardware Reference © 2017 maxon motor. Subject to change without prior notice.
  • Page 69 DIP switch SW1 – Examples .............55 maxon motor control Z-69 EPOS4 Positioning Controller Document ID: rel6852 EPOS4 50/5 Hardware Reference Edition: May 2017 © 2017 maxon motor. Subject to change without prior notice.
  • Page 70 Possible combinations of feedback signals for EC (BLDC) motor ....... . . 61 maxon motor control Z-70 Document ID: rel6852 EPOS4 Positioning Controller Edition: May 2017 EPOS4 50/5 Hardware Reference © 2017 maxon motor. Subject to change without prior notice.
  • Page 71 X14 50 X15 50 LEDs, interpretation of 57 X16 52 country-specific regulations 8 maxon motor control Z-71 EPOS4 Positioning Controller Document ID: rel6852 EPOS4 50/5 Hardware Reference Edition: May 2017 © 2017 maxon motor. Subject to change without prior notice.
  • Page 72 (ESD) 8 purpose of the device 7 of the document 5 maxon motor control Z-72 Document ID: rel6852 EPOS4 Positioning Controller Edition: May 2017 EPOS4 50/5 Hardware Reference © 2017 maxon motor. Subject to change without prior notice.
  • Page 73 • • 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-73 EPOS4 Positioning Controller Document ID: rel6852 EPOS4 50/5 Hardware Reference Edition: May 2017 © 2017 maxon motor. Subject to change without prior notice.
  • Page 74 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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