maxon motor EPOS4 Module 50/5 Hardware Reference Manual
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maxon motor EPOS4 Module 50/5 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
Positioning Controller
P/N 534130
Positioning Controller
P/N 541718
Hardware Reference
Document ID: rel8003
EPOS4 Positioning Controller
Edition May 2018

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Summary of Contents for maxon motor EPOS4 Module 50/5

  • Page 1 Hardware Reference Edition May 2018 Positioning Controller P/N 534130 Positioning Controller P/N 541718 Hardware Reference Document ID: rel8003 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 50/5 and EPOS4 Compact 50/5 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 EC Motors (BLDC, brushless) ........87 maxon motor control EPOS4 Positioning Controller Document ID: rel8003 EPOS4 Module/Compact 50/5 Hardware Reference Edition: May 2018 © 2018 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: rel8003 EPOS4 Positioning Controller Edition: May 2018 EPOS4 Module/Compact 50/5 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 50/5 and EPOS4 Use the document Compact 50/5 positioning controllers. It will highlight the tasks for safe and adequate installation and/or to…...

  • Page 6: Table 3-43 Table

    Indicates information particular to possible damage Damage of the equipment. Table 1-2 Symbols and signs maxon motor control Document ID: rel8003 EPOS4 Positioning Controller Edition: May 2018 EPOS4 Module/Compact 50/5 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 50/5 can either be used in combination with EPOS4 CB 50/5 connector boards as a compact, integrated solution or be incorporated into customer-specific moth- erboards 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: rel8003 EPOS4 Module/Compact 50/5 Hardware Reference Edition: May 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: rel8003 EPOS4 Module/Compact 50/5 Hardware Reference Edition: May 2018 © 2018 maxon motor. Subject to change without prior notice.
  • Page 12 Operating altitude in meters above Mean Sea Level, MSL. Max. tightening torque 0.16 Nm. Table 2-5 Technical data maxon motor control 2-12 Document ID: rel8003 EPOS4 Positioning Controller Edition: May 2018 EPOS4 Module/Compact 50/5 Hardware Reference © 2018 maxon motor. Subject to change without prior notice.

  • Page 13: Thermal Data

    Derating of Output Current Module Compact Figure 2-3 Derating of output current maxon motor control 2-13 EPOS4 Positioning Controller Document ID: rel8003 EPOS4 Module/Compact 50/5 Hardware Reference Edition: May 2018 © 2018 maxon motor. Subject to change without prior notice.

  • Page 14: Limitations

    Limitations Dimensional Drawings Figure 2-5 EPOS4 Module 50/5 – Dimensional drawing [mm] maxon motor control 2-14 Document ID: rel8003 EPOS4 Positioning Controller Edition: May 2018 EPOS4 Module/Compact 50/5 Hardware Reference © 2018 maxon motor. Subject to change without prior notice.
  • Page 15 EPOS4 CB 50/5 CAN – Dimensional drawing [mm] Figure 2-7 EPOS4 Compact 50/5 CAN – Dimensional drawing [mm] maxon motor control 2-15 EPOS4 Positioning Controller Document ID: rel8003 EPOS4 Module/Compact 50/5 Hardware Reference Edition: May 2018 © 2018 maxon motor. Subject to change without prior notice.

  • Page 16: Standards

    • Module: 314'822 hours • Compact CAN: 253'865 hours Table 2-7 Standards maxon motor control 2-16 Document ID: rel8003 EPOS4 Positioning Controller Edition: May 2018 EPOS4 Module/Compact 50/5 Hardware Reference © 2018 maxon motor. Subject to change without prior notice.

  • Page 17: Setup

    ERMISSION TO COMMENCE NSTALLATION EPOS4 Module 50/5 and EPOS4 Compact 50/5 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 18: Pin Assignment For Module Version

    ** Connect all pins in respect to the individual pin current rating. Table 3-8 Pin assignment A1…A46 (X1…X5) maxon motor control 3-18 Document ID: rel8003 EPOS4 Positioning Controller Edition: May 2018 EPOS4 Module/Compact 50/5 Hardware Reference © 2018 maxon motor. Subject to change without prior notice.
  • Page 19 CAN ID 2 CAN ID 2 (valence = 2) Continued on next page. maxon motor control 3-19 EPOS4 Positioning Controller Document ID: rel8003 EPOS4 Module/Compact 50/5 Hardware Reference Edition: May 2018 © 2018 maxon motor. Subject to change without prior notice.
  • Page 20 Table 3-9 Pin assignment B1…B46 (X6…X12) maxon motor control 3-20 Document ID: rel8003 EPOS4 Positioning Controller Edition: May 2018 EPOS4 Module/Compact 50/5 Hardware Reference © 2018 maxon motor. Subject to change without prior notice.

  • Page 21: Pin Assignment For Connector Boards & Compact Versions

    USB Type A - micro B Cable (located at the Module) 403968 3-68 Table 3-10 Prefab maxon cables maxon motor control 3-21 EPOS4 Positioning Controller Document ID: rel8003 EPOS4 Module/Compact 50/5 Hardware Reference Edition: May 2018 © 2018 maxon motor. Subject to change without prior notice.

  • Page 22: 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 23: Connections

    • The third column describes the pin number of the prefab maxon cable’s Head B. maxon motor control 3-23 EPOS4 Positioning Controller Document ID: rel8003 EPOS4 Module/Compact 50/5 Hardware Reference Edition: May 2018 © 2018 maxon motor. Subject to change without prior notice.

  • Page 24: Table 3-51 Table

    Table 3-14 Power & logic supply connector X1/X2 – Specification and accessories maxon motor control 3-24 Document ID: rel8003 EPOS4 Positioning Controller Edition: May 2018 EPOS4 Module/Compact 50/5 Hardware Reference © 2018 maxon motor. Subject to change without prior notice.

  • Page 25: Table 3-55 Table

    Molex Mini-Fit Jr. female crimp terminals (45750) Head B Wire end sleeves 0.75 mm Table 3-17 Motor Cable maxon motor control 3-25 EPOS4 Positioning Controller Document ID: rel8003 EPOS4 Module/Compact 50/5 Hardware Reference Edition: May 2018 © 2018 maxon motor. Subject to change without prior notice.

  • Page 26: Table 3-61 Table

    Head B Wire end sleeves 0.14 mm Table 3-19 Hall Sensor Cable maxon motor control 3-26 Document ID: rel8003 EPOS4 Positioning Controller Edition: May 2018 EPOS4 Module/Compact 50/5 Hardware Reference © 2018 maxon motor. Subject to change without prior notice.
  • Page 27 DIN 41651 plug, pitch 2.54 mm, 10 poles, with strain relief Table 3-22 Encoder Cable maxon motor control 3-27 EPOS4 Positioning Controller Document ID: rel8003 EPOS4 Module/Compact 50/5 Hardware Reference Edition: May 2018 © 2018 maxon motor. Subject to change without prior notice.
  • Page 28 Table 3-23 Sensor connector X6 – Pin assignment Continued on next page. maxon motor control 3-28 Document ID: rel8003 EPOS4 Positioning Controller Edition: May 2018 EPOS4 Module/Compact 50/5 Hardware Reference © 2018 maxon motor. Subject to change without prior notice.
  • Page 29 Head B Wire end sleeves 0.14 mm Table 3-24 Sensor Cable 5x2core maxon motor control 3-29 EPOS4 Positioning Controller Document ID: rel8003 EPOS4 Module/Compact 50/5 Hardware Reference Edition: May 2018 © 2018 maxon motor. Subject to change without prior notice.
  • Page 30 Head B Wire end sleeves 0.14 mm Table 3-26 Signal Cable 8core maxon motor control 3-30 Document ID: rel8003 EPOS4 Positioning Controller Edition: May 2018 EPOS4 Module/Compact 50/5 Hardware Reference © 2018 maxon motor. Subject to change without prior notice.
  • Page 31 Head B Wire end sleeves 0.14 mm Table 3-28 Signal Cable 7core maxon motor control 3-31 EPOS4 Positioning Controller Document ID: rel8003 EPOS4 Module/Compact 50/5 Hardware Reference Edition: May 2018 © 2018 maxon motor. Subject to change without prior notice.
  • Page 32 Molex CLIK-Mate, single row, 8 poles (502578-0800) with cable bridges Table 3-30 STO Idle Connector maxon motor control 3-32 Document ID: rel8003 EPOS4 Positioning Controller Edition: May 2018 EPOS4 Module/Compact 50/5 Hardware Reference © 2018 maxon motor. Subject to change without prior notice.
  • Page 33 Female D-Sub connector DIN 41652, 9 poles, with mounting screws Table 3-32 RS232-COM Cable maxon motor control 3-33 EPOS4 Positioning Controller Document ID: rel8003 EPOS4 Module/Compact 50/5 Hardware Reference Edition: May 2018 © 2018 maxon motor. Subject to change without prior notice.
  • Page 34 Head B Contacts Molex CLIK-Mate crimp terminals (502579) Table 3-35 CAN-CAN Cable maxon motor control 3-34 Document ID: rel8003 EPOS4 Positioning Controller Edition: May 2018 EPOS4 Module/Compact 50/5 Hardware Reference © 2018 maxon motor. Subject to change without prior notice.

  • Page 35: Dip Switch Configuration (Sw1)

    Table 3-36 DIP switch SW1 – Binary code values Continued on next page. maxon motor control 3-35 EPOS4 Positioning Controller Document ID: rel8003 EPOS4 Module/Compact 50/5 Hardware Reference Edition: May 2018 © 2018 maxon motor. Subject to change without prior notice.
  • Page 36 (factory setting) Table 3-38 DIP switch SW1 – CAN automatic bit rate detection maxon motor control 3-36 Document ID: rel8003 EPOS4 Positioning Controller Edition: May 2018 EPOS4 Module/Compact 50/5 Hardware Reference © 2018 maxon motor. Subject to change without prior notice.

  • Page 37: Spare Parts

    590736 Power & Logic Supply Connector X1/X2 Table 3-41 Spare parts list maxon motor control 3-37 EPOS4 Positioning Controller Document ID: rel8003 EPOS4 Module/Compact 50/5 Hardware Reference Edition: May 2018 © 2018 maxon motor. Subject to change without prior notice.

  • Page 38: Connection Specifications

    Continued on next page. maxon motor control 3-38 Document ID: rel8003 EPOS4 Positioning Controller Edition: May 2018 EPOS4 Module/Compact 50/5 Hardware Reference © 2018 maxon motor. Subject to change without prior notice.

  • Page 39: Logic Supply

    8 VDC; max. 56 VDC min. 3.5 W Min. output power maxon motor control 3-39 EPOS4 Positioning Controller Document ID: rel8003 EPOS4 Module/Compact 50/5 Hardware Reference Edition: May 2018 © 2018 maxon motor. Subject to change without prior notice.

  • Page 40: Motor

    ** Connect all pins in respect to the individual pin current rating. Table 3-45 EC motor – Pin assignment maxon motor control 3-40 Document ID: rel8003 EPOS4 Positioning Controller Edition: May 2018 EPOS4 Module/Compact 50/5 Hardware Reference © 2018 maxon motor. Subject to change without prior notice.

  • Page 41: Hall Sensor

    Hall sensor 1 input circuit (analogously valid for Hall sensors 2 & 3) maxon motor control 3-41 EPOS4 Positioning Controller Document ID: rel8003 EPOS4 Module/Compact 50/5 Hardware Reference Edition: May 2018 © 2018 maxon motor. Subject to change without prior notice.

  • Page 42: Encoder

    EIA RS422 standard Max. input frequency 6.25 MHz Continued on next page. maxon motor control 3-42 Document ID: rel8003 EPOS4 Positioning Controller Edition: May 2018 EPOS4 Module/Compact 50/5 Hardware Reference © 2018 maxon motor. Subject to change without prior notice.
  • Page 43 Encoder input circuit Ch A “single-ended” (analogously valid for Ch B & Ch I) maxon motor control 3-43 EPOS4 Positioning Controller Document ID: rel8003 EPOS4 Module/Compact 50/5 Hardware Reference Edition: May 2018 © 2018 maxon motor. Subject to change without prior notice.

  • Page 44: Sensor

    EIA RS422 standard Max. input frequency 6.25 MHz Continued on next page. maxon motor control 3-44 Document ID: rel8003 EPOS4 Positioning Controller Edition: May 2018 EPOS4 Module/Compact 50/5 Hardware Reference © 2018 maxon motor. Subject to change without prior notice.
  • Page 45 Digital incremental encoder input circuit Ch A “differential” (analogously valid for Ch B) Figure 3-26 Digital incremental encoder input circuit Ch I maxon motor control 3-45 EPOS4 Positioning Controller Document ID: rel8003 EPOS4 Module/Compact 50/5 Hardware Reference Edition: May 2018 © 2018 maxon motor. Subject to change without prior notice.
  • Page 46 Digital incremental encoder input circuit Ch A “single-ended” (analogously valid for Ch B) Continued on next page. maxon motor control 3-46 Document ID: rel8003 EPOS4 Positioning Controller Edition: May 2018 EPOS4 Module/Compact 50/5 Hardware Reference © 2018 maxon motor. Subject to change without prior notice.
  • Page 47 Setup Connection Specifications Figure 3-28 Digital incremental encoder input circuit Ch I maxon motor control 3-47 EPOS4 Positioning Controller Document ID: rel8003 EPOS4 Module/Compact 50/5 Hardware Reference Edition: May 2018 © 2018 maxon motor. Subject to change without prior notice.
  • Page 48 Analog incremental encoder input circuit Ch A “differential” (analogously valid for Ch B) Continued on next page. maxon motor control 3-48 Document ID: rel8003 EPOS4 Positioning Controller Edition: May 2018 EPOS4 Module/Compact 50/5 Hardware Reference © 2018 maxon motor. Subject to change without prior notice.
  • Page 49 Connection Specifications Figure 3-30 Analog incremental encoder input circuit Ch I (digital evaluation) maxon motor control 3-49 EPOS4 Positioning Controller Document ID: rel8003 EPOS4 Module/Compact 50/5 Hardware Reference Edition: May 2018 © 2018 maxon motor. Subject to change without prior notice.
  • Page 50 5 MHz Figure 3-31 SSI absolute encoder data input Continued on next page. maxon motor control 3-50 Document ID: rel8003 EPOS4 Positioning Controller Edition: May 2018 EPOS4 Module/Compact 50/5 Hardware Reference © 2018 maxon motor. Subject to change without prior notice.
  • Page 51 Setup Connection Specifications Figure 3-32 SSI absolute encoder clock output maxon motor control 3-51 EPOS4 Positioning Controller Document ID: rel8003 EPOS4 Module/Compact 50/5 Hardware Reference Edition: May 2018 © 2018 maxon motor. Subject to change without prior notice.
  • Page 52 Max. input frequency 6.25 MHz Figure 3-33 HsDigIN1 circuit “differential” (analogously valid for HsDigIN2…4) maxon motor control 3-52 Document ID: rel8003 EPOS4 Positioning Controller Edition: May 2018 EPOS4 Module/Compact 50/5 Hardware Reference © 2018 maxon motor. Subject to change without prior notice.
  • Page 53 Max. input frequency 6.25 MHz Figure 3-34 HsDigIN1 circuit “single-ended” (analogously valid for HsDigIN2…4) maxon motor control 3-53 EPOS4 Positioning Controller Document ID: rel8003 EPOS4 Module/Compact 50/5 Hardware Reference Edition: May 2018 © 2018 maxon motor. Subject to change without prior notice.
  • Page 54 EIA RS422 standard Max. output frequency 6.25 MHz Figure 3-35 HsDigOUT1 output circuit maxon motor control 3-54 Document ID: rel8003 EPOS4 Positioning Controller Edition: May 2018 EPOS4 Module/Compact 50/5 Hardware Reference © 2018 maxon motor. Subject to change without prior notice.

  • Page 55: Digital I/Os

    Switching delay Figure 3-36 DigIN1 circuit (analogously valid for DigIN2…4) – Module maxon motor control 3-55 EPOS4 Positioning Controller Document ID: rel8003 EPOS4 Module/Compact 50/5 Hardware Reference Edition: May 2018 © 2018 maxon motor. Subject to change without prior notice.
  • Page 56 DigIN1 circuit (analogously valid for DigIN2…4) – Compact / Logic level setting Continued on next page. maxon motor control 3-56 Document ID: rel8003 EPOS4 Positioning Controller Edition: May 2018 EPOS4 Module/Compact 50/5 Hardware Reference © 2018 maxon motor. Subject to change without prior notice.
  • Page 57 DigOUT1 circuit (analogously valid for DigOUT2 and Compact) Continued on next page. maxon motor control 3-57 EPOS4 Positioning Controller Document ID: rel8003 EPOS4 Module/Compact 50/5 Hardware Reference Edition: May 2018 © 2018 maxon motor. Subject to change without prior notice.
  • Page 58 Max. load current Load Figure 3-41 DigOUT1 “source” (analogously valid for DigOUT2 and Compact) maxon motor control 3-58 Document ID: rel8003 EPOS4 Positioning Controller Edition: May 2018 EPOS4 Module/Compact 50/5 Hardware Reference © 2018 maxon motor. Subject to change without prior notice.

  • Page 59: Safe Torque Off I/Os

    Reaction time <25 ms Figure 3-42 STO-IN1 circuit (analogously valid for STO-IN2) maxon motor control 3-59 EPOS4 Positioning Controller Document ID: rel8003 EPOS4 Module/Compact 50/5 Hardware Reference Edition: May 2018 © 2018 maxon motor. Subject to change without prior notice.
  • Page 60 Table 3-54 STO logic state maxon motor control 3-60 Document ID: rel8003 EPOS4 Positioning Controller Edition: May 2018 EPOS4 Module/Compact 50/5 Hardware Reference © 2018 maxon motor. Subject to change without prior notice.

  • Page 61: Analog I/Os

    5.64 mV Bandwidth 10 kHz Figure 3-44 AnIN1 circuit (analogously valid for AnIN2) maxon motor control 3-61 EPOS4 Positioning Controller Document ID: rel8003 EPOS4 Module/Compact 50/5 Hardware Reference Edition: May 2018 © 2018 maxon motor. Subject to change without prior notice.
  • Page 62 Max. output current limit 1 mA Figure 3-45 AnOUT1 circuit (analogously valid for AnOUT2) maxon motor control 3-62 Document ID: rel8003 EPOS4 Positioning Controller Edition: May 2018 EPOS4 Module/Compact 50/5 Hardware Reference © 2018 maxon motor. Subject to change without prior notice.

  • Page 63: 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 3-63 EPOS4 Positioning Controller Document ID: rel8003 EPOS4 Module/Compact 50/5 Hardware Reference Edition: May 2018 © 2018 maxon motor. Subject to change without prior notice.
  • Page 64 ±9 V @ 3 kΩ to GND Max. bit rate 115’200 bit/s RS232 transceiver EIA RS232 standard maxon motor control 3-64 Document ID: rel8003 EPOS4 Positioning Controller Edition: May 2018 EPOS4 Module/Compact 50/5 Hardware Reference © 2018 maxon motor. Subject to change without prior notice.

  • Page 65: Can Interface

    CAN bus.  • For detailed CAN information separate document «EPOS4 Communication Guide». maxon motor control 3-65 EPOS4 Positioning Controller Document ID: rel8003 EPOS4 Module/Compact 50/5 Hardware Reference Edition: May 2018 © 2018 maxon motor. Subject to change without prior notice.
  • Page 66 • The CAN ID set by the software is valid if the Node Address is set to “0” (all CAN ID input lines not connected). maxon motor control 3-66 Document ID: rel8003 EPOS4 Positioning Controller Edition: May 2018 EPOS4 Module/Compact 50/5 Hardware Reference © 2018 maxon motor. Subject to change without prior notice.

  • Page 67: Serial Peripheral Interface (Spi)

    Serial Peripheral Interface chip select 1 Table 3-61 SPI – Pin assignment maxon motor control 3-67 EPOS4 Positioning Controller Document ID: rel8003 EPOS4 Module/Compact 50/5 Hardware Reference Edition: May 2018 © 2018 maxon motor. Subject to change without prior notice.

  • Page 68: Usb (X13)

    Max. bus supply voltage +5.25 VDC Max. DC data input voltage −0.5…+3.8 VDC maxon motor control 3-68 Document ID: rel8003 EPOS4 Positioning Controller Edition: May 2018 EPOS4 Module/Compact 50/5 Hardware Reference © 2018 maxon motor. Subject to change without prior notice.

  • Page 69: Status Indicators

    Flash = Flashing (≈0.9 s OFF/≈0.1 s ON) Slow = Slow blinking (≈1 Hz) Table 3-64 Status LED maxon motor control 3-69 EPOS4 Positioning Controller Document ID: rel8003 EPOS4 Module/Compact 50/5 Hardware Reference Edition: May 2018 © 2018 maxon motor. Subject to change without prior notice.
  • Page 70 • • 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 3-70 Document ID: rel8003 EPOS4 Positioning Controller Edition: May 2018 EPOS4 Module/Compact 50/5 Hardware Reference © 2018 maxon motor. Subject to change without prior notice.

  • Page 71: 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 72: 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 4-72 Document ID: rel8003 EPOS4 Positioning Controller Edition: May 2018 EPOS4 Module/Compact 50/5 Hardware Reference © 2018 maxon motor. Subject to change without prior notice.

  • Page 73: Logic Supply Voltage

    Module’s built-in capacitors that could lead to a voltage over- shoot at power plug-in. maxon motor control 4-73 EPOS4 Positioning Controller Document ID: rel8003 EPOS4 Module/Compact 50/5 Hardware Reference Edition: May 2018 © 2018 maxon motor. Subject to change without prior notice.

  • Page 74: 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 4-74 Document ID: rel8003 EPOS4 Positioning Controller Edition: May 2018 EPOS4 Module/Compact 50/5 Hardware Reference © 2018 maxon motor. Subject to change without prior notice.

  • Page 75: Rs232 Transceiver

    If you do not intend to use the RS232 interface, you are recommended to connect pin [B39] to pin [A40] (sensor supply voltage V Sensor maxon motor control 4-75 EPOS4 Positioning Controller Document ID: rel8003 EPOS4 Module/Compact 50/5 Hardware Reference Edition: May 2018 © 2018 maxon motor. Subject to change without prior notice.

  • Page 76: Recommended Components And Manufacturers

    • 100 nF, X7R, 16 V Table 4-65 Motherboard Design Guide – Recommended components maxon motor control 4-76 Document ID: rel8003 EPOS4 Positioning Controller Edition: May 2018 EPOS4 Module/Compact 50/5 Hardware Reference © 2018 maxon motor. Subject to change without prior notice.

  • Page 77: Design Guidelines

    75 mil and a minimum copper coating thickness of 35 μm are recommended. maxon motor control 4-77 EPOS4 Positioning Controller Document ID: rel8003 EPOS4 Module/Compact 50/5 Hardware Reference Edition: May 2018 © 2018 maxon motor. Subject to change without prior notice.

  • Page 78: Smt Footprint

    SMT Footprint SMT Footprint Figure 4-52 SMT footprint [mm] – Top View maxon motor control 4-78 Document ID: rel8003 EPOS4 Positioning Controller Edition: May 2018 EPOS4 Module/Compact 50/5 Hardware Reference © 2018 maxon motor. Subject to change without prior notice.

  • Page 79: Contents

    EC Motor – SSI Encoder ............5-95 maxon motor control 5-79 EPOS4 Positioning Controller Document ID: rel8003 EPOS4 Module/Compact 50/5 Hardware Reference Edition: May 2018 © 2018 maxon motor. Subject to change without prior notice.

  • Page 80: Dc Motors (Brushed)

    DC Motors (brushed) 5.2.1 DC Motor without Sensor Figure 5-54 DC motor (no sensor) maxon motor control 5-80 Document ID: rel8003 EPOS4 Positioning Controller Edition: May 2018 EPOS4 Module/Compact 50/5 Hardware Reference © 2018 maxon motor. Subject to change without prior notice.

  • Page 81: Dc Motor - Digital Incremental Encoder

    DC Motor – Digital Incremental Encoder Figure 5-55 DC motor (digital incremental encoder) maxon motor control 5-81 EPOS4 Positioning Controller Document ID: rel8003 EPOS4 Module/Compact 50/5 Hardware Reference Edition: May 2018 © 2018 maxon motor. Subject to change without prior notice.

  • Page 82: Dc Motor - Digital & Digital Incremental Encoder

    DC Motor – Digital & Digital Incremental Encoder Figure 5-56 DC motor (digital & digital incremental encoder) maxon motor control 5-82 Document ID: rel8003 EPOS4 Positioning Controller Edition: May 2018 EPOS4 Module/Compact 50/5 Hardware Reference © 2018 maxon motor. Subject to change without prior notice.

  • Page 83: Dc Motor - Digital & Analog Incremental Encoder

    DC Motor – Digital & Analog Incremental Encoder Figure 5-57 DC motor (digital & analog incremental encoder) maxon motor control 5-83 EPOS4 Positioning Controller Document ID: rel8003 EPOS4 Module/Compact 50/5 Hardware Reference Edition: May 2018 © 2018 maxon motor. Subject to change without prior notice.

  • Page 84: Dc Motor - Digital Incremental & Ssi Encoder

    DC Motor – Digital Incremental & SSI Encoder Figure 5-58 DC motor (digital incremental & SSI encoder) maxon motor control 5-84 Document ID: rel8003 EPOS4 Positioning Controller Edition: May 2018 EPOS4 Module/Compact 50/5 Hardware Reference © 2018 maxon motor. Subject to change without prior notice.

  • Page 85: Dc Motor - Analog Incremental Encoder

    DC Motor – Analog Incremental Encoder Figure 5-59 DC motor (analog incremental encoder) maxon motor control 5-85 EPOS4 Positioning Controller Document ID: rel8003 EPOS4 Module/Compact 50/5 Hardware Reference Edition: May 2018 © 2018 maxon motor. Subject to change without prior notice.

  • Page 86: Dc Motor - Ssi Encoder

    5.2.7 DC Motor – SSI Encoder Figure 5-60 DC motor (SSI encoder) maxon motor control 5-86 Document ID: rel8003 EPOS4 Positioning Controller Edition: May 2018 EPOS4 Module/Compact 50/5 Hardware Reference © 2018 maxon motor. Subject to change without prior notice.

  • Page 87: Ec Motors (Bldc, Brushless)

    5.3.1 EC Motor – Hall Sensors Figure 5-61 EC motor (Hall sensors) maxon motor control 5-87 EPOS4 Positioning Controller Document ID: rel8003 EPOS4 Module/Compact 50/5 Hardware Reference Edition: May 2018 © 2018 maxon motor. Subject to change without prior notice.

  • Page 88: Ec Motor - Hall Sensors & Digital Incremental Encoder

    EC Motor – Hall Sensors & Digital Incremental Encoder Figure 5-62 EC motor (Hall sensors & digital incremental encoder) maxon motor control 5-88 Document ID: rel8003 EPOS4 Positioning Controller Edition: May 2018 EPOS4 Module/Compact 50/5 Hardware Reference © 2018 maxon motor. Subject to change without prior notice.

  • Page 89: Ec Motor - Hall Sensors & Analog Incremental Encoder

    EC Motor – Hall Sensors & Analog Incremental Encoder Figure 5-63 EC motor (Hall sensors & analog incremental encoder) maxon motor control 5-89 EPOS4 Positioning Controller Document ID: rel8003 EPOS4 Module/Compact 50/5 Hardware Reference Edition: May 2018 © 2018 maxon motor. Subject to change without prior notice.

  • Page 90: Ec Motor - Hall Sensors & Ssi Encoder

    EC Motor – Hall Sensors & SSI Encoder Figure 5-64 EC motor (Hall sensors & SSI encoder) maxon motor control 5-90 Document ID: rel8003 EPOS4 Positioning Controller Edition: May 2018 EPOS4 Module/Compact 50/5 Hardware Reference © 2018 maxon motor. Subject to change without prior notice.

  • Page 91: Ec Motor - Hall Sensors & Digital & Digital Incremental Encoder

    Figure 5-65 EC motor (Hall sensors & digital & digital incremental encoder) maxon motor control 5-91 EPOS4 Positioning Controller Document ID: rel8003 EPOS4 Module/Compact 50/5 Hardware Reference Edition: May 2018 © 2018 maxon motor. Subject to change without prior notice.

  • Page 92: Ec Motor - Hall Sensors & Digital & Analog Incremental Encoder

    Figure 5-66 EC motor (Hall sensors & digital & analog incremental encoder) maxon motor control 5-92 Document ID: rel8003 EPOS4 Positioning Controller Edition: May 2018 EPOS4 Module/Compact 50/5 Hardware Reference © 2018 maxon motor. Subject to change without prior notice.

  • Page 93: Ec Motor - Hall Sensors & Digital Incremental & Ssi Encoder

    Figure 5-67 EC motor (Hall sensors & digital incremental & SSI encoder) maxon motor control 5-93 EPOS4 Positioning Controller Document ID: rel8003 EPOS4 Module/Compact 50/5 Hardware Reference Edition: May 2018 © 2018 maxon motor. Subject to change without prior notice.

  • Page 94: Ec Motor - Digital Incremental & Ssi Encoder

    EC Motor – Digital Incremental & SSI Encoder Figure 5-68 EC motor (digital & SSI encoder) maxon motor control 5-94 Document ID: rel8003 EPOS4 Positioning Controller Edition: May 2018 EPOS4 Module/Compact 50/5 Hardware Reference © 2018 maxon motor. Subject to change without prior notice.

  • Page 95: Ec Motor - Ssi Encoder

    5.3.9 EC Motor – SSI Encoder Figure 5-69 EC motor (SSI encoder) maxon motor control 5-95 EPOS4 Positioning Controller Document ID: rel8003 EPOS4 Module/Compact 50/5 Hardware Reference Edition: May 2018 © 2018 maxon motor. Subject to change without prior notice.
  • Page 96 • • 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 5-96 Document ID: rel8003 EPOS4 Positioning Controller Edition: May 2018 EPOS4 Module/Compact 50/5 Hardware Reference © 2018 maxon motor. Subject to change without prior notice.
  • Page 97 EPOS4 Module 50/5 – Dimensional drawing [mm]........
  • Page 98 EC motor (SSI encoder) ..............95 maxon motor control Z-98 Document ID: rel8003 EPOS4 Positioning Controller Edition: May 2018 EPOS4 Module/Compact 50/5 Hardware Reference © 2018 maxon motor. Subject to change without prior notice.
  • Page 99 Power supply – Pin assignment ............38 maxon motor control Z-99 EPOS4 Positioning Controller Document ID: rel8003 EPOS4 Module/Compact 50/5 Hardware Reference Edition: May 2018 © 2018 maxon motor. Subject to change without prior notice.
  • Page 100 Motherboard Design Guide – Grounding ........... . 77 maxon motor control Z-100 Document ID: rel8003 EPOS4 Positioning Controller Edition: May 2018 EPOS4 Module/Compact 50/5 Hardware Reference © 2018 maxon motor. Subject to change without prior notice.
  • Page 101 X9 32 X10 33 X11 34 X12 34 X13 68 country-specific regulations 10 maxon motor control Z-101 EPOS4 Positioning Controller Document ID: rel8003 EPOS4 Module/Compact 50/5 Hardware Reference Edition: May 2018 © 2018 maxon motor. Subject to change without prior notice.
  • Page 102 STO (Safe Torque Off) 59 supply voltage, required 38 SW1 35 symbols used 6 maxon motor control Z-102 Document ID: rel8003 EPOS4 Positioning Controller Edition: May 2018 EPOS4 Module/Compact 50/5 Hardware Reference © 2018 maxon motor. Subject to change without prior notice.
  • Page 103 EC motors 87 wiring examples additional inductance on Motherboard 74 DigOUT 58 maxon motor control Z-103 EPOS4 Positioning Controller Document ID: rel8003 EPOS4 Module/Compact 50/5 Hardware Reference Edition: May 2018 © 2018 maxon motor. Subject to change without prior notice.
  • Page 104 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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