maxon motor EPOS2 24/5 Hardware Reference Manual
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maxon motor EPOS2 24/5 Hardware Reference Manual

Positioning controller
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maxon motor control
EPOS2 Positioning Controller
Hardware Reference
Edition October 2014
Positioning Controller
Hardware Reference
Document ID: rel5190
maxon motor ag Brünigstrasse 220 P.O.Box 263 CH-6072 Sachseln Phone +41 41 666 15 00 Fax +41 41 666 16 50 www.maxonmotor.com

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  • Page 1 EPOS2 Positioning Controller Hardware Reference Edition October 2014 Positioning Controller Hardware Reference Document ID: rel5190 maxon motor ag Brünigstrasse 220 P.O.Box 263 CH-6072 Sachseln Phone +41 41 666 15 00 Fax +41 41 666 16 50 www.maxonmotor.com...
  • Page 2 ERMISSION TO COMMENCE NSTALLATION The EPOS2 24/5 is considered as partly completed machinery according to EU directive 2006/42/EC, Article 2, Clause (g) and therefore is intended to be incorporated into or assembled with other machinery or other partly completed machinery or equipment.

  • Page 3: Table Of Contents

    4.10 Status LEDs..........37 maxon motor control EPOS2 Positioning Controller Document ID: rel5190 EPOS2 24/5 Hardware Reference Edition: October 2014 © 2014 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: rel5190 EPOS2 Positioning Controller Edition: October 2014 EPOS2 24/5 Hardware Reference © 2014 maxon motor. Subject to change without prior notice.

  • Page 5: Table 1-1 Notations Used In This Document

    Use for other and/or additional purposes is not permitted. maxon motor, the manufacturer of the equip- ment described, does not assume any liability for loss or damage that may arise from any other and/or additional use than the intended purpose.
  • Page 6 Points out information particular to potential damage of equipment. Reference Refers to particular information provided by other parties. maxon motor control Document ID: rel5190 EPOS2 Positioning Controller Edition: October 2014 EPOS2 24/5 Hardware Reference © 2014 maxon motor. Subject to change without prior notice.

  • Page 7: Table 1-2 Brand Names And Trademark Owners

    The present document – including all parts thereof – is protected by copyright. Any use (including repro- duction, translation, microfilming and other means of electronic data processing) beyond the narrow restrictions of the copyright law without the prior approval of maxon motor ag, is not permitted and sub- ject to persecution under the applicable law.
  • Page 8 • • 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: rel5190 EPOS2 Positioning Controller Edition: October 2014 EPOS2 24/5 Hardware Reference © 2014 maxon motor. Subject to change without prior notice.

  • Page 9: Documentation Structure

    • wiring examples. maxon motor control’s EPOS2 24/5 is a small-sized, full digital, smart motion controller. Due to its flexi- ble and high efficient power stage, the EPOS2 24/5 drives brushed DC motors with digital encoder as well as brushless EC motors with digital Hall sensors and encoder.

  • Page 10: Safety Precautions

    – and be kept – in a safe operating mode. • Be aware that you are not entitled to perform any repair on components supplied by maxon motor. Best Practice •...

  • Page 11: Electrical Data

    <1000 mA) Digital Output 4 (“Brake”) open drain Table 3-5 Electrical Data – Outputs maxon motor control 3-11 EPOS2 Positioning Controller Document ID: rel5190 EPOS2 24/5 Hardware Reference Edition: October 2014 © 2014 maxon motor. Subject to change without prior notice.

  • Page 12: Table 3-6 Electrical Data - Voltage Outputs

    Status Indicators Operation green LED Error red LED Table 3-9 Electrical Data – LEDs maxon motor control 3-12 Document ID: rel5190 EPOS2 Positioning Controller Edition: October 2014 EPOS2 24/5 Hardware Reference © 2014 maxon motor. Subject to change without prior notice.

  • Page 13: Table 3-10 Electrical Data - Connections

    Tyco C42334-A421-C42 (right) / Tyco C42334-A421-C52 (left) Table 3-10 Electrical Data – Connections maxon motor control 3-13 EPOS2 Positioning Controller Document ID: rel5190 EPOS2 24/5 Hardware Reference Edition: October 2014 © 2014 maxon motor. Subject to change without prior notice.

  • Page 14: Mechanical Data

    Order Details Order Details EPOS2 24/5 Order number 367676 Table 3-13 Order Details maxon motor control 3-14 Document ID: rel5190 EPOS2 Positioning Controller Edition: October 2014 EPOS2 24/5 Hardware Reference © 2014 maxon motor. Subject to change without prior notice.

  • Page 15: Standards

    Component stress: In accordance with circuit diagram and nominal power Mean Time Between Failures (MTBF): 501'641 hours Table 3-14 Standards maxon motor control 3-15 EPOS2 Positioning Controller Document ID: rel5190 EPOS2 24/5 Hardware Reference Edition: October 2014 © 2014 maxon motor. Subject to change without prior notice.
  • 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: rel5190 EPOS2 Positioning Controller Edition: October 2014 EPOS2 24/5 Hardware Reference © 2014 maxon motor. Subject to change without prior notice.
  • Page 17 Connections Figure 4-3 Interfaces – Designations and Location Figure 4-4 Wiring Diagram maxon motor control 4-17 EPOS2 Positioning Controller Document ID: rel5190 EPOS2 24/5 Hardware Reference Edition: October 2014 © 2014 maxon motor. Subject to change without prior notice.

  • Page 18: Power Supply Connector (J1)

    Depending on load (continuous max. 5 A / acceleration, short-time max. 10 A) Calculate required voltage under load using following scheme (the formula takes a max. PWM cycle of 90% and a max. voltage drop of -1 V at EPOS2 24/5 into account): NOWN VALUES •...

  • Page 19: Use Of Separate Logic Supply

    Jumper JP4 – Location and Factory Setting Figure 4-7 Jumper JP4 – closed (left) / open (right) maxon motor control 4-19 EPOS2 Positioning Controller Document ID: rel5190 EPOS2 24/5 Hardware Reference Edition: October 2014 © 2014 maxon motor. Subject to change without prior notice.

  • Page 20: Motor Connector (J2)

    Motor (-M) DC motor: Motor - do not connect Motor shield Cable shield maxon motor control 4-20 Document ID: rel5190 EPOS2 Positioning Controller Edition: October 2014 EPOS2 24/5 Hardware Reference © 2014 maxon motor. Subject to change without prior notice.

  • Page 21: Maxon Dc Motor With Integrated Motor/Encoder Ribbon Cable

    Jumpers JP2/JP3 – Location and Factory Setting Figure 4-10 Jumpers JP2/JP3 – open (left) / closed (right) maxon motor control 4-21 EPOS2 Positioning Controller Document ID: rel5190 EPOS2 24/5 Hardware Reference Edition: October 2014 © 2014 maxon motor. Subject to change without prior notice.

  • Page 22: Hall Sensor Connector (J3)

    Molex Micro-Fit 3.0 female crimp terminals (43030-xxxx) Suitable hand crimper Molex hand crimper (63819-0000) maxon motor control 4-22 Document ID: rel5190 EPOS2 Positioning Controller Edition: October 2014 EPOS2 24/5 Hardware Reference © 2014 maxon motor. Subject to change without prior notice.

  • Page 23: Encoder Connector (J4)

    EIA RS422 Standard Max. encoder input frequency 5 MHz Figure 4-13 Encoder Input Channel maxon motor control 4-23 EPOS2 Positioning Controller Document ID: rel5190 EPOS2 24/5 Hardware Reference Edition: October 2014 © 2014 maxon motor. Subject to change without prior notice.
  • Page 24 Suitable connector DIN 41651 Plug, pitch 2.54 mm, 10 poles, plug strain relief maxon motor control 4-24 Document ID: rel5190 EPOS2 Positioning Controller Edition: October 2014 EPOS2 24/5 Hardware Reference © 2014 maxon motor. Subject to change without prior notice.

  • Page 25: Signal Connector (J5)

    Molex Micro-Fit 3.0 female crimp terminals (43030-xxxx) Suitable hand crimper Molex hand crimper (63819-0000) maxon motor control 4-25 EPOS2 Positioning Controller Document ID: rel5190 EPOS2 24/5 Hardware Reference Edition: October 2014 © 2014 maxon motor. Subject to change without prior notice.

  • Page 26: Digital Inputs 1, 2 And 3

    <2 µs @ 5 VDC Figure 4-16 DigIN1 Circuit (analogously valid also for DigIN2/3) maxon motor control 4-26 Document ID: rel5190 EPOS2 Positioning Controller Edition: October 2014 EPOS2 24/5 Hardware Reference © 2014 maxon motor. Subject to change without prior notice.

  • Page 27: Digital Inputs 4, 5 And 6

    Figure 4-17 DigIN4 Circuit (analogously valid also for DigIN5/6) For wiring examples page 4-28. maxon motor control 4-27 EPOS2 Positioning Controller Document ID: rel5190 EPOS2 24/5 Hardware Reference Edition: October 2014 © 2014 maxon motor. Subject to change without prior notice.
  • Page 28 Figure 4-19 DigIN4 – Type NPN Proximity Switch (analogously valid also for DigIN5/6) maxon motor control 4-28 Document ID: rel5190 EPOS2 Positioning Controller Edition: October 2014 EPOS2 24/5 Hardware Reference © 2014 maxon motor. Subject to change without prior notice.

  • Page 29: Analog Inputs 1 And 2

    Figure 4-20 AnIN1 Circuit (analogously valid also for AnIN2) 4.5.4 Auxiliary Supply Voltage Output Can be used as supply voltage for external loads connected to EPOS2 24/5’s digital outputs. Connector [J5] Pin [9] Connector [J5] Pins [1]; [2] D_Gnd Output voltage +11…24 VDC...

  • Page 30: Digital Outputs 1, 2 And 3

    Max. load current load Figure 4-24 DigOUT1 “Source” Circuit (analogously valid also for DigOUT2/3) maxon motor control 4-30 Document ID: rel5190 EPOS2 Positioning Controller Edition: October 2014 EPOS2 24/5 Hardware Reference © 2014 maxon motor. Subject to change without prior notice.

  • Page 31: Digital Output 4

    Output voltage load ≤2 mA Max. load current load Figure 4-27 DigOUT4 “Source” Circuit maxon motor control 4-31 EPOS2 Positioning Controller Document ID: rel5190 EPOS2 24/5 Hardware Reference Edition: October 2014 © 2014 maxon motor. Subject to change without prior notice.

  • Page 32: Rs232 Connector (J6)

    Molex Micro-Fit 3.0 female crimp terminals (43030-xxxx) Suitable hand crimper Molex hand crimper (63819-0000) maxon motor control 4-32 Document ID: rel5190 EPOS2 Positioning Controller Edition: October 2014 EPOS2 24/5 Hardware Reference © 2014 maxon motor. Subject to change without prior notice.

  • Page 33: Can Connector (J7, J8)

    Molex Micro-Fit 3.0 female crimp terminals (43030-xxxx) Suitable hand crimper Molex hand crimper (63819-0000) maxon motor control 4-33 EPOS2 Positioning Controller Document ID: rel5190 EPOS2 24/5 Hardware Reference Edition: October 2014 © 2014 maxon motor. Subject to change without prior notice.

  • Page 34: Can Configuration (Jp1)

    16 + 32 + 64 Table 4-16 CAN ID – DIP Switch Settings (Example) maxon motor control 4-34 Document ID: rel5190 EPOS2 Positioning Controller Edition: October 2014 EPOS2 24/5 Hardware Reference © 2014 maxon motor. Subject to change without prior notice.

  • Page 35: Can Bus Termination

    YSTEM WITH BOTH NDS OF OPEN Figure 4-33 EPOS2 24/5 with CAN Bus Termination maxon motor control 4-35 EPOS2 Positioning Controller Document ID: rel5190 EPOS2 24/5 Hardware Reference Edition: October 2014 © 2014 maxon motor. Subject to change without prior notice.

  • Page 36: Usb Connector (J9)

    Notes Suitable connector Standard USB cable with type mini B plug (5 poles) maxon motor control 4-36 Document ID: rel5190 EPOS2 Positioning Controller Edition: October 2014 EPOS2 24/5 Hardware Reference © 2014 maxon motor. Subject to change without prior notice.

  • Page 37: Status Leds

    4.10 Status LEDs The LEDs display the current status of the EPOS2 24/5 as well as possible errors: • Green LED shows the operating status • Red LED indicates errors  For detailed information separate document «EPOS2 Firmware Specification». Status / Error Green Power stage is disabled.
  • Page 38 • • 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 4-38 Document ID: rel5190 EPOS2 Positioning Controller Edition: October 2014 EPOS2 24/5 Hardware Reference © 2014 maxon motor. Subject to change without prior notice.
  • Page 39 Figure 4-32 EPOS2 24/5 without CAN Bus Termination ....... . .35 Figure 4-33 EPOS2 24/5 with CAN Bus Termination.
  • Page 40 LEDs – Interpretation of Condition ........37 maxon motor control Z-40 Document ID: rel5190 EPOS2 Positioning Controller Edition: October 2014 EPOS2 24/5 Hardware Reference © 2014 maxon motor. Subject to change without prior notice.
  • Page 41 JP1 34 JP1, bus termination 35 JP1, numbering scheme 34 operating status, display 37 maxon motor control Z-41 EPOS2 Positioning Controller Document ID: rel5190 EPOS2 24/5 Hardware Reference Edition: October 2014 © 2014 maxon motor. Subject to change without prior notice.
  • Page 42 LEDs 37 supply voltage, required 18 symbols used 5 technical data 11 interface 36 maxon motor control Z-42 Document ID: rel5190 EPOS2 Positioning Controller Edition: October 2014 EPOS2 24/5 Hardware Reference © 2014 maxon motor. Subject to change without prior notice.
  • Page 43 • • 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-43 EPOS2 Positioning Controller Document ID: rel5190 EPOS2 24/5 Hardware Reference Edition: October 2014 © 2014 maxon motor. Subject to change without prior notice.
  • Page 44 The present document – including all parts thereof – is protected by copyright. Any use (including reproduction, translation, microfilming and other means of electronic data processing) beyond the narrow restrictions of the copyright law without the prior approval of maxon motor ag, is not permitted and subject to persecution under the applicable law. maxon motor ag Brünigstrasse 220...

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