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maxon motor EPOS4 Module 24/1.5 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 536630
Positioning Controller
P/N 546714
Hardware Reference
Document ID: rel6627
EPOS4 Positioning Controller
Edition November 2016

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Summary of Contents for maxon motor EPOS4 Module 24/1.5

  • Page 1 Hardware Reference Edition November 2016 Positioning Controller P/N 536630 Positioning Controller P/N 546714 Hardware Reference Document ID: rel6627 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 24/1.5 and EPOS4 Compact 24/1.5 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) ........88 maxon motor control EPOS4 Positioning Controller Document ID: rel6627 EPOS4 Module/Compact 24/1.5 Hardware Reference Edition: November 2016 © 2016 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: rel6627 EPOS4 Positioning Controller Edition: November 2016 EPOS4 Module/Compact 24/1.5 Hardware Reference © 2016 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 24/1.5 and EPOS4 Use the document to… Compact 24/1.5 positioning controllers. It will highlight the tasks for safe and adequate installation and/ or commissioning.

  • Page 6: Table 1-1 Notation Used

    Indicates information particular to possible damage Damage of the equipment. Table 1-2 Symbols and signs maxon motor control Document ID: rel6627 EPOS4 Positioning Controller Edition: November 2016 EPOS4 Module/Compact 24/1.5 Hardware Reference © 2016 maxon motor. Subject to change without prior notice.

  • Page 7: Table 1-3 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 prosecution under the applicable law.

  • Page 8: About The Devices

    Thanks to its smart design, the EPOS4 Module 24/1.5 can either be used in combination with EPOS4 CB 24/1.5 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: 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 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 1-10 Document ID: rel6627 EPOS4 Positioning Controller Edition: November 2016 EPOS4 Module/Compact 24/1.5 Hardware Reference © 2016 maxon motor. Subject to change without prior notice.

  • 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: rel6627 EPOS4 Module/Compact 24/1.5 Hardware Reference Edition: November 2016 © 2016 maxon motor. Subject to change without prior notice.

  • Page 12: Table 2-4 Technical Data

    Operating altitude in meters above Mean Sea Level, MSL. Table 2-4 Technical data maxon motor control 2-12 Document ID: rel6627 EPOS4 Positioning Controller Edition: November 2016 EPOS4 Module/Compact 24/1.5 Hardware Reference © 2016 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: rel6627 EPOS4 Module/Compact 24/1.5 Hardware Reference Edition: November 2016 © 2016 maxon motor. Subject to change without prior notice.

  • Page 14: Limitations

    Limitations Dimensional Drawings Figure 2-5 EPOS4 Module 24/1.5 – Dimensional drawing [mm] maxon motor control 2-14 Document ID: rel6627 EPOS4 Positioning Controller Edition: November 2016 EPOS4 Module/Compact 24/1.5 Hardware Reference © 2016 maxon motor. Subject to change without prior notice.

  • Page 15: Figure 2-6 Epos4 Cb 24/1.5 Can - Dimensional Drawing [Mm]

    EPOS4 CB 24/1.5 CAN – Dimensional drawing [mm] Figure 2-7 EPOS4 Compact 24/1.5 CAN – Dimensional drawing [mm] maxon motor control 2-15 EPOS4 Positioning Controller Document ID: rel6627 EPOS4 Module/Compact 24/1.5 Hardware Reference Edition: November 2016 © 2016 maxon motor. Subject to change without prior notice.

  • Page 16: Standards

    • Module: 611’610 hours • Compact CAN: 326’977 hours Table 2-6 Standards maxon motor control 2-16 Document ID: rel6627 EPOS4 Positioning Controller Edition: November 2016 EPOS4 Module/Compact 24/1.5 Hardware Reference © 2016 maxon motor. Subject to change without prior notice.

  • Page 17: Setup

    ERMISSION TO COMMENCE NSTALLATION EPOS4 Module 24/1.5 and EPOS4 Compact 24/1.5 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 18: Pin Assignment For Module Version

    ** Connect all pins in respect to the individual pin current rating. Table 3-7 Pin assignment A1…A46 (X1…X5) maxon motor control 3-18 Document ID: rel6627 EPOS4 Positioning Controller Edition: November 2016 EPOS4 Module/Compact 24/1.5 Hardware Reference © 2016 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: rel6627 EPOS4 Module/Compact 24/1.5 Hardware Reference Edition: November 2016 © 2016 maxon motor. Subject to change without prior notice.

  • Page 20: Table 3-8 Pin Assignment B1

    Table 3-8 Pin assignment B1…B46 (X6…X12) maxon motor control 3-20 Document ID: rel6627 EPOS4 Positioning Controller Edition: November 2016 EPOS4 Module/Compact 24/1.5 Hardware Reference © 2016 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 3-70 Table 3-9 Prefab maxon cables maxon motor control 3-21 EPOS4 Positioning Controller Document ID: rel6627 EPOS4 Module/Compact 24/1.5 Hardware Reference Edition: November 2016 © 2016 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: rel6627 EPOS4 Module/Compact 24/1.5 Hardware Reference Edition: November 2016 © 2016 maxon motor. Subject to change without prior notice.

  • Page 24: Figure 3-11 Power Supply Connector X1/X2

    Nominal logic supply voltage (+10…+24 VDC) Table 3-12 Power supply connector X1/X2 – Pin assignment maxon motor control 3-24 Document ID: rel6627 EPOS4 Positioning Controller Edition: November 2016 EPOS4 Module/Compact 24/1.5 Hardware Reference © 2016 maxon motor. Subject to change without prior notice.

  • Page 25: Figure 3-12 Motor Connectors X3A/X4A (Left) And X3B/X4B (Right)

    Motor connector X3a/X4a / X3b/X4b – Pin assignment for maxon EC motor maxon motor control 3-25 EPOS4 Positioning Controller Document ID: rel6627 EPOS4 Module/Compact 24/1.5 Hardware Reference Edition: November 2016 © 2016 maxon motor. Subject to change without prior notice.

  • Page 26: Figure 3-13 Motor Connector X3C

    DC motor: Motor − – not connected Table 3-15 Motor connector X3c – Pin assignment maxon motor control 3-26 Document ID: rel6627 EPOS4 Positioning Controller Edition: November 2016 EPOS4 Module/Compact 24/1.5 Hardware Reference © 2016 maxon motor. Subject to change without prior notice.

  • Page 27: Figure 3-14 Encoder Connector X5

    For sockets with strain relief: 2 pieces, 3M (3505-33B) Table 3-17 Encoder connector X5 – Accessories Continued on next page. maxon motor control 3-27 EPOS4 Positioning Controller Document ID: rel6627 EPOS4 Module/Compact 24/1.5 Hardware Reference Edition: November 2016 © 2016 maxon motor. Subject to change without prior notice.

  • Page 28: Table 3-18 Encoder Cable

    DIN 41651 plug, pitch 2.54 mm, 10 poles, with strain relief Table 3-18 Encoder Cable maxon motor control 3-28 Document ID: rel6627 EPOS4 Positioning Controller Edition: November 2016 EPOS4 Module/Compact 24/1.5 Hardware Reference © 2016 maxon motor. Subject to change without prior notice.

  • Page 29: Figure 3-15 Sensor Connector X6

    Table 3-19 Sensor connector X6 – Pin assignment Continued on next page. maxon motor control 3-29 EPOS4 Positioning Controller Document ID: rel6627 EPOS4 Module/Compact 24/1.5 Hardware Reference Edition: November 2016 © 2016 maxon motor. Subject to change without prior notice.

  • Page 30: Table 3-20 Sensor Cable 5X2Core

    Head B Wire end sleeves 0.14 mm Table 3-20 Sensor Cable 5x2core maxon motor control 3-30 Document ID: rel6627 EPOS4 Positioning Controller Edition: November 2016 EPOS4 Module/Compact 24/1.5 Hardware Reference © 2016 maxon motor. Subject to change without prior notice.

  • Page 31: Figure 3-16 Digital I/O Connector X7

    Head B Wire end sleeves 0.14 mm Table 3-22 Signal Cable 8core maxon motor control 3-31 EPOS4 Positioning Controller Document ID: rel6627 EPOS4 Module/Compact 24/1.5 Hardware Reference Edition: November 2016 © 2016 maxon motor. Subject to change without prior notice.

  • Page 32: Figure 3-17 Analog I/O Connector X8

    Head B Wire end sleeves 0.14 mm Table 3-24 Signal Cable 7core maxon motor control 3-32 Document ID: rel6627 EPOS4 Positioning Controller Edition: November 2016 EPOS4 Module/Compact 24/1.5 Hardware Reference © 2016 maxon motor. Subject to change without prior notice.

  • Page 33: Figure 3-18 Sto Connector X9

    Molex CLIK-Mate, single row, 8 poles (502578-0800) with cable bridges Table 3-26 STO Idle Connector maxon motor control 3-33 EPOS4 Positioning Controller Document ID: rel6627 EPOS4 Module/Compact 24/1.5 Hardware Reference Edition: November 2016 © 2016 maxon motor. Subject to change without prior notice.

  • Page 34: Figure 3-19 Rs232 Connector X10

    Female D-Sub connector DIN 41652, 9 poles, with mounting screws Table 3-28 RS232-COM Cable maxon motor control 3-34 Document ID: rel6627 EPOS4 Positioning Controller Edition: November 2016 EPOS4 Module/Compact 24/1.5 Hardware Reference © 2016 maxon motor. Subject to change without prior notice.

  • Page 35: Figure 3-20 Can 1 Connector X11 And Can 2 Connector X12

    Head B Contacts Molex CLIK-Mate crimp terminals (502579) Table 3-31 CAN-CAN Cable maxon motor control 3-35 EPOS4 Positioning Controller Document ID: rel6627 EPOS4 Module/Compact 24/1.5 Hardware Reference Edition: November 2016 © 2016 maxon motor. Subject to change without prior notice.

  • Page 36: Dip Switch Configuration (Sw1)

    Table 3-32 DIP switch SW1 – Binary code values Continued on next page. maxon motor control 3-36 Document ID: rel6627 EPOS4 Positioning Controller Edition: November 2016 EPOS4 Module/Compact 24/1.5 Hardware Reference © 2016 maxon motor. Subject to change without prior notice.

  • Page 37: Table 3-33 Dip Switch Sw1 - Examples

    (factory setting) Table 3-34 DIP switch SW1 – CAN automatic bit rate detection maxon motor control 3-37 EPOS4 Positioning Controller Document ID: rel6627 EPOS4 Module/Compact 24/1.5 Hardware Reference Edition: November 2016 © 2016 maxon motor. Subject to change without prior notice.

  • Page 38: Table 3-35 Dip Switch Sw1 - Can Bus Termination

    PLC level (factory setting) Table 3-36 DIP switch SW1 – Digital input level maxon motor control 3-38 Document ID: rel6627 EPOS4 Positioning Controller Edition: November 2016 EPOS4 Module/Compact 24/1.5 Hardware Reference © 2016 maxon motor. Subject to change without prior notice.

  • Page 39: Jumper Configuration (Jp1)

    Description number 520860 STO Idle Connector X9 Table 3-38 Spare parts list maxon motor control 3-39 EPOS4 Positioning Controller Document ID: rel6627 EPOS4 Module/Compact 24/1.5 Hardware Reference Edition: November 2016 © 2016 maxon motor. Subject to change without prior notice.

  • Page 40: Connection Specifications

    Continued on next page. maxon motor control 3-40 Document ID: rel6627 EPOS4 Positioning Controller Edition: November 2016 EPOS4 Module/Compact 24/1.5 Hardware Reference © 2016 maxon motor. Subject to change without prior notice.

  • Page 41: Logic Supply

    8 VDC; max. 28 VDC min. 3.5 W Min. output power maxon motor control 3-41 EPOS4 Positioning Controller Document ID: rel6627 EPOS4 Module/Compact 24/1.5 Hardware Reference Edition: November 2016 © 2016 maxon motor. Subject to change without prior notice.

  • Page 42: Motor

    ** Connect all pins in respect to the individual pin current rating. Table 3-42 EC motor – Pin assignment maxon motor control 3-42 Document ID: rel6627 EPOS4 Positioning Controller Edition: November 2016 EPOS4 Module/Compact 24/1.5 Hardware Reference © 2016 maxon motor. Subject to change without prior notice.

  • Page 43: Hall Sensor

    Hall sensor 1 input circuit (analogously valid for Hall sensors 2 & 3) maxon motor control 3-43 EPOS4 Positioning Controller Document ID: rel6627 EPOS4 Module/Compact 24/1.5 Hardware Reference Edition: November 2016 © 2016 maxon motor. Subject to change without prior notice.

  • Page 44: Encoder

    EIA RS422 standard Max. input frequency 6.25 MHz Continued on next page. maxon motor control 3-44 Document ID: rel6627 EPOS4 Positioning Controller Edition: November 2016 EPOS4 Module/Compact 24/1.5 Hardware Reference © 2016 maxon motor. Subject to change without prior notice.

  • Page 45: Figure 3-24 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 3-45 EPOS4 Positioning Controller Document ID: rel6627 EPOS4 Module/Compact 24/1.5 Hardware Reference Edition: November 2016 © 2016 maxon motor. Subject to change without prior notice.

  • Page 46: Sensor

    EIA RS422 standard Max. input frequency 6.25 MHz Continued on next page. maxon motor control 3-46 Document ID: rel6627 EPOS4 Positioning Controller Edition: November 2016 EPOS4 Module/Compact 24/1.5 Hardware Reference © 2016 maxon motor. Subject to change without prior notice.

  • Page 47: Figure 3-26 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 3-27 Digital incremental encoder input circuit Ch I maxon motor control 3-47 EPOS4 Positioning Controller Document ID: rel6627 EPOS4 Module/Compact 24/1.5 Hardware Reference Edition: November 2016 © 2016 maxon motor. Subject to change without prior notice.

  • Page 48: Figure 3-28 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 3-48 Document ID: rel6627 EPOS4 Positioning Controller Edition: November 2016 EPOS4 Module/Compact 24/1.5 Hardware Reference © 2016 maxon motor. Subject to change without prior notice.

  • Page 49: Figure 3-29 Digital Incremental Encoder Input Circuit Ch I

    Setup Connection Specifications Figure 3-29 Digital incremental encoder input circuit Ch I maxon motor control 3-49 EPOS4 Positioning Controller Document ID: rel6627 EPOS4 Module/Compact 24/1.5 Hardware Reference Edition: November 2016 © 2016 maxon motor. Subject to change without prior notice.

  • Page 50: Figure 3-30 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 3-50 Document ID: rel6627 EPOS4 Positioning Controller Edition: November 2016 EPOS4 Module/Compact 24/1.5 Hardware Reference © 2016 maxon motor. Subject to change without prior notice.

  • Page 51: Figure 3-31 Analog Incremental Encoder Input Circuit Ch I (Digital Evaluation)

    Connection Specifications Figure 3-31 Analog incremental encoder input circuit Ch I (digital evaluation) maxon motor control 3-51 EPOS4 Positioning Controller Document ID: rel6627 EPOS4 Module/Compact 24/1.5 Hardware Reference Edition: November 2016 © 2016 maxon motor. Subject to change without prior notice.

  • Page 52: Figure 3-32 Ssi Absolute Encoder Data Input

    5 MHz Figure 3-32 SSI absolute encoder data input Continued on next page. maxon motor control 3-52 Document ID: rel6627 EPOS4 Positioning Controller Edition: November 2016 EPOS4 Module/Compact 24/1.5 Hardware Reference © 2016 maxon motor. Subject to change without prior notice.

  • Page 53: Figure 3-33 Ssi Absolute Encoder Clock Output

    Setup Connection Specifications Figure 3-33 SSI absolute encoder clock output maxon motor control 3-53 EPOS4 Positioning Controller Document ID: rel6627 EPOS4 Module/Compact 24/1.5 Hardware Reference Edition: November 2016 © 2016 maxon motor. Subject to change without prior notice.

  • Page 54: Figure 3-34 Hsdigin1 Circuit "Differential" (Analogously Valid For Hsdigin2

    Max. input frequency 6.25 MHz Figure 3-34 HsDigIN1 circuit “differential” (analogously valid for HsDigIN2…4) maxon motor control 3-54 Document ID: rel6627 EPOS4 Positioning Controller Edition: November 2016 EPOS4 Module/Compact 24/1.5 Hardware Reference © 2016 maxon motor. Subject to change without prior notice.

  • Page 55: Figure 3-35 Hsdigin1 Circuit "Single-Ended" (Analogously Valid For Hsdigin2

    Max. input frequency 6.25 MHz Figure 3-35 HsDigIN1 circuit “single-ended” (analogously valid for HsDigIN2…4) maxon motor control 3-55 EPOS4 Positioning Controller Document ID: rel6627 EPOS4 Module/Compact 24/1.5 Hardware Reference Edition: November 2016 © 2016 maxon motor. Subject to change without prior notice.

  • Page 56: Figure 3-36 Hsdigout1 Output Circuit

    EIA RS422 standard Max. output frequency 6.25 MHz Figure 3-36 HsDigOUT1 output circuit maxon motor control 3-56 Document ID: rel6627 EPOS4 Positioning Controller Edition: November 2016 EPOS4 Module/Compact 24/1.5 Hardware Reference © 2016 maxon motor. Subject to change without prior notice.

  • Page 57: Digital I/Os

    Switching delay Figure 3-37 DigIN1 circuit (analogously valid for DigIN2…4) – Module maxon motor control 3-57 EPOS4 Positioning Controller Document ID: rel6627 EPOS4 Module/Compact 24/1.5 Hardware Reference Edition: November 2016 © 2016 maxon motor. Subject to change without prior notice.

  • Page 58: Figure 3-38 Digin1 Circuit (Analogously Valid For Digin2

    DigIN1 circuit (analogously valid for DigIN2…4) – Compact / Logic level setting Continued on next page. maxon motor control 3-58 Document ID: rel6627 EPOS4 Positioning Controller Edition: November 2016 EPOS4 Module/Compact 24/1.5 Hardware Reference © 2016 maxon motor. Subject to change without prior notice.

  • Page 59: Figure 3-39 Digin1 Circuit (Analogously Valid For Digin2

    DigOUT1 circuit (analogously valid for DigOUT2 and Compact) Continued on next page. maxon motor control 3-59 EPOS4 Positioning Controller Document ID: rel6627 EPOS4 Module/Compact 24/1.5 Hardware Reference Edition: November 2016 © 2016 maxon motor. Subject to change without prior notice.

  • Page 60: Figure 3-41 Digout1 "Sinks" (Analogously Valid For Digout2 And Compact)

    Max. load current Load Figure 3-42 DigOUT1 “source” (analogously valid for DigOUT2 and Compact) maxon motor control 3-60 Document ID: rel6627 EPOS4 Positioning Controller Edition: November 2016 EPOS4 Module/Compact 24/1.5 Hardware Reference © 2016 maxon motor. Subject to change without prior notice.

  • Page 61: Safe Torque Off I/Os

    Reaction time <25 ms Figure 3-43 STO-IN1 circuit (analogously valid for STO-IN2) maxon motor control 3-61 EPOS4 Positioning Controller Document ID: rel6627 EPOS4 Module/Compact 24/1.5 Hardware Reference Edition: November 2016 © 2016 maxon motor. Subject to change without prior notice.

  • Page 62: Figure 3-44 Sto-Out Circuit

    Table 3-51 STO logic state maxon motor control 3-62 Document ID: rel6627 EPOS4 Positioning Controller Edition: November 2016 EPOS4 Module/Compact 24/1.5 Hardware Reference © 2016 maxon motor. Subject to change without prior notice.

  • Page 63: Analog I/Os

    5.64 mV Bandwidth 10 kHz Figure 3-45 AnIN1 circuit (analogously valid for AnIN2) maxon motor control 3-63 EPOS4 Positioning Controller Document ID: rel6627 EPOS4 Module/Compact 24/1.5 Hardware Reference Edition: November 2016 © 2016 maxon motor. Subject to change without prior notice.

  • Page 64: Figure 3-46 Anout1 Circuit (Analogously Valid For Anout2)

    Max. output current limit 1 mA Figure 3-46 AnOUT1 circuit (analogously valid for AnOUT2) maxon motor control 3-64 Document ID: rel6627 EPOS4 Positioning Controller Edition: November 2016 EPOS4 Module/Compact 24/1.5 Hardware Reference © 2016 maxon motor. Subject to change without prior notice.

  • Page 65: 3.4.10 Serial Communication Interface (Sci) / Rs232

    Max. bit rate 115’200 bit/s Data format NRZ (non-return-to-zero) Continued on next page. maxon motor control 3-65 EPOS4 Positioning Controller Document ID: rel6627 EPOS4 Module/Compact 24/1.5 Hardware Reference Edition: November 2016 © 2016 maxon motor. Subject to change without prior notice.
  • Page 66 ±9 V @ 3 kΩ to GND Max. bit rate 115’200 bit/s RS232 transceiver EIA RS232 standard maxon motor control 3-66 Document ID: rel6627 EPOS4 Positioning Controller Edition: November 2016 EPOS4 Module/Compact 24/1.5 Hardware Reference © 2016 maxon motor. Subject to change without prior notice.

  • Page 67: Can Interface

    CAN bus. • For detailed CAN information  separate document «EPOS4 Communication Guide». maxon motor control 3-67 EPOS4 Positioning Controller Document ID: rel6627 EPOS4 Module/Compact 24/1.5 Hardware Reference Edition: November 2016 © 2016 maxon motor. Subject to change without prior notice.
  • Page 68 • 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 3-68 Document ID: rel6627 EPOS4 Positioning Controller Edition: November 2016 EPOS4 Module/Compact 24/1.5 Hardware Reference © 2016 maxon motor. Subject to change without prior notice.

  • Page 69: Serial Peripheral Interface (Spi)

    Serial Peripheral Interface chip select 1 Table 3-58 SPI – Pin assignment maxon motor control 3-69 EPOS4 Positioning Controller Document ID: rel6627 EPOS4 Module/Compact 24/1.5 Hardware Reference Edition: November 2016 © 2016 maxon motor. Subject to change without prior notice.

  • Page 70: Usb (X13)

    Max. bus supply voltage +5.25 VDC Max. DC data input voltage −0.5…+3.8 VDC maxon motor control 3-70 Document ID: rel6627 EPOS4 Positioning Controller Edition: November 2016 EPOS4 Module/Compact 24/1.5 Hardware Reference © 2016 maxon motor. Subject to change without prior notice.

  • Page 71: Status Indicators

    Flash = Flashing (≈0.9 s OFF/≈0.1 s ON) Slow = Slow blinking (≈1 Hz) Table 3-61 Status LED maxon motor control 3-71 EPOS4 Positioning Controller Document ID: rel6627 EPOS4 Module/Compact 24/1.5 Hardware Reference Edition: November 2016 © 2016 maxon motor. Subject to change without prior notice.
  • Page 72 • • 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 3-72 Document ID: rel6627 EPOS4 Positioning Controller Edition: November 2016 EPOS4 Module/Compact 24/1.5 Hardware Reference © 2016 maxon motor. Subject to change without prior notice.

  • Page 73: Requirements For Components Of Third-Party Suppliers

    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 74: Supply Voltage

    Module’s built-in capacitors that could lead to a voltage overshoot at power plug-in. maxon motor control 4-74 Document ID: rel6627 EPOS4 Positioning Controller Edition: November 2016 EPOS4 Module/Compact 24/1.5 Hardware Reference © 2016 maxon motor. Subject to change without prior notice.

  • Page 75: Logic Supply Voltage

    Terminal inductance of the motor (line 11 in the maxon catalog) Motor maxon motor control 4-75 EPOS4 Positioning Controller Document ID: rel6627 EPOS4 Module/Compact 24/1.5 Hardware Reference Edition: November 2016 © 2016 maxon motor. Subject to change without prior notice.

  • Page 76: Figure 4-51 Wiring Of Motor Winding 1 (Analogously Valid Also For Motor Windings 2 & 3)

    Wiring of motor winding 1 (analogously valid also for motor windings 2 & 3) maxon motor control 4-76 Document ID: rel6627 EPOS4 Positioning Controller Edition: November 2016 EPOS4 Module/Compact 24/1.5 Hardware Reference © 2016 maxon motor. Subject to change without prior notice.

  • Page 77: Recommended Components And Manufacturers

    220 Ω, 0.25 W Table 4-62 Motherboard Design Guide – Recommended components maxon motor control 4-77 EPOS4 Positioning Controller Document ID: rel6627 EPOS4 Module/Compact 24/1.5 Hardware Reference Edition: November 2016 © 2016 maxon motor. Subject to change without prior notice.

  • Page 78: Design Guidelines

    75 mil and a minimum copper coating thickness of 35 μm are recommended. SMT Footprint Figure 4-52 SMT footprint [mm] – Top View maxon motor control 4-78 Document ID: rel6627 EPOS4 Positioning Controller Edition: November 2016 EPOS4 Module/Compact 24/1.5 Hardware Reference © 2016 maxon motor. Subject to change without prior notice.

  • Page 79: Contents

    EC Motor – Hall Sensors & Analog Incremental Encoder* ....... . . 5-90 Continued on next page. maxon motor control 5-79 EPOS4 Positioning Controller Document ID: rel6627 EPOS4 Module/Compact 24/1.5 Hardware Reference Edition: November 2016 © 2016 maxon motor. Subject to change without prior notice.
  • Page 80 EC Motor – SSI Encoder*............5-100 maxon motor control 5-80 Document ID: rel6627 EPOS4 Positioning Controller Edition: November 2016 EPOS4 Module/Compact 24/1.5 Hardware Reference © 2016 maxon motor. Subject to change without prior notice.

  • Page 81: Dc Motors (Brushed)

    DC Motors (brushed) 5.2.1 DC Motor without Sensor Figure 5-54 DC motor (no sensor) maxon motor control 5-81 EPOS4 Positioning Controller Document ID: rel6627 EPOS4 Module/Compact 24/1.5 Hardware Reference Edition: November 2016 © 2016 maxon motor. Subject to change without prior notice.

  • Page 82: Dc Motor - Digital Incremental Encoder

    DC Motor – Digital Incremental Encoder Figure 5-55 DC motor (digital incremental encoder) maxon motor control 5-82 Document ID: rel6627 EPOS4 Positioning Controller Edition: November 2016 EPOS4 Module/Compact 24/1.5 Hardware Reference © 2016 maxon motor. Subject to change without prior notice.

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

    DC Motor – Digital & Digital Incremental Encoder* Figure 5-56 DC motor (digital & digital incremental encoder) maxon motor control 5-83 EPOS4 Positioning Controller Document ID: rel6627 EPOS4 Module/Compact 24/1.5 Hardware Reference Edition: November 2016 © 2016 maxon motor. Subject to change without prior notice.

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

    DC Motor – Digital & Analog Incremental Encoder* Figure 5-57 DC motor (digital & analog incremental encoder) maxon motor control 5-84 Document ID: rel6627 EPOS4 Positioning Controller Edition: November 2016 EPOS4 Module/Compact 24/1.5 Hardware Reference © 2016 maxon motor. Subject to change without prior notice.

  • Page 85: Dc Motor - Digital Incremental & Ssi Encoder

    DC Motor – Digital Incremental & SSI Encoder Figure 5-58 DC motor (digital incremental & SSI encoder) maxon motor control 5-85 EPOS4 Positioning Controller Document ID: rel6627 EPOS4 Module/Compact 24/1.5 Hardware Reference Edition: November 2016 © 2016 maxon motor. Subject to change without prior notice.

  • Page 86: Dc Motor - Analog Incremental Encoder

    DC Motor – Analog Incremental Encoder* Figure 5-59 DC motor (analog incremental encoder) maxon motor control 5-86 Document ID: rel6627 EPOS4 Positioning Controller Edition: November 2016 EPOS4 Module/Compact 24/1.5 Hardware Reference © 2016 maxon motor. Subject to change without prior notice.

  • Page 87: Dc Motor - Ssi Encoder

    5.2.7 DC Motor – SSI Encoder Figure 5-60 DC motor (SSI encoder) maxon motor control 5-87 EPOS4 Positioning Controller Document ID: rel6627 EPOS4 Module/Compact 24/1.5 Hardware Reference Edition: November 2016 © 2016 maxon motor. Subject to change without prior notice.

  • Page 88: Ec Motors (Bldc, Brushless)

    5.3.1 EC Motor – Hall Sensors Figure 5-61 EC motor (Hall sensors) maxon motor control 5-88 Document ID: rel6627 EPOS4 Positioning Controller Edition: November 2016 EPOS4 Module/Compact 24/1.5 Hardware Reference © 2016 maxon motor. Subject to change without prior notice.

  • Page 89: 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 5-89 EPOS4 Positioning Controller Document ID: rel6627 EPOS4 Module/Compact 24/1.5 Hardware Reference Edition: November 2016 © 2016 maxon motor. Subject to change without prior notice.

  • Page 90: 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 5-90 Document ID: rel6627 EPOS4 Positioning Controller Edition: November 2016 EPOS4 Module/Compact 24/1.5 Hardware Reference © 2016 maxon motor. Subject to change without prior notice.

  • Page 91: Ec Motor - Hall Sensors & Ssi Encoder

    EC Motor – Hall Sensors & SSI Encoder Figure 5-64 EC motor (Hall sensors & SSI encoder) maxon motor control 5-91 EPOS4 Positioning Controller Document ID: rel6627 EPOS4 Module/Compact 24/1.5 Hardware Reference Edition: November 2016 © 2016 maxon motor. Subject to change without prior notice.

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

    Figure 5-65 EC motor (Hall sensors & digital & digital incremental encoder) maxon motor control 5-92 Document ID: rel6627 EPOS4 Positioning Controller Edition: November 2016 EPOS4 Module/Compact 24/1.5 Hardware Reference © 2016 maxon motor. Subject to change without prior notice.

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

    Figure 5-66 EC motor (Hall sensors & digital & analog incremental encoder) maxon motor control 5-93 EPOS4 Positioning Controller Document ID: rel6627 EPOS4 Module/Compact 24/1.5 Hardware Reference Edition: November 2016 © 2016 maxon motor. Subject to change without prior notice.

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

    Figure 5-67 EC motor (Hall sensors & digital incremental & SSI encoder) maxon motor control 5-94 Document ID: rel6627 EPOS4 Positioning Controller Edition: November 2016 EPOS4 Module/Compact 24/1.5 Hardware Reference © 2016 maxon motor. Subject to change without prior notice.

  • Page 95: Ec Motor - Digital Incremental Encoder

    EC Motor – Digital Incremental Encoder* Figure 5-68 EC motor (digital incremental encoder) maxon motor control 5-95 EPOS4 Positioning Controller Document ID: rel6627 EPOS4 Module/Compact 24/1.5 Hardware Reference Edition: November 2016 © 2016 maxon motor. Subject to change without prior notice.

  • Page 96: Ec Motor - Digital & Digital Incremental Encoder

    EC Motor – Digital & Digital Incremental Encoder* Figure 5-69 EC motor (digital & digital incremental encoder) maxon motor control 5-96 Document ID: rel6627 EPOS4 Positioning Controller Edition: November 2016 EPOS4 Module/Compact 24/1.5 Hardware Reference © 2016 maxon motor. Subject to change without prior notice.

  • Page 97: 5.3.10 Ec Motor - Digital & Analog Incremental Encoder

    5.3.10 EC Motor – Digital & Analog Incremental Encoder* Figure 5-70 EC motor (digital & analog incremental encoder) maxon motor control 5-97 EPOS4 Positioning Controller Document ID: rel6627 EPOS4 Module/Compact 24/1.5 Hardware Reference Edition: November 2016 © 2016 maxon motor. Subject to change without prior notice.

  • Page 98: Ec Motor - Digital Incremental & Ssi Encoder

    EC Motor – Digital Incremental & SSI Encoder* Figure 5-71 EC motor (digital & SSI encoder) maxon motor control 5-98 Document ID: rel6627 EPOS4 Positioning Controller Edition: November 2016 EPOS4 Module/Compact 24/1.5 Hardware Reference © 2016 maxon motor. Subject to change without prior notice.

  • Page 99: 5.3.12 Ec Motor - Analog Incremental Encoder

    5.3.12 EC Motor – Analog Incremental Encoder* Figure 5-72 EC motor (analog incremental encoder) maxon motor control 5-99 EPOS4 Positioning Controller Document ID: rel6627 EPOS4 Module/Compact 24/1.5 Hardware Reference Edition: November 2016 © 2016 maxon motor. Subject to change without prior notice.

  • Page 100: 5.3.13 Ec Motor - Ssi Encoder

    5.3.13 EC Motor – SSI Encoder* Figure 5-73 EC motor (SSI encoder) maxon motor control 5-100 Document ID: rel6627 EPOS4 Positioning Controller Edition: November 2016 EPOS4 Module/Compact 24/1.5 Hardware Reference © 2016 maxon motor. Subject to change without prior notice.
  • Page 101 EPOS4 Module 24/1.5 – Dimensional drawing [mm] ........
  • Page 102 EC motor (SSI encoder) ..............100 maxon motor control Z-102 Document ID: rel6627 EPOS4 Positioning Controller Edition: November 2016 EPOS4 Module/Compact 24/1.5 Hardware Reference © 2016 maxon motor. Subject to change without prior notice.
  • Page 103 EC motor – Pin assignment ............. .42 maxon motor control Z-103 EPOS4 Positioning Controller Document ID: rel6627 EPOS4 Module/Compact 24/1.5 Hardware Reference Edition: November 2016 © 2016 maxon motor. Subject to change without prior notice.
  • Page 104 Motherboard Design Guide – Grounding ........... . 78 maxon motor control Z-104 Document ID: rel6627 EPOS4 Positioning Controller Edition: November 2016 EPOS4 Module/Compact 24/1.5 Hardware Reference © 2016 maxon motor. Subject to change without prior notice.
  • Page 105 63 country-specific regulations 9 digital 57 high-speed digital 54 STO 61 maxon motor control Z-105 EPOS4 Positioning Controller Document ID: rel6627 EPOS4 Module/Compact 24/1.5 Hardware Reference Edition: November 2016 © 2016 maxon motor. Subject to change without prior notice.
  • Page 106 520859 22 DigOUT 60 520860 33 536630 11 536997 21 546714 11 maxon motor control Z-106 Document ID: rel6627 EPOS4 Positioning Controller Edition: November 2016 EPOS4 Module/Compact 24/1.5 Hardware Reference © 2016 maxon motor. Subject to change without prior notice.
  • Page 107 • • 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-107 EPOS4 Positioning Controller Document ID: rel6627 EPOS4 Module/Compact 24/1.5 Hardware Reference Edition: November 2016 © 2016 maxon motor. Subject to change without prior notice.
  • Page 108 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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