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Maxon EPOS4 Disk 60/12 Hardware Reference Manual

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Hardware Reference
EPOS4 Disk 60/12 Positioning Controller | P/Ns 688775 / 709859 / 688777 / 709862
Hardware Reference
CCMC | Edition 2022-06 | DocID rel10685

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Summary of Contents for Maxon EPOS4 Disk 60/12

  • Page 1 Hardware Reference EPOS4 Disk 60/12 Positioning Controller | P/Ns 688775 / 709859 / 688777 / 709862 Hardware Reference CCMC | Edition 2022-06 | DocID rel10685...

  • Page 2: Table Of Contents

    • you must follow the instructions given therein. The EPOS4 Disk 60/12 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 Excerpts............69 LIST OF FIGURES LIST OF TABLES INDEX EPOS4 Disk 60/12 Hardware Reference CCMC | 2022-06 | rel10685...
  • Page 4 Table of Contents EPOS4 Disk 60/12 Hardware Reference CCMC | 2022-06 | rel10685...

  • Page 5: About

    1.1.1 Intended Purpose docu- The purpose of the present document is to familiarize you with the EPOS4 Disk 60/12 positioning controller. ment to… It will highlight the tasks for safe and adequate installation and/or commissioning. Follow the described –stay safe, instructions …...
  • Page 6 Indicates an advice or recommendation on the easiest Information Best practice and best way to further proceed. Material Indicates information particular to possible damage of Damage the equipment. Table 1-2 Symbols and signs EPOS4 Disk 60/12 Hardware Reference CCMC | 2022-06 | rel10685...
  • Page 7 © 2022 maxon. All rights reserved. Subject to change without prior notice. CCMC | EPOS4 Disk 60/12 Hardware Reference | Edition 2022-06 | DocID rel10685 maxon motor ag Brünigstrasse 220...

  • Page 8: About The Device

    About the Device About the Device maxon’s EPOS4 Disk 60/12 is a round-sized, full digital, smart positioning control unit with a center hole for Capabilities of the cable feed-trough. Its high power density allows flexible use for brushed DC and brushless EC (BLDC)

  • 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. Electrostatic sensitive device (ESD) •...
  • Page 10 About the Safety Precautions • • 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 • • EPOS4 Disk 60/12 Hardware Reference 1-10...

  • Page 11: Specifications

    Technical Data SPECIFICATIONS Technical Data EPOS4 Disk 60/12 CAN (688775) EPOS4 Disk 60/12 EtherCAT (688777) EPOS4 Disk 60/12 CAN SSC (709859) EPOS4 Disk 60/12 EtherCAT SSC (709862) Nominal power supply voltage +V 12…60 VDC Nominal logic supply voltage +V 12…60 VDC...
  • Page 12 Specifications Technical Data EPOS4 Disk 60/12 CAN (688775) EPOS4 Disk 60/12 EtherCAT (688777) EPOS4 Disk 60/12 CAN SSC (709859) EPOS4 Disk 60/12 EtherCAT SSC (709862) Sensor signals (choice between multiple Inputs functions) & • SSI absolute encoder signals EIA RS422, 0.4…2 MHz, configurable Outputs •...

  • Page 13: Thermal Data

    Operation within the stated derating specifications is mandatory. Exceeding ambient temperatures beyond the specified limits can lead to thermal overload even at low output currents. Disk CAN Disk EtherCAT Figure 2-2 Derating of output current EPOS4 Disk 60/12 Hardware Reference 2-13 CCMC | 2022-06 | rel10685...

  • Page 14: Limitations

    Protection functionality Switch-off threshold Recovery threshold Undervoltage 8.0 V 8.5 V Overvoltage 64 V 63 V Overcurrent ±58 A — Thermal overload 105 °C 90 °C Table 2-7 Limitations EPOS4 Disk 60/12 Hardware Reference 2-14 CCMC | 2022-06 | rel10685...

  • Page 15: Dimensional Drawings

    Dimensional Drawings Dimensional Drawings Disk CAN Figure 2-4 EPOS4 Disk 60/12 CAN (688775) – Dimensional drawing [mm] Figure 2-5 EPOS4 Disk 60/12 CAN SSC (709859) – Dimensional drawing [mm] EPOS4 Disk 60/12 Hardware Reference 2-15 CCMC | 2022-06 | rel10685...
  • Page 16 Specifications Dimensional Drawings Disk EtherCAT Figure 2-6 EPOS4 Disk 60/12 EtherCAT (688777) – Dimensional drawing [mm] Figure 2-7 EPOS4 Disk 60/12 EtherCAT SSC (709862) – Dimensional drawing [mm] EPOS4 Disk 60/12 Hardware Reference 2-16 CCMC | 2022-06 | rel10685...

  • Page 17: Standards

    The device described was successfully tested in the following setup for compliance with the standards listed below: EPOS4 Disk 60/12 EtherCAT (688777) integrated in maxon's Robot Joint 90. The described device has been successfully tested for compliance with the below listed standards. In prac- tical terms, only the complete system (the fully operational equipment comprising all individual components, such as motor, servo controller, power supply unit, EMC filter, cabling etc.) can undergo an EMC test to...
  • Page 18 Standards • • 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 • • EPOS4 Disk 60/12 Hardware Reference 2-18 CCMC | 2022-06 | rel10685...

  • Page 19: Setup

    SETUP IMPORTANT NOTICE: PREREQUISITES FOR PERMISSION TO COMMENCE INSTALLATION The EPOS4 Disk 60/12 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 20: Cabling

    Cabling PLUG&PLAY Take advantage of maxon’s prefab cable assemblies. They come as ready-to-use parts and will help to reduce commissioning time to a minimum. a) Check the following table and find the part number of the cable assembly that matches the setup you will be using.
  • Page 21 Cabling MAKE&BAKE YOUR OWN If you decide not to employ maxon’s prefab cable assemblies, you might wish to use the prepackaged kit. It contains the connectors required to make up your own cabling (connectors for CAN/EtherCAT communi- cation not included, for details see Table 3-51 and Table 3-54).

  • Page 22: Connections

    X14 CAN IN page 3-45 X5/X6 Encoder/Sensor page 3-32 X15 CAN OUT page 3-45 X5 Encoder page 3-34 X16 Brake page 3-48 Figure 3-8 EPOS4 Disk 60/12 CAN (688775) – Connectors EPOS4 Disk 60/12 Hardware Reference 3-22 CCMC | 2022-05 | rel10685...
  • Page 23 X14a CAN IN page 3-45 X5/X6 Encoder/Sensor page 3-32 X15a CAN OUT page 3-45 X5 Encoder page 3-34 X16 Brake page 3-48 Figure 3-9 EPOS4 Disk 60/12 CAN SSC (709859) – Connectors EPOS4 Disk 60/12 Hardware Reference 3-23 CCMC | 2022-05 | rel10685...
  • Page 24 X14 EtherCAT IN page 3-47 X5/X6 Encoder/Sensor page 3-32 X15 EtherCAT OUT page 3-47 X5 Encoder page 3-34 X16 Brake page 3-48 Figure 3-10 EPOS4 Disk 60/12 EtherCAT (688777) – Connectors EPOS4 Disk 60/12 Hardware Reference 3-24 CCMC | 2022-05 | rel10685...
  • Page 25 X14a EtherCAT IN page 3-47 X5/X6 Encoder/Sensor page 3-32 X15a EtherCAT OUT page 3-47 X5 Encoder page 3-34 X16 Brake page 3-48 Figure 3-11 EPOS4 Disk 60/12 EtherCAT SSC (709862) – Connectors EPOS4 Disk 60/12 Hardware Reference 3-25 CCMC | 2022-05 | rel10685...

  • Page 26: Power Supply (X1; X1A)

    Molex Mini-Fit Plus (0039012025) Housing Molex Mini-Fit Jr. (0039012020) Suitable plug Contact Molex Mini-Fit Plus (45750311x) Table 3-14 Power supply connector X1 or X1a – Specifications Continued on next page. EPOS4 Disk 60/12 Hardware Reference 3-26 CCMC | 2022-05 | rel10685...
  • Page 27 SOUGHT VALUE: • Supply voltage +V [Volt] SOLUTION: n   ------ - -------- - M ------ - 1 V         M EPOS4 Disk 60/12 Hardware Reference 3-27 CCMC | 2022-05 | rel10685...

  • Page 28: Logic Supply (X2; X2A)

    Logic supply connector X2 or X2a – Specifications Logic supply requirements (optional) 12…60 VDC Output voltage Absolute output voltage min. 10 VDC; max. 61 VDC min. 3.5 W Min output power Table 3-18 Logic supply requirements EPOS4 Disk 60/12 Hardware Reference 3-28 CCMC | 2022-05 | rel10685...

  • Page 29: Motor (X3)

    Setup Connections 3.3.3 Motor (X3) The controller is set to drive either a maxon DC motor (brushed DC motor) or maxon EC motor (BLDC, brushless DC motor). Figure 3-14 Motor connector X3 Signal Description Motor (+M) DC motor: Motor + Motor (−M)

  • Page 30: Hall Sensor (X4; X4A)

    Hall sensor 3 Hall sensor 3 input Ground Sensor supply voltage (+5 VDC; I 100 mA) Sensor Table 3-24 Hall sensor connector X4a – Pin assignment Continued on next page. EPOS4 Disk 60/12 Hardware Reference 3-30 CCMC | 2022-05 | rel10685...
  • Page 31 2.7 k(referenced to +5.45 V - 0.6 V) Table 3-26 Hall sensor specification Figure 3-17 Hall sensor 1 input circuit (analogously valid for Hall sensors 2 & 3 and X4a) EPOS4 Disk 60/12 Hardware Reference 3-31 CCMC | 2022-05 | rel10685...

  • Page 32: Encoder/Sensor (X5/X6)

    Variant B: the solder pads JP701 and JP702 are shorted, thus providing connectivity for a 3 three- channel encoder (A, B, I) X5/X6 Figure 3-18 Encoder/Sensor combo connector X5/X6 Figure 3-19 Solder pads JP701, JP702 – Location Continued on next page. EPOS4 Disk 60/12 Hardware Reference 3-32 CCMC | 2022-05 | rel10685...
  • Page 33 Suitable plug Contact Molex CLIK-Mate crimp terminals (502579) Table 3-29 Encoder/Sensor combo connector X5/X6 – Specifications For circuitry see respective diagrams Figure 3-21, Figure 3-22, Figure 3-24, and Figure 3-25. EPOS4 Disk 60/12 Hardware Reference 3-33 CCMC | 2022-05 | rel10685...

  • Page 34: Encoder (X5)

    Suitable cable Encoder Cable on page 3-51 Housing Molex Micro-Lock (05054320801) Suitable plug Contact Molex Micro-Lock (05054311000) AWG26…30 Table 3-31 Encoder connector X5 – Specifications Continued on next page. EPOS4 Disk 60/12 Hardware Reference 3-34 CCMC | 2022-05 | rel10685...
  • Page 35 Max. input frequency 6.25 MHz Table 3-32 Differential encoder specification Figure 3-21 Encoder input circuit Ch A “differential” (analogously valid for Ch B, Ch I, and X5/X6) Continued on next page. EPOS4 Disk 60/12 Hardware Reference 3-35 CCMC | 2022-05 | rel10685...
  • Page 36 Open collector 150 kHz (additional external 3k3 pull-up) Table 3-33 Single-ended encoder specification Figure 3-22 Encoder input circuit Ch A “single-ended” (analogously valid for Ch B, Ch I, and X5/X6) EPOS4 Disk 60/12 Hardware Reference 3-36 CCMC | 2022-05 | rel10685...

  • Page 37: Ssi (X6)

    Suitable cable Sensor Cable 3x2core on page 3-51 Housing Molex Micro-Lock (05055650601) Suitable plug Contact Molex Micro-Lock (05054311000) AWG26…30 Table 3-35 Sensor connector X6 – Specifications Continued on next page. EPOS4 Disk 60/12 Hardware Reference 3-37 CCMC | 2022-05 | rel10685...
  • Page 38 SSI absolute encoder specification Figure 3-24 SSI absolute encoder data input (analogously valid for HsDigIn4 and X5/X6) Figure 3-25 SSI absolute encoder clock output (analogously valid for HsDigOut1 and X5/X6) EPOS4 Disk 60/12 Hardware Reference 3-38 CCMC | 2022-05 | rel10685...

  • Page 39: Digital I/O (X7; X7A)

    Signal Cable 8core on page 3-52 Housing Molex Micro-Lock (05055650801) Suitable plug Contact Molex Micro-Lock (05054311000) AWG26…30 Table 3-38 Digital I/O connector X7 or X7a – Specifications Continued on next page. EPOS4 Disk 60/12 Hardware Reference 3-39 CCMC | 2022-05 | rel10685...
  • Page 40 Open drain (internal pull-up resistor 2k2 and diode Circuit to +5.45 VDC Table 3-40 Digital output specification Figure 3-28 DigOUT1 circuit (analogously valid for DigOUT2 and X7a) Continued on next page. EPOS4 Disk 60/12 Hardware Reference 3-40 CCMC | 2022-05 | rel10685...
  • Page 41 2200 ) Load Max. load current 2 mA Load Table 3-42 Digital output 1 & 2 specification – Source Figure 3-30 DigOUT1 “source” (analogously valid for DigOUT2 and X7a) EPOS4 Disk 60/12 Hardware Reference 3-41 CCMC | 2022-05 | rel10685...

  • Page 42: Analog I/O (X8; X8A)

    Signal Cable 7core on page 3-52 Housing Molex Micro-Lock (05055650701) Suitable plug Contact Molex Micro-Lock (05054311000) AWG26…30 Table 3-44 Analog I/O connector X8 or X8a – Specifications Continued on next page. EPOS4 Disk 60/12 Hardware Reference 3-42 CCMC | 2022-05 | rel10685...
  • Page 43 Note: The increase rate is limited in proportion to the capacitive load (e.g. 5 V/ms @ 300 nF) Max. output current limit 1 mA Table 3-46 Analog output specification Figure 3-33 AnOUT1 circuit (analogously valid for X8a) EPOS4 Disk 60/12 Hardware Reference 3-43 CCMC | 2022-05 | rel10685...

  • Page 44: Usb (X13; X13A)

    USB connector X13 or X13a – Specifications USB Standard USB 2.0 / USB 3.0 (full speed) Max. bus supply voltage +5.25 VDC Max. DC data input voltage −0.5…+3.8 VDC Table 3-49 USB interface specification EPOS4 Disk 60/12 Hardware Reference 3-44 CCMC | 2022-05 | rel10685...

  • Page 45: Can In (X14; X14A) & Can Out (X15; X15A)

    HARTING (09 45 181 9002 XL) or Hirose (IX31G-B-10S-CV(7.0)) Table 3-51 CAN 1 connector X14 or X14a / CAN 2 connector X15 or X15a – Specifications Continued on next page. EPOS4 Disk 60/12 Hardware Reference 3-45 CCMC | 2022-05 | rel10685...
  • Page 46 • The standard bit rate setting (factory setting) is 1 Mbit/s, automatic bit rate detection is set. • Use 120  termination resistor at both ends of the CAN bus. • For detailed CAN information see separate document  «EPOS4 Communication Guide». EPOS4 Disk 60/12 Hardware Reference 3-46 CCMC | 2022-05 | rel10685...

  • Page 47: Ethercat In (X14; X14A) & Ethercat Out (X15; X15A)

    Suitable plug HARTING (09 45 181 2562 XL) or Hirose (IX31G-A-10S-CV(7.0)) Table 3-54 EtherCAT IN connector X14 or X14a / EtherCAT OUT connector X15 or X15a – Specifica- tions EPOS4 Disk 60/12 Hardware Reference 3-47 CCMC | 2022-05 | rel10685...

  • Page 48: Brake (X16)

    Brake current 700 mA Brake Max. voltage drop (Brake− to GND) 0.15 V @ 700 mA Table 3-57 Brake output specification Figure 3-38 HsDigOut 2 (Holding Brake only) circuit EPOS4 Disk 60/12 Hardware Reference 3-48 CCMC | 2022-05 | rel10685...

  • Page 49: Prefab Cable Assemblies

    Characters “+” ¦¦ “−” Plug Molex Mini-Fit Jr., 2 poles (39-01-2020) Head A Contacts Molex Mini-Fit Jr. female crimp terminals (45750) Head B Wire end sleeves 0.75 mm Table 3-59 Power Cable EPOS4 Disk 60/12 Hardware Reference 3-49 CCMC | 2022-05 | rel10685...
  • Page 50 Colors white ¦¦ brown ¦¦ green ¦¦ yellow ¦¦ grey Plug Molex Micro-Lock (05055650501) Head A Contacts Molex Micro-Lock (05054311000) Head B Wire end sleeves 0.14 mm Table 3-62 Hall Sensor Cable EPOS4 Disk 60/12 Hardware Reference 3-50 CCMC | 2022-05 | rel10685...
  • Page 51 Colors white ¦¦ brown ¦¦ green ¦¦ yellow ¦¦ grey ¦¦ pink Plug Molex Micro-Lock (05055650601) Head A Contacts Molex Micro-Lock (05054311000) Head B Wire end sleeves 0.14 mm Table 3-65 Sensor Cable 3x2core EPOS4 Disk 60/12 Hardware Reference 3-51 CCMC | 2022-05 | rel10685...
  • Page 52 USB 2.0 / USB3.0 (full speed), black / 1.5 m Wire identifier — Plug Molex Micro-Lock (05055650401) Head A Contacts Molex Micro-Lock (05054311000) Head B Plug Male USB A, straight Table 3-68 USB Type A-Micro-Lock Cable EPOS4 Disk 60/12 Hardware Reference 3-52 CCMC | 2022-05 | rel10685...
  • Page 53 Colors white ¦¦ brown ¦¦ green ¦¦ yellow ¦¦ grey ¦¦ pink ¦¦ blue ¦¦ red ¦¦ black ¦¦ violet Head A HARTING ix Industrial, Type B (09 45 181 9002 XL) Head B D-SUB socket 9, female Table 3-70 CAN-COM Cable EPOS4 Disk 60/12 Hardware Reference 3-53 CCMC | 2022-05 | rel10685...
  • Page 54 HARTING ix Industrial, Type A (09 45 181 2562 XL) Head B RJ45 [f] Alternative lengths are available from HARTING: 0.5 m (33 48 06 5383 0005); 1 m (33 48 06 5383 0010) Table 3-72 EtherCAT-COM Cable EPOS4 Disk 60/12 Hardware Reference 3-54 CCMC | 2022-05 | rel10685...
  • Page 55 , shielded, grey / 3 m Wire identifier Numbers 1 ¦¦ 2 Plug Molex Micro-Fit (0436450200) Head A Contacts Molex Micro-Fit (0430300001) (0430300007) Head B Wire end sleeves 0.5 mm Table 3-73 Brake Cable EPOS4 Disk 60/12 Hardware Reference 3-55 CCMC | 2022-05 | rel10685...

  • Page 56: Dip Switch Configuration (Sw1)

    JP301 closed JP302 closed * the default setting for the solder pads JP301, JP302 is “open” Table 3-74 DIP switch SW1 – Binary code values Continued on next page. EPOS4 Disk 60/12 Hardware Reference 3-56 CCMC | 2022-05 | rel10685...
  • Page 57 JP301 JP302 closed JP301 JP302 closed 0 = Switch “OFF” / solder pad “open” 1 = Switch “ON” / solder pad “shorted” Table 3-75 DIP switch SW1 – Examples EPOS4 Disk 60/12 Hardware Reference 3-57 CCMC | 2022-05 | rel10685...

  • Page 58: Can Automatic Bit Rate Detection

    DIP switch SW1 – CAN automatic bit rate detection 3.5.3 CAN Bus Termination Switch Without bus termination Bus termination with 120 Ω (factory setting) Table 3-77 DIP switch SW1 – CAN bus termination EPOS4 Disk 60/12 Hardware Reference 3-58 CCMC | 2022-05 | rel10685...

  • Page 59: Status Indicators

    Device Status; the LEDs display the device’s operation status and error conditions NET Port; the LED displays the NET link activity For detailed information see separate document «EPOS4 Firmware Specification». Figure 3-40 LEDs – Location EPOS4 Disk 60/12 Hardware Reference 3-59 CCMC | 2022-05 | rel10685...
  • Page 60 • “Fault Reaction Active” Flash No valid firmware or firmware download in progress Flash = flashing (0.9 s OFF/0.1 s ON) Slow = slow blinking (1 Hz) Table 3-79 Device Status LEDs EPOS4 Disk 60/12 Hardware Reference 3-60 CCMC | 2022-05 | rel10685...
  • Page 61 Port is closed Flicker Port is open / activity is present Port is open — Data rate is 100 Mbit/s Flicker = continuous flickering (10 Hz) Table 3-80 NET Port LED EPOS4 Disk 60/12 Hardware Reference 3-61 CCMC | 2022-05 | rel10685...
  • Page 62 Status Indicators • • 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 • • EPOS4 Disk 60/12 Hardware Reference 3-62 CCMC | 2022-05 | rel10685...
  • Page 63 Or you may wish to use the connection overviews for either DC motor or EC (BLDC) motor that will assist you in determining the wiring for your particular motor type and the appropriate feedback signals. Figure 4-41 Interfaces – Designations and locations on Disk CAN EPOS4 Disk 60/12 Hardware Reference 4-63 CCMC | 2022-06 | rel10685...
  • Page 64 Wiring Figure 4-42 Interfaces – Designations and locations on Disk EtherCAT EPOS4 Disk 60/12 Hardware Reference 4-64 CCMC | 2022-06 | rel10685...

  • Page 65: Possible Combinations To Connect A Motor

    X5 or X5/X6 X6 or X5/X6 4-46 4-46  4-49 4-46  4-50 4-46   4-49 / 4-50 Table 4-81 Possible combinations of feedback signals for DC motor EPOS4 Disk 60/12 Hardware Reference 4-65 CCMC | 2022-06 | rel10685...
  • Page 66 4-48 / 4-50 (or 4-52) 4-47    4-48 / 4-49 / 4-50 (or 4-52) 4-47  4-50 (or 4-52) Table 4-82 Possible combinations of feedback signals for EC (BLDC) motor EPOS4 Disk 60/12 Hardware Reference 4-66 CCMC | 2022-06 | rel10685...

  • Page 67: Main Wiring Diagrams

    Wiring Main Wiring Diagrams Main Wiring Diagrams EPOS4 Disk 60/12 CAN Figure 4-43 EPOS4 Disk 60/12 CAN – Main wiring diagram EPOS4 Disk 60/12 Hardware Reference 4-67 CCMC | 2022-06 | rel10685...
  • Page 68 Wiring Main Wiring Diagrams EPOS4 Disk 60/12 EtherCAT Figure 4-44 EPOS4 Disk 60/12 EtherCAT – Main wiring diagram EPOS4 Disk 60/12 Hardware Reference 4-68 CCMC | 2022-06 | rel10685...

  • Page 69: Excerpts

    Excerpts Excerpts 4.3.1 Power & Logic Supply Figure 4-45 Power & logic supply 4.3.2 DC Motor Figure 4-46 DC motor 4.3.3 EC (BLDC) Motor Figure 4-47 EC (BLDC) motor EPOS4 Disk 60/12 Hardware Reference 4-69 CCMC | 2022-06 | rel10685...
  • Page 70 Digital Incremental Encoder (Sensor 1) on X5 Figure 4-49 Digital incremental encoder (Sensor 1) on X5 4.3.6 SSI Encoder (Sensor 2) on X6 Figure 4-50 SSI encoder (Sensor 2) on X6 EPOS4 Disk 60/12 Hardware Reference 4-70 CCMC | 2022-06 | rel10685...
  • Page 71 3-32). For this setup, leave open both solder pads JP701 and JP702 (default factory setting). Figure 4-52 Digital incremental encoder (Sensor 1) and SSI encoder (Sensor 2) on X5/X6 EPOS4 Disk 60/12 Hardware Reference 4-71 CCMC | 2022-06 | rel10685...
  • Page 72 Excerpts • • 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 • • EPOS4 Disk 60/12 Hardware Reference 4-72 CCMC | 2022-06 | rel10685...
  • Page 73 EPOS4 Disk 60/12 EtherCAT (688777) – Dimensional drawing [mm] ......16...
  • Page 74 EPOS4 Disk 60/12 EtherCAT – Main wiring diagram........
  • Page 75 Motor connector X3 – Pin assignment for maxon DC motor .......
  • Page 76 Possible combinations of feedback signals for EC (BLDC) motor ........66 EPOS4 Disk 60/12 Hardware Reference...
  • Page 77 19 outputs analog 43 DEV ID (see “ID”) digital 40, 41 device condition, display of 59 digital outputs 40 DIP switch SW1 56 part numbers 275829 49 EPOS4 Disk 60/12 Hardware Reference Z-77 CCMC | 2022-06 | rel10685...
  • Page 78 LEDs 59 supply voltage, required 27 SW1 56 switch SW1 56 symbols used 6 technical data 11 termination (CAN bus) 46, 58 USB port 44 versions and variants 8 EPOS4 Disk 60/12 Hardware Reference Z-78 CCMC | 2022-06 | rel10685...
  • Page 79 Index EPOS4 Disk 60/12 Hardware Reference Z-79 CCMC | 2022-06 | rel10685...
  • Page 80 The mentioned trademarks belong to their respective owners and are protected under intellectual property rights. © 2022 maxon. All rights reserved. Subject to change without prior notice. CCMC | EPOS4 Disk 60/12 Hardware Reference | Edition 2022-06 | DocID rel10685 maxon motor ag Brünigstrasse 220...

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