Maxon EPOS4 Micro 2-Axis Hardware Reference Manual
Programmable motherboard
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Summary of Contents for Maxon EPOS4 Micro 2-Axis
- Page 1 EPOS4 Micro 2-Axis Programmable Motherboard Hardware Reference EPOS4 Micro CAN 2-axis Programmable MB Hardware Reference MMAU | Edition 2024-03...
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Page 2: Table Of Contents
Table of Contents TABLE OF CONTENTS ABOUT About this Document ........ - Page 3 Table of Contents Possible Combinations to connect a Motor ......4.1.1 DC Motor ......... . .
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Page 4: About
About About this Document ABOUT About this Document 1.1.1 Intended Purpose The purpose of the present document is to familiarize you with the 2-axis Programmable Micro Motherboard. docu- It will highlight the tasks for safe and adequate installation and/or commissioning. Follow the described ment to... -
Page 5: Symbols & Signs
About About this Document 1.1.4 Symbols & Signs In the course of the present document, the following symbols and signs will be used. Type Symbol Meaning Indicates an imminent hazardous situation. If not DANGER avoided, it will result in death or serious injury. -
Page 6: About The Device
About About the Device About the Device Capabilities The miniaturised 2-axis Programmable Motherboard hosts two EPOS4 Micro 24/5 CAN (638328) full digi- the device and tal, smart positioning control units, and a MicroMaster LT CANopen Master programmable logic controller included features. -
Page 7: 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 8 About 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 Micro CAN 2-axis Programmable MB Hardware Reference...
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Page 9: Specifications
Specifications Limitations SPECIFICATIONS Technical Data 2-axis Programmable Micro Motherboard Nominal power supply voltage +V 10...24 VDC Absolute supply voltage +V / +V 8 VDC / 28 VDC Output voltage (max.) 0.9 x +V Electrical Rating Output current I (<1s) -
Page 10: Dimensional Drawing
Specifications Dimensional drawing Dimensional drawing 77.0 23.0 Figure 2-3 2-axis EPOS4 Micro Programmable Motherboard - Dimensional drawing [mm] EPOS4 Micro CAN 2-axis Programmable MB Hardware Reference MMAU | 2024-03 2-10... -
Page 11: Generally Applicable Rules
Cabling Not all connections will be required for every application. 3.2.1.1 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. Prefab Cable Assembly Connector... -
Page 12: Make Your Own
Setup Pin Assignment 3.2.1.2 Make Your Own If you decide not to employ maxon motor’s prefab cable assemblies, the required connectors are as follows: Cable Connector Parts Connector Specification Quantity Connectors Molex Mini-Fit Jr., 2 poles (39013028) Molex Mini-Fit Jr., 4 poles (39-01-2040) Molex Micro-Fit 3.0, 6 poles (430-25-0600) -
Page 13: Connections
Setup Pin Assignment 3.2.2 Connections X4_1 X3_1 X7_2 I/O4 I/O3 X4_2 X3_2 I/O5 X7_1 � Power Supply page 14 X3_1 � Motor 1, 2 page 15 X3_2 X4_1 � Hall Sensor 1, 2 page 16 X4_2 X5_1 � Encoder 1, 2... -
Page 14: Power Supply (X1)
Setup Pin Assignment 3.2.2.1 Power Supply (X1) Best Practice Keep the motor mechanically disconnected during the setup and adjustment phase. Setup Connections Figure 3-5 Power supply connector (X1) Con- Signal Description nector Figure 3-6 Power supply plug X1 Ground X1 &... -
Page 15: Motor (X3_1, X3_2)
DC motor: Motor + brown Motor (-M) DC motor: Motor - green Not connected black Motor shield Cable shield Table 3-12 Motor connector X3_1, X3_2 – Pin assignment for maxon DC motor Con- Prefab Signal Description nector Cable Colour white Motor winding 1... -
Page 16: Hall Sensor Cable
Setup Pin Assignment 3.2.2.3 Hall Sensor (X4_1, X4_2) Figure 3-7 Hall sensor connector X4_1, X4_2 Con- Prefab Signal Description nector Cable Colour green Hall sensor 1 Hall sensor 1 input brown Hall sensor 2 Hall sensor 2 input white... -
Page 17: Encoder (X5_1, X5_2)
Setup Pin Assignment 3.2.2.4 Encoder (X5_1, X5_2) Figure 3-8 Encoder connector X5_1, X5_2 Con- Prefab Signal Description nector Cable Colour brown — Not connected white Sensor supply voltage (+5 VDC; I ≤120 mA per axis) Sensor Ground white —... -
Page 18: Digital I/O (X7_1, X7_2)
Setup Pin Assignment 3.2.2.5 Digital I/O (X7_1, X7_2) Figure 3-9 Digital I/O connector X7_1, X7_2 Prefab Signal Description Head A Cable Colour white DigIN1 Digital input 1 brown DigIN2 Digital input 2 green DigIN3 Digital input 3 yellow HsDigIN4... -
Page 19: Can (X11)
Setup Pin Assignment 3.2.2.6 CAN (X11) Figure 3-10 CAN Connector X11 Prefab 520857 520858 Signal Description Head A Cable Head B Head B Colour white CAN high CAN high bus line brown CAN low CAN low bus line green... -
Page 20: Usb (X13_1, X13_2, X14)
Setup Setup Connection Specifications Pin Assignment 3.2.2.7 USB (X13_1, X13_2, X14) 3.4.13 USB (X13) Hot plugging the USB interface may cause hardware damage Hot plugging the USB interface may cause hardware damage If the USB interface is being hot-plugged (connecting while the power supply is on), the possibly high potential If the USB interface is being hot-plugged (connecting while the power supply is on), the possibly high poten- differences of the two power supplies of controller and PC/Notebook can lead to damaged hardware. -
Page 21: Plc I/O (I/O1, I/O2, I/O3, I/O4, I/O5)
Setup Pin Assignment 3.2.2.8 PLC I/O (I/O1, I/O2, I/O3, I/O4, I/O5) Figure 3-12 PLC I/O connector I/O1, I/O2, I/O3, I/O4, I/O5 Prefab I/O1 Signal I/O2 Signal I/O3 Signal I/O4 Signal I/O5 Signal Head A Cable Colour white GPIO 1... -
Page 22: Fuses
Setup Pin Assignment 3.2.3 Fuses Each axis is fitted with a user-replaceable fuse to protect the device in the case of reversed input voltage polarity or an overcurrent fault. FUSE 1 FUSE 2 Figure 3-13 2-Axis Programmable Micro Motherboard - Fuses Blown fuses should be replaced only with a LittelFuse 10A Fast-Blow fuse, such as the LittelFuse 0453010.MR. -
Page 23: Switches
Setup Pin Assignment 3.2.4 Switches BOOT Figure 3-14 Identification of switches and buttons 3.2.4.1 CAN ID (Node-ID) Configuration The «Micro» identification (subsequently called “ID”) for both axes is set by means of DIP switches 1…6 of SW1. Setting the IDs by DIP switch SW1 •... -
Page 24: Can Automatic Bit Rate Detection
Setup Pin Assignment Switch Configuration XA_1 XA_2 1 2 3 4 5 6 7 8 1 2 3 4 5 6 7 8 1 2 3 4 5 6 7 8 1 2 3 4 5 6 7 8 0 = Switch “OFF”. - Page 25 Wiring WIRING In this section you will find the wiring information for the setup you are using. You can either use the � consolidated wiring diagram ( Figure 4-16) featuring the full scope of interconnectivity and pin assignment. 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.
- Page 26 Wiring X4_1 X3_1 X7_2 I/O4 I/O3 X4_2 X3_2 I/O5 X7_1 I/O2 I/O1 X5_1 X5_2 X13_1 X13_2 XB_1 XA_1 XA_2 Figure 4-15 Interfaces – Designations and location EPOS4 Micro CAN 2-axis Programmable MB Hardware Reference MMAU | 2024-03 4-26...
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Page 27: Possible Combinations To Connect A Motor
Wiring Possible Combinations to connect a Motor Possible Combinations to connect a Motor The following tables show feasible ways on how to connect the motor with its respective feedback signals or possible combinations thereof. To find the wiring that best suits your setup, proceed as follows: 1) Decide on the type of motor you are using;... -
Page 28: Ec (Bldc) Motor
Wiring Possible Combinations to connect a Motor 4.1.2 EC (BLDC) Motor Power supply ................Figure 4-17 Motor &... -
Page 29: Main Wiring Diagram
Wiring Main Wiring Diagram Main Wiring Diagram EPOS4 Micro 2-axis Programmable Motherboard EPOS4 Micro 24/5 CAN Power Cable Power USB Type A - micro B cable (275829) (403968) Supply EPOS4 A27...32 10...24VDC USB_D- A19...24 USB_D+ MicroMaster LT GPIO 21... -
Page 30: Excerpts
Wiring Excerpts Excerpts 4.3.1 Power Supply Power Cable High Current Power Supply (520850) 10...24VDC Figure 4-17 Power Supply 4.3.2 DC Motor Motor Cable (275851) Motor (+M) Motor (−M) Motor Figure 4-18 DC motor 4.3.3 EC (BLDC) Motor Motor Cable (275851) -
Page 31: Hall Sensors (Sensor 3)
Wiring Excerpts 4.3.4 Hall Sensors (Sensor 3) Sensor 3 Hall Sensor Cable (275878) Hall Sensor 1 Hall Sensor 2 Hall Hall Sensor 3 Sensor +5VDC I ≤ 120mA Sensor Figure 4-20 Hall sensors (Sensor 3) 4.3.5 Digital Incremental Encoder 1 (Sensor 1) -
Page 32: List Of Figures
List of Figures LIST OF FIGURES Figure 1-1 Documentation structure .......... -
Page 33: List Of Tables
Prefab maxon cables ........
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