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EPOS4 Compact 50/8 EtherCAN
Maxon Motor EPOS4 Compact 50/8 EtherCAN Manuals
Manuals and User Guides for Maxon Motor EPOS4 Compact 50/8 EtherCAN. We have
1
Maxon Motor EPOS4 Compact 50/8 EtherCAN manual available for free PDF download: Hardware Reference Manual
Maxon Motor EPOS4 Compact 50/8 EtherCAN Hardware Reference Manual (106 pages)
Positioning Controller
Brand:
Maxon Motor
| Category:
Controller
| Size: 11 MB
Table of Contents
T Cable Ofcontents 1 about 5
2
Table of Contents
2
1 About
5
About this Document
5
Figure 1-1 Documentation Structure
5
About the Devices
8
Figure 1-2 Configuration Overview
8
About the Safety Precautions
10
2 Specifications
11
Technical Data
11
Thermal Data
14
Figure 2-3 Derating of Output Current
14
Limitations
15
Figure 2-4 Power Dissipation and Efficiency - EPOS4 Module/Compact 50/8 CAN
15
Figure 2-5 Power Dissipation and Efficiency - EPOS4 Compact 50/8 Ethercat
15
Dimensional Drawings
16
Figure 2-6 EPOS4 Module 50/8 - Dimensional Drawing [MM]
16
Figure 2-7 EPOS4 CB Power CAN - Dimensional Drawing [MM]
17
Figure 2-8 EPOS4 Compact 50/8 CAN - Dimensional Drawing [MM]
17
Figure 2-9 EPOS4 CB Power Ethercat - Dimensional Drawing [MM]
18
Figure 2-10 EPOS4 Compact 50/8 Ethercat - Dimensional Drawing [MM]
18
Standards
19
3 Setup
21
Generally Applicable Rules
21
Pin Assignment for Module Version
22
Figure 3-11 Pin Assignment
22
Pin Assignment for Connector Boards & Compact Versions
25
EPOS4 CB Power CAN (520884) / EPOS4 Compact 50/8 CAN (520885)
25
EPOS4 CB Power Ethercat (604594) / EPOS4 Compact 50/8 Ethercat (605298)
25
Figure 3-12 EPOS4 CB Power CAN (Left) / EPOS4 Compact 50/8 CAN (Right)
25
Figure 3-13 EPOS4 CB Power Ethercat (Left) / EPOS4 Compact 50/8 Ethercat (Right)
25
Cabling
26
Tools
27
Connections
28
Figure 3-14 Connector Boards - Connectors
28
Figure 3-15 Power Supply Connector X1
29
Power Supply (X1)
29
Figure 3-16 Logic Supply Connector X2
30
Logic Supply (X2)
30
Figure 3-17 Motor Connectors X3A (Left) and X3B (Right)
31
Motor (X3A) (X3B)
31
Figure 3-18 Hall Sensor Connector X4
33
Hall Sensor (X4)
33
Encoder (X5)
34
Figure 3-19 Encoder Connector X5
34
Figure 3-20 Sensor Connector X6
35
Sensor (X6)
35
Digital I/O (X7)
37
Figure 3-21 Digital I/O Connector X7
37
Analog I/O (X8)
38
Figure 3-22 Analog I/O Connector X8
38
Figure 3-23 STO Connector X9
39
Sto (X9)
39
Figure 3-24 RS232 Connector X10
40
Rs232 (X10)
40
Can 1 (X11) Can 2 (X12)
41
Figure 3-25 CAN 1 Connector X11 and CAN 2 Connector X12
41
Ethercat in (X14) & Ethercat out (X15)
42
Figure 3-26 Ethercat in & Ethercat out Connectors X14 & X15
42
CAN ID (Node-ID) / DEV ID
44
DIP Switch Configuration (SW1)
44
Figure 3-27 DIP Switch SW1
44
CAN Automatic Bit Rate Detection (Compact CAN)
46
CAN Bus Termination (Compact CAN)
46
Digital Input Level
46
Spare Parts
46
Connection Specifications
47
Power Supply
47
Logic Supply
48
Motor
49
Figure 3-28 Hall Sensor 1 Input Circuit (Analogously Valid for Hall Sensors 2 & 3)
50
Hall Sensor
50
Encoder
51
Figure 3-29 Encoder Input Circuit Ch a "Differential" (Analogously Valid for Ch B & Ch I)
52
Figure 3-30 Encoder Input Circuit Ch a "Single-Ended" (Analogously Valid for Ch B & Ch I)
52
Incremental Encoder
53
Sensor
53
Figure 3-31 Digital Incremental Encoder Input Circuit Ch a "Differential" (Analogously Valid for Ch B)
54
Figure 3-32 Digital Incremental Encoder Input Circuit Ch I
54
Figure 3-33 Digital Incremental Encoder Input Circuit Ch a "Single-Ended" (Analogously Valid for Ch B)
55
Figure 3-34 Digital Incremental Encoder Input Circuit Ch I
56
Figure 3-35 Analog Incremental Encoder Input Circuit Ch a "Differential" (Analogously Valid for Ch B)
57
Figure 3-36 Analog Incremental Encoder Input Circuit Ch I (Digital Evaluation)
58
Figure 3-37 SSI Absolute Encoder Data Input
59
SSI Absolute Encoder
59
Figure 3-38 SSI Absolute Encoder Clock Output
60
Figure 3-39 Hsdigin1 Circuit "Differential" (Analogously Valid for Hsdigin2
61
High-Speed Digital I/Os
61
Figure 3-40 Hsdigin1 Circuit "Single-Ended" (Analogously Valid for Hsdigin2
62
Figure 3-41 Hsdigout1 Output Circuit
63
Digital I/Os
64
Figure 3-42 Digin1 Circuit (Analogously Valid for Digin2
64
Module
64
Compact
65
Figure 3-43 Digin1 Circuit (Analogously Valid for Digin2
65
Figure 3-44 Digin1 Circuit (Analogously Valid for Digin2
66
Figure 3-45 Digout1 Circuit (Analogously Valid for Digout2 and Compact)
66
Figure 3-46 Digout1 "Sinks" (Analogously Valid for Digout2 and Compact)
67
Figure 3-47 Digout1 "Source" (Analogously Valid for Digout2 and Compact)
67
Figure 3-48 STO-IN1 Circuit (Analogously Valid for STO-IN2)
68
Safe Torque off I/Os
68
Figure 3-49 STO-OUT Circuit
69
Analog I/Os
70
Figure 3-50 Anin1 Circuit (Analogously Valid for Anin2)
70
Figure 3-51 Anout1 Circuit (Analogously Valid for Anout2)
71
3.4.10 Serial Communication Interface (SCI) / RS232
72
Module
72
Compact CAN
73
CAN Interface / ID Setting
74
Connection
74
Configuration
75
Serial Peripheral Interface (SPI)
76
Figure 3-52 USB Connector X13
77
Usb (X13)
77
Status Indicators
78
Figure 3-53 Leds - Location
78
4 Motherboard Design Guide
81
Requirements for Components of Third-Party Suppliers
82
Figure 4-54 Wiring of Power Supply
82
Socket Headers
82
Supply Voltage
82
Figure 4-55 Wiring of Logic Supply
83
Logic Supply Voltage
83
Motor Cables and Motor Chokes
84
Figure 4-56 Wiring of Motor Winding 1 (Analogously Valid also for Motor Windings 2 & 3)
85
Figure 4-57 Wiring of RS232 Transceiver
85
RS232 Transceiver
85
Recommended Components and Manufacturers
86
Design Guidelines
88
Ground
88
Layout
88
THT Footprint
89
Figure 4-58 THT Footprint [MM] - Top View
89
Figure 5-59 Interfaces - Designations and Location
91
Figure 5-60 Main Wiring Diagram - Module & Compact CAN
94
Figure 5-61 Main Wiring Diagram - Module & Compact Ethercat
95
Figure 5-62 Power & Logic Supply
96
Figure 5-63 DC Motor
96
Figure 5-64 EC (BLDC) Motor
96
Figure 5-65 Hall Sensors (Sensor 3)
96
Figure 5-66 Digital Incremental Encoder 1 (Sensor 1)
97
Figure 5-67 Digital Incremental Encoder 2 (Sensor 2)
97
Figure 5-68 Analog Incremental Encoder (Sensor 2)
97
Figure 5-69 SSI Encoder (Sensor 2)
98
L Fist Ofigures
99
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