maxon motor EPOS4 Module 24/1.5 Manuals

Manuals and User Guides for maxon motor EPOS4 Module 24/1.5. We have 1 maxon motor EPOS4 Module 24/1.5 manual available for free PDF download: Hardware Reference Manual

maxon motor EPOS4 Module 24/1.5 Hardware Reference Manual (108 pages)

Positioning Controller

Brand: maxon motor | Category: Controller | Size: 17 MB

Table of Contents
2
About
5
About this Document
5
Figure 1-1 Documentation Structure
5
Table 1-1 Notation Used
6
Table 1-2 Symbols and Signs
6
Table 1-3 Brand Names and Trademark Owners
7
About the Devices
8
Figure 1-2 Configuration Overview
8
About the Safety Precautions
9
Specifications
11
Technical Data
11
Table 2-4 Technical Data
12
Thermal Data
13
Figure 2-3 Derating of Output Current
13
Limitations
14
Dimensional Drawings
14
Figure 2-4 Power Dissipation and Efficiency
14
Figure 2-5 EPOS4 Module 24/1.5 - Dimensional Drawing [MM]
14
Table 2-5 Limitations
14
Figure 2-6 EPOS4 CB 24/1.5 CAN - Dimensional Drawing [MM]
15
Figure 2-7 EPOS4 Compact 24/1.5 CAN - Dimensional Drawing [MM]
15
Standards
16
Table 2-6 Standards
16
Setup
17
Generally Applicable Rules
17
Pin Assignment for Module Version
18
Figure 3-8 Pin Assignment
18
Table 3-7 Pin Assignment A1
18
Table 3-8 Pin Assignment B1
20
Pin Assignment for Connector Boards & Compact Versions
21
EPOS4 CB 24/1.5 CAN (536997) / EPOS4 Compact 24/1.5 CAN (546714)
21
Cabling
21
Figure 3-9 EPOS4 CB 24/1.5 CAN (Left) / EPOS4 Compact 24/1.5 CAN (Right)
21
Table 3-9 Prefab Maxon Cables
21
Tools
22
Table 3-10 EPOS4 Connector Set - Content
22
Table 3-11 Recommended Tools
22
Connections
23
Figure 3-10 EPOS4 CB 24/1.5 CAN - Connectors
23
Figure 3-11 Power Supply Connector X1/X2
24
Table 3-12 Power Supply Connector X1/X2 - Pin Assignment
24
Figure 3-12 Motor Connectors X3A/X4A (Left) and X3B/X4B (Right)
25
Table 3-13 Motor Connector X3A/X4A / X3B/X4B - Pin Assignment for Maxon DC Motor
25
Table 3-14 Motor Connector X3A/X4A / X3B/X4B - Pin Assignment for Maxon EC Motor
25
Figure 3-13 Motor Connector X3C
26
Table 3-15 Motor Connector X3C - Pin Assignment
26
Figure 3-14 Encoder Connector X5
27
Table 3-16 Encoder Connector X5 - Pin Assignment
27
Table 3-17 Encoder Connector X5 - Accessories
27
Table 3-18 Encoder Cable
28
Figure 3-15 Sensor Connector X6
29
Table 3-19 Sensor Connector X6 - Pin Assignment
29
Table 3-20 Sensor Cable 5X2Core
30
Figure 3-16 Digital I/O Connector X7
31
Table 3-21 Digital I/O Connector X7 - Pin Assignment
31
Table 3-22 Signal Cable 8Core
31
Figure 3-17 Analog I/O Connector X8
32
Table 3-23 Analog I/O Connector X8 - Pin Assignment
32
Table 3-24 Signal Cable 7Core
32
Figure 3-18 STO Connector X9
33
Table 3-25 STO Connector X9 - Pin Assignment
33
Table 3-26 STO Idle Connector
33
Figure 3-19 RS232 Connector X10
34
Table 3-27 RS232 Connector X10 - Pin Assignment
34
Table 3-28 RS232-COM Cable
34
Figure 3-20 CAN 1 Connector X11 and CAN 2 Connector X12
35
Table 3-29 CAN 1 Connector X11/CAN 2 Connector X12 - Pin Assignment
35
Table 3-30 CAN-COM Cable
35
Table 3-31 CAN-CAN Cable
35
DIP Switch Configuration (SW1)
36
Figure 3-21 EPOS4 CB 24/1.5 CAN - DIP Switch SW1
36
Table 3-32 DIP Switch SW1 - Binary Code Values
36
Table 3-33 DIP Switch SW1 - Examples
37
Table 3-34 DIP Switch SW1 - CAN Automatic Bit Rate Detection
37
Table 3-35 DIP Switch SW1 - CAN Bus Termination
38
Table 3-36 DIP Switch SW1 - Digital Input Level
38
Jumper Configuration (JP1)
39
Spare Parts
39
Figure 3-22 EPOS4 CB 24/1.5 CAN - Jumper JP1
39
Table 3-37 Jumper JP1 - Power Supply for DC Motor Winding
39
Table 3-38 Spare Parts List
39
Connection Specifications
40
Power Supply
40
Table 3-39 Power Supply - Pin Assignment
40
Logic Supply
41
Table 3-40 Logic Supply - Pin Assignment
41
Motor
42
Table 3-41 DC Motor - Pin Assignment
42
Table 3-42 EC Motor - Pin Assignment
42
Hall Sensor
43
Figure 3-23 Hall Sensor 1 Input Circuit (Analogously Valid for Hall Sensors 2 & 3)
43
Encoder
44
Figure 3-24 Encoder Input Circuit Ch a "Differential" (Analogously Valid for Ch B & Ch I)
45
Figure 3-25 Encoder Input Circuit Ch a "Single-Ended" (Analogously Valid for Ch B & Ch I)
45
Sensor
46
Figure 3-26 Digital Incremental Encoder Input Circuit Ch a "Differential" (Analogously Valid for Ch B)
47
Figure 3-27 Digital Incremental Encoder Input Circuit Ch I
47
Figure 3-28 Digital Incremental Encoder Input Circuit Ch a "Single-Ended" (Analogously Valid for Ch B)
48
Figure 3-29 Digital Incremental Encoder Input Circuit Ch I
49
Figure 3-30 Analog Incremental Encoder Input Circuit Ch a "Differential" (Analogously Valid for Ch B)
50
Figure 3-31 Analog Incremental Encoder Input Circuit Ch I (Digital Evaluation)
51
Figure 3-32 SSI Absolute Encoder Data Input
52
Figure 3-33 SSI Absolute Encoder Clock Output
53
Figure 3-34 Hsdigin1 Circuit "Differential" (Analogously Valid for Hsdigin2
54
Figure 3-35 Hsdigin1 Circuit "Single-Ended" (Analogously Valid for Hsdigin2
55
Figure 3-36 Hsdigout1 Output Circuit
56
Digital I/Os
57
Figure 3-37 Digin1 Circuit (Analogously Valid for Digin2
57
Figure 3-38 Digin1 Circuit (Analogously Valid for Digin2
58
Figure 3-39 Digin1 Circuit (Analogously Valid for Digin2
59
Figure 3-40 Digout1 Circuit (Analogously Valid for Digout2 and Compact)
59
Figure 3-41 Digout1 "Sinks" (Analogously Valid for Digout2 and Compact)
60
Figure 3-42 Digout1 "Source" (Analogously Valid for Digout2 and Compact)
60
Safe Torque off I/Os
61
Figure 3-43 STO-IN1 Circuit (Analogously Valid for STO-IN2)
61
Figure 3-44 STO-OUT Circuit
62
Analog I/Os
63
Figure 3-45 Anin1 Circuit (Analogously Valid for Anin2)
63
Figure 3-46 Anout1 Circuit (Analogously Valid for Anout2)
64
3.4.10 Serial Communication Interface (SCI) / RS232
65
CAN Interface
67
Serial Peripheral Interface (SPI)
69
Usb (X13)
70
Figure 3-47 USB Connector X13
70
Status Indicators
71
Figure 3-48 Status LED
71
Requirements for Components of Third-Party Suppliers
73
Socket Headers
73
Supply Voltage
74
Figure 4-49 Wiring of Power Supply
74
Logic Supply Voltage
75
Motor Cables and Motor Chokes
75
Figure 4-50 Wiring of Logic Supply
75
Figure 4-51 Wiring of Motor Winding 1 (Analogously Valid also for Motor Windings 2 & 3)
76
Recommended Components and Manufacturers
77
Design Guidelines
78
Ground
78
Layout
78
SMT Footprint
78
Figure 4-52 SMT Footprint [MM] - Top View
78
Contents
79
Figure 5-53 Interfaces - Designations and Location
79
DC Motors (Brushed)
81
DC Motor Without Sensor
81
Figure 5-54 DC Motor (no Sensor)
81
DC Motor - Digital Incremental Encoder
82
Figure 5-55 DC Motor (Digital Incremental Encoder)
82
DC Motor - Digital & Digital Incremental Encoder
83
Figure 5-56 DC Motor (Digital & Digital Incremental Encoder)
83
DC Motor - Digital & Analog Incremental Encoder
84
Figure 5-57 DC Motor (Digital & Analog Incremental Encoder)
84
DC Motor - Digital Incremental & SSI Encoder
85
Figure 5-58 DC Motor (Digital Incremental & SSI Encoder)
85
DC Motor - Analog Incremental Encoder
86
Figure 5-59 DC Motor (Analog Incremental Encoder)
86
DC Motor - SSI Encoder
87
Figure 5-60 DC Motor (SSI Encoder)
87
EC Motors (BLDC, Brushless)
88
EC Motor - Hall Sensors
88
Figure 5-61 EC Motor (Hall Sensors)
88
EC Motor - Hall Sensors & Digital Incremental Encoder
89
Figure 5-62 EC Motor (Hall Sensors & Digital Incremental Encoder)
89
EC Motor - Hall Sensors & Analog Incremental Encoder
90
Figure 5-63 EC Motor (Hall Sensors & Analog Incremental Encoder)
90
EC Motor - Hall Sensors & SSI Encoder
91
Figure 5-64 EC Motor (Hall Sensors & SSI Encoder)
91
EC Motor - Hall Sensors & Digital & Digital Incremental Encoder
92
Figure 5-65 EC Motor (Hall Sensors & Digital & Digital Incremental Encoder)
92
EC Motor - Hall Sensors & Digital & Analog Incremental Encoder
93
Figure 5-66 EC Motor (Hall Sensors & Digital & Analog Incremental Encoder)
93
EC Motor - Hall Sensors & Digital Incremental & SSI Encoder
94
Figure 5-67 EC Motor (Hall Sensors & Digital Incremental & SSI Encoder)
94
EC Motor - Digital Incremental Encoder
95
Figure 5-68 EC Motor (Digital Incremental Encoder)
95
EC Motor - Digital & Digital Incremental Encoder
96
Figure 5-69 EC Motor (Digital & Digital Incremental Encoder)
96
5.3.10 EC Motor - Digital & Analog Incremental Encoder
97
Figure 5-70 EC Motor (Digital & Analog Incremental Encoder)
97
EC Motor - Digital Incremental & SSI Encoder
98
Figure 5-71 EC Motor (Digital & SSI Encoder)
98
5.3.12 EC Motor - Analog Incremental Encoder
99
Figure 5-72 EC Motor (Analog Incremental Encoder)
99
5.3.13 EC Motor - SSI Encoder
100
Figure 5-73 EC Motor (SSI Encoder)
100

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maxon motor EPOS4 Module 24/1.5 Manuals

maxon motor EPOS4 Module 24/1.5 Hardware Reference Manual (108 pages)

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