Maxon EP0S4 Disk 60/12 Guide d'application
Table of Contents
EPOS4 Disk 60/12 Hardware Reference
A-2 CCMC | 2023-07 | rel11751
1 ABOUT 5
1.1 About this Document. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 5
1.2 About the Device. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 8
1.3 About the Safety Precautions . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 9
2 SPECIFICATIONS 11
2.1 Technical Data . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 11
2.2 Thermal Data . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 13
2.3 Limitations. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 14
2.4 Dimensional Drawings . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 15
2.5 Standards . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 17
3 SETUP 19
3.1 Generally applicable Rules . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 19
3.2 Cabling . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 20
3.3 Connections . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 22
3.3.1 Power Supply (X1; X1a) . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 26
3.3.2 Logic Supply (X2; X2a) . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 28
3.3.3 Motor (X3) . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 29
3.3.4 Hall Sensor (X4; X4a) . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 30
3.3.5 Encoder/Sensor (X5/X6) . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 32
3.3.6 Encoder (X5) . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 34
3.3.7 SSI (X6). . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 37
3.3.8 Digital I/O (X7; X7a) . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 39
3.3.9 Analog I/O (X8; X8a) . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 42
3.3.10 USB (X13; X13a). . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 44
3.3.11 CAN IN (X14; X14a) & CAN OUT (X15; X15a) . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 45
3.3.12 EtherCAT IN (X14; X14a) & EtherCAT OUT (X15; X15a). . . . . . . . . . . . . . . . . . . . . . . . . . 47
TABLE OF CONTENTS
READ THIS FIRST
These instructions are intended for qualified technical personnel. Prior commencing with any activities…
• you must carefully read and understand this manual and
• 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.
Therefore, you must not put the device into service,…
• unless you have made completely sure that the other machinery fully complies with the EU directive’s requirements!
• unless the other machinery fulfills all relevant health and safety aspects!
• unless all respective interfaces have been established and fulfill the herein stated requirements!
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3.3.13 Brake (X16) . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 48
3.4 Prefab Cable Assemblies . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 49
3.5 DIP Switch Configuration (SW1) . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 56
3.5.1 CAN ID (Node-ID) / DEV ID . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 56
3.5.2 CAN automatic Bit Rate Detection. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 58
3.5.3 CAN Bus Termination . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 58
3.6 Status Indicators . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 59
4 WIRING 63
4.1 Possible Combinations to connect a Motor . . . . . . . . . . . . . . . . . . . . . . . . . . . . 65
4.2 Main Wiring Diagrams . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 67
4.3 Excerpts. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 69
LIST OF FIGURES 73
LIST OF TABLES 75
INDEX 77
Table of Contents
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• • 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 • •
About
About this Document
EPOS4 Disk 60/12 Hardware Reference
CCMC | 2023-07 | rel11751 1-5
1 ABOUT
1.1 About this Document
1.1.1 Intended Purpose
Use the docu-
ment to…
–stay safe,
–be fast,
–end up with set
up and ready-to-
go equipment.
The purpose of the present document is to familiarize you with the EPOS4 Disk 60/12 positioning controller.
It will highlight the tasks for safe and adequate installation and/or commissioning. Follow the described
instructions …
• to avoid dangerous situations,
• to keep installation and/or commissioning time at a minimum,
• to increase reliability and service life of the described equipment.
The present document is part of a documentation set and contains performance data and specifications,
information on fulfilled standards, details on connections and pin assignment, and wiring examples. The
below overview shows the documentation hierarchy and the interrelationship of its individual parts:
Figure 1-1 Documentation structure
1.1.2 Target Audience
The present document is intended for trained and skilled personnel. It conveys information on how to under-
stand and fulfill the respective work and duties.
About
About this Document
EPOS4 Disk 60/12 Hardware Reference
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1.1.3 How to use
Throughout the document, the following notations and codes will be used.
Table 1-1 Notation used
1.1.4 Symbols & Signs
In the course of the present document, the following symbols and signs will be used.
Table 1-2 Symbols and signs
Notation Meaning
(n) refers to an item (such as part numbers, list items, etc.)
denotes “see”, “see also”, “take note of” or “go to”
Type Symbol Meaning
Safety alert
(typical)
DANGER Indicates an imminent hazardous situation. If not
avoided, it will result in death or serious injury.
WARNING Indicates a potential hazardous situation. If not
avoided, it can result in death or serious injury.
CAUTION
Indicates a probable hazardous situation or calls the
attention to unsafe practices. If not avoided, it may
result in injury.
Prohibited
action
(typical)
Indicates a dangerous action. Hence, you must not!
Mandatory
action
(typical)
Indicates a mandatory action. Hence, you must!
Information
Requirement /
Note / Remark
Indicates an activity you must perform prior continuing,
or gives information on a particular item you need to
observe.
Best practice Indicates an advice or recommendation on the easiest
and best way to further proceed.
Material
Damage
Indicates information particular to possible damage of
the equipment.
About
About this Document
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1.1.5 Trademarks and Brand Names
For easier legibility, registered brand names are listed below and will not be further tagged with their respec-
tive trademark. It must be understood that the brands (the list below is not necessarily concluding) are pro-
tected by copyright and/or other intellectual property rights even if their legal trademarks are omitted in the
later course of this document.
Table 1-3 Brand names and trademark owners
1.1.6 Copyright
© 2023 maxon. All rights reserved. Any use, in particular reproduction, editing, translation, and copying,
without prior written approval is not permitted (contact: maxon international ltd., Brünigstrasse 220, CH-
6072 Sachseln, +41 41 666 15 00, www.maxongroup.com). Infringements will be prosecuted under civil and
criminal law. The mentioned trademarks belong to their respective owners and are protected under trade-
mark laws. Subject to change without prior notice.
CCMC | EPOS4 Disk 60/12 Hardware Reference | Edition 2023-07 | DocID rel11751
Brand Name Trademark Owner
Adobe® Reader® © Adobe Systems Incorporated, USA-San Jose, CA
CANopen®
CiA® © CiA CAN in Automation e.V, DE-Nuremberg
EnDat © DR. JOHANNES HEIDENHAIN GmbH, DE-Traunreut
EtherCAT® © EtherCAT Technology Group, DE-Nuremberg, licensed by Beckhoff
Automation GmbH, DE-Verl
ix Industrial® © HARTING AG & Co. KG, DE-Espelkamp
Linux® © Linus Torvalds (The Linux Foundation, USA-San Francisco CA)
Micro-Fit™
Micro-Lock™
Mini-Fit Plus™
© Molex, USA-Lisle, IL
SMD NANO2® © Littelfuse, USA-Chicago, IL
Windows® © Microsoft Corporation, USA-Redmond, WA
About
About the Device
EPOS4 Disk 60/12 Hardware Reference
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1.2 About the Device
Capabilities of the
device, included
features, and sup-
ported motors.
maxon’s EPOS4 Disk 60/12 is a round-sized, full digital, smart positioning control unit with a center hole for
cable feed-trough. Its high power density allows flexible use for brushed DC and brushless EC (BLDC)
motors up to approximately 720 Watts with various feedback options, such as Hall sensors, incremental
encoders as well as absolute sensors in a multitude of drive applications.
The device provides motor and sensor connections and power, communication, and I/O connections. The
center hole provides room for the implementation of power and communication lines.
The EPOS4 Disk 60/12 is specially designed to be commanded and controlled as a slave node in a
CANopen or an EtherCAT network. In addition, it can be operated via any USB communication port of a
Windows or Linux workstation.
Latest technology, such as field-oriented control (FOC), acceleration/velocity feed forward, or dual loop, in
combination with highest control cycle rates allow sophisticated, ease-of-use motion control.
Apart from two different versions featuring either a CAN or EtherCAT interface, the device comes in differ-
ent variants in respect to the mounting location of their connectors:
• With the double-side version, the connectors for motor and sensor are located on one side while
those for power and communication are located on the opposite side. This offers the choice for an
application design with smart cable routing and easy accessible connectors.
• With the single-side version, all connectors are located on the same side. This allows an ultra-
compact integration into the application design and opens the way to mount the unit on a heat sink.
Table 1-4 Available versions and variants
For easier legibility, in the later course of this document naming of components will be as follows:
Table 1-5 Abbreviations
Find the latest edition of the present document as well as additional documentation and software for EPOS4
positioning controllers also on the Internet: http://epos.maxongroup.com
In addition, you may wish to browse the EPOS video library. It features video tutorials that provide easy to
follow instructions on how to get started with «EPOS Studio» and shows you tips and tricks on how to setup
communication interfaces, and so on. Explore on Vimeo: https://vimeo.com/album/4646388
Controller Order number Mounting type
EPOS4 Disk 60/12 CAN 688775 Double-side mounted connectors
EPOS4 Disk 60/12 CAN SSC 709859 Single-side mounted connectors
EPOS4 Disk 60/12 EtherCAT 688777 Double-side mounted connectors
EPOS4 Disk 60/12 EtherCAT SSC 709862 Single-side mounted connectors
Short form Meaning
Disk any type of EPOS4 Disk 60/12 version
Disk CAN EPOS4 Disk 60/12 CAN
Disk EtherCAT EPOS4 Disk 60/12 EtherCAT
EPOS4 all controller versions (Module and Compact) as well as other EPOS4
positioning controllers as a whole
About
About the Safety Precautions
EPOS4 Disk 60/12 Hardware Reference
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1.3 About the Safety Precautions
Keep in mind:
Safety first!
Always!
• Make sure that you have read and understood the note “READ THIS FIRST” on page A-2!
• Do not engage with any work unless you possess the stated skills (chapter “1.1.2 Target Audi-
ence” on page 1-5)!
• Refer to chapter “1.1.4 Symbols & Signs” on page 1-6 to understand the subsequently used indi-
cators!
• You must observe any regulation applicable in the country and/or at the site of implementation with
regard to health and safety/accident prevention and/or environmental protection!
Requirements
• Make sure that all associated devices and components are installed according to local regulations.
• Be aware that, by principle, an electronic apparatus cannot be considered fail-safe. Therefore, you must
make sure that any machine/apparatus has been fitted with independent monitoring and safety equip-
ment. If the machine/apparatus should break down, if it is operated incorrectly, if the control unit breaks
down or if the cables break or get disconnected, etc., the complete drive system must return – 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)
• Wear working cloth and use equipment in compliance with ESD protective measures.
• Handle device with extra care.
DANGER
High voltage and/or electrical shock
Touching live wires causes death or serious injuries!
• Consider any power cable as connected to live power, unless having proven the opposite!
• Make sure that neither end of cable is connected to live power!
• Make sure that power source cannot be engaged while work is in process!
• Obey lock-out/tag-out procedures!
• Make sure to securely lock any power engaging equipment against unintentional engagement and tag
it with your name!
About
About the Safety Precautions
EPOS4 Disk 60/12 Hardware Reference
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• • 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 • •
Ce manuel convient aux modèles suivants
4
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