maxon motor EPOS 24/1 Application guide

maxon motor
maxon motor control EPOS Positioning Controller
Hardware Reference December 2008 Edition
24/1
Positioning Controller
Documentation
Hardware Reference
maxon document number: 573047-09

maxon motor
EPOS Positioning Controller EPOS 24/1 Hardware Reference
1Table of contents
1Table of contents................................................................................................................... 2
2Table of figures ..................................................................................................................... 3
3Introduction ........................................................................................................................... 4
4How to use this guide............................................................................................................ 4
5Safety Instructions................................................................................................................. 5
6Performance Data................................................................................................................. 6
6.1 Electrical data...................................................................................................................... 6
6.2 Inputs .................................................................................................................................. 6
6.3 Outputs................................................................................................................................6
6.4 Voltage outputs ................................................................................................................... 6
6.5 Motor connections............................................................................................................... 6
6.6 Interfaces ............................................................................................................................ 6
6.7 LED indicator....................................................................................................................... 6
6.8 Ambient temperature- / Humidity range.............................................................................. 7
6.9 Mechanical data.................................................................................................................. 7
6.10 Connections ........................................................................................................................ 7
6.11 Order number...................................................................................................................... 7
7Connections 280937, 317270, 302267................................................................................. 8
7.1 Connector (J1) .................................................................................................................. 11
7.1.1 Digital input 1 “General Purpose“ ................................................................................ 12
7.1.2 Digital input 2 "General Purpose" ................................................................................ 12
7.1.3 Digital input 3 "General Purpose" ................................................................................ 13
7.1.4 Digital input 4 "Home Switch" ...................................................................................... 14
7.1.5 Digital input 5 "Positive Limit Switch"........................................................................... 15
7.1.6 Digital input 6 "Negative Limit Switch"......................................................................... 16
7.1.7 Auxiliary output voltage................................................................................................ 17
7.1.8 Digital output 3 "General Purpose".............................................................................. 18
7.1.9 Digital output 4 "General Purpose".............................................................................. 19
7.1.10 Supply voltage ............................................................................................................. 20
7.2 Connector (J2) .................................................................................................................. 21
7.2.1 CAN communication .................................................................................................... 22
7.2.2 RS-232 communication ............................................................................................... 22
7.2.3 Analogue input 1 "General Purpose"........................................................................... 23
7.2.4 Analogue input 2 "General Purpose"........................................................................... 23
7.3 Motor / Encoder / Hall sensor connectors......................................................................... 24
7.3.1 maxon DC motor with integrated motor / encoder ribbon cable (J3)........................... 24
7.3.2 maxon EC 6 motor with Hall sensor and digital MR-Encoder ..................................... 25
7.3.3 maxon EC 16/EC 22 motor with Hall sensor and digital MR-Encoder ........................ 28
8Connections 302287 ........................................................................................................... 30
8.1 Motor / Hall sensor connector (J10).................................................................................. 31
8.2 Motor / Encoder connector (J11) ...................................................................................... 32
8.2.1 maxon EC motor or maxon DC motor with separated motor and encoder cable........ 32
8.2.2 maxon DC motor with integrated motor / encoder ribbon cable .................................. 33
8.3 RS232 connector (J12)..................................................................................................... 34
8.4 CAN connector (J13) ........................................................................................................ 35
8.5 Power / Signal connector (J14)......................................................................................... 36
9CAN Node Identification (JP 1) ........................................................................................... 37
10 LED status........................................................................................................................... 38
11 Dimension drawings............................................................................................................ 38
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EPOS Positioning Controller EPOS 24/1 Hardware Reference
2Table of figures
Figure 1: EPOS 24/1 photo ............................................................................................................. 4
Figure 2: EPOS documentation hierarchy....................................................................................... 4
Figure 3: EPOS 24/1 for maxon DC motors connector description ................................................ 8
Figure 4: Wiring diagram for maxon DC motors (overview)............................................................ 8
Figure 5: EPOS 24/1 for maxon EC 6 motor connector description ............................................... 9
Figure 6: Wiring diagram for maxon EC 6 motor (overview)........................................................... 9
Figure 7: EPOS 24/1 for maxon EC 16/EC 22 motors connector description .............................. 10
Figure 8: Wiring diagram for maxon EC 16/EC 22 motors (overview).......................................... 10
Figure 9: Connector (J1) ............................................................................................................... 11
Figure 10: Digital input 1 ............................................................................................................... 12
Figure 11: Digital input 2 ............................................................................................................... 12
Figure 12: Digital input 3 ............................................................................................................... 13
Figure 13: Digital input 4 ............................................................................................................... 14
Figure 14: Digital input 4 external wiring example a) .................................................................... 14
Figure 15: Digital input 4 external wiring example b) .................................................................... 14
Figure 16: Digital input 5 ............................................................................................................... 15
Figure 17: Digital input 5 external wiring example a) .................................................................... 15
Figure 18: Digital input 5 external wiring example b) .................................................................... 15
Figure 19: Digital input 6 ............................................................................................................... 16
Figure 20: Digital input 6 external wiring example a) .................................................................... 16
Figure 21: Digital input 6 external wiring example b) .................................................................... 16
Figure 22: Digital output 3 circuit................................................................................................... 18
Figure 23: Digital output 3 external wiring example a).................................................................. 18
Figure 24: Digital output 3 external wiring example b).................................................................. 18
Figure 25: Digital output 4 circuit................................................................................................... 19
Figure 26: Digital output 4 external wiring example a).................................................................. 19
Figure 27: Digital output 4 external wiring example b).................................................................. 19
Figure 28: Connector (J2) ............................................................................................................. 21
Figure 29: Analogue input 1 circuit................................................................................................ 23
Figure 30: Analogue input 2 circuit................................................................................................ 23
Figure 31: Motor / Encoder connector (J3) ................................................................................... 24
Figure 32: Encoder input circuit .................................................................................................... 24
Figure 33: maxon motor control cable 281074.............................................................................. 25
Figure 34: Motor / Hall sensor / Encoder connector (J4/J5) ......................................................... 25
Figure 35: maxon motor control Adapter 317228 ......................................................................... 25
Figure 36: MR-Encoder connector (J6)......................................................................................... 26
Figure 37: Encoder input circuit .................................................................................................... 26
Figure 38: Motor / Hall sensor connector (J7)............................................................................... 27
Figure 39: Hall sensor input circuit................................................................................................ 27
Figure 40: Motor / Hall sensor connector (J8)............................................................................... 28
Figure 41: Encoder connector (J9)................................................................................................ 29
Figure 42: Encoder input circuit .................................................................................................... 29
Figure 43: EPOS 24/1 for maxon DC/EC motors connector description ...................................... 30
Figure 44: Wiring diagram for maxon DC/EC motors (overview).................................................. 30
Figure 45: Motor / Hall sensor connector (J10)............................................................................. 31
Figure 46: Encoder connector (J11).............................................................................................. 32
Figure 47: Encoder input circuit .................................................................................................... 32
Figure 48: Location of solder pads................................................................................................ 33
Figure 49: RS232 connector (J12)................................................................................................ 34
Figure 50: CAN connector (J13) ................................................................................................... 35
Figure 51: Power / Signal connector (J14).................................................................................... 36
Figure 52: Table binary code value............................................................................................... 37
Figure 53: Dimensions EPOS 24/1 for DC motors 280937........................................................... 38
Figure 54: Dimensions EPOS 24/1 for EC 6 motor 317270.......................................................... 39
Figure 55: Dimensions EPOS 24/1 for EC 16/EC 22 motors 302267........................................... 39
Figure 56: Dimensions EPOS 24/1 for DC/EC motors 302287..................................................... 39
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EPOS Positioning Controller EPOS 24/1 Hardware Reference
3Introduction
This documentation “Hardware Reference” provides the hardware details of the EPOS 24/1
positioning controller. It contains performance data, connections, specification, pin assignment
and wiring examples.
The maxon motor EPOS 24/1 is a small-sized full digital smart
motion controller. Due to the flexible and high efficient power
stage the EPOS 24/1 drives brushed DC motors with digital
encoder as well as brushless EC motors with digital Hall sensors
and encoder.
The sinusoidal current commutation by space vector control offers
to drive brushless EC motors with minimal torque ripple and low
noise. The integrated position-, velocity- and current control
functionality allows sophisticated positioning applications. It is
specially designed being commanded and controlled as a slave node in the CANopen network. In
addition the unit can be operated through any RS-232 communication port.
Figure 1: EPOS 24/1 photo
The latest edition of these “Hardware Reference”, additional documentation and software to the
EPOS positioning controller may also be found in the internet in http://www.maxonmotor.com
category <Service>, subdirectory <Downloads>.
4How to use this guide
Setup
Getting Started
Installation Configuration Programming Application
•Cable Starting Set
•Hardware
Reference
•Graphical User
Interface
•Windows DLL
•IEC1131 libraries
•Firmware
Specification
•Communication
Guide
•Application Notes
•Application
Samples
Figure 2: EPOS documentation hie archyr
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EPOS Positioning Controller EPOS 24/1 Hardware Reference
5Safety Instructions
Skilled Personnel
Installation and starting of the equipment shall only be performed by experienced,
skilled personnel.
Statutory Regulations
The user must ensure that the positioning controller and the components belonging
to it are assembled and connected according to local statutory regulations.
Load Disconnected
For primary operation the motor should be free running, i.e. with the load
disconnected.
Additional Safety Equipment
An electronic apparatus is not fail-safe in principle. Machines and apparatus must
therefore be fitted with independent monitoring and safety equipment. If the
equipment breaks down, if it is operated incorrectly, if the control unit breaks down
or if the cables break, etc., it must be ensured that the drive or the complete
apparatus is kept in a safe operating mode.
Repairs
Repairs may be made by authorized personnel only or by the manufacturer. It is
dangerous for the user to open the unit or make repairs to it.
Danger
Do ensure that during the installation of the EPOS 24/1 no apparatus is connected
to the electrical supply. After switching on, do not touch any live parts!
Max. Supply Voltage
Make sure that the supply voltage is between 9 and 24 VDC. Voltages higher than
27 VDC or of wrong polarity will destroy the unit.
Electrostatic Sensitive Device (ESD)
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EPOS Positioning Controller EPOS 24/1 Hardware Reference
6Performance Data
6.1 Electrical data
Supply voltage VCC (Ripple < 10%) ......................................................... 9 - 24 VDC
Max. output voltage .................................................................................. 0.98 • VCC
Max. output current Imax (<1sec) .......................................................................... 2 A
Continuous output current Icont .............................................................................. 1 A
Switching frequency ....................................................................................... 50 kHz
Sample rate PI - current controller ................................................................. 10 kHz
Sample rate PI - speed controller .................................................................... 1 kHz
Sample rate PID - positioning controller .......................................................... 1 kHz
Max. speed (motors with 2 poles ............................................................ 25 000 rpm
Built-in motor choke per phase: EPOS 24/1 for DC/EC motors: ..... 150 µH / 1 A
EPOS 24/1 for EC 6 motor: ....... 300 µH / 0.7 A
6.2 Inputs
Hall sensor signals1......................... Hall sensor 1, Hall sensor 2 and Hall sensor 3
...................... for Hall effect sensor IC's (Schmitt trigger with open collector output)
Encoder signals .......................................................... A, A\, B, B\, I, I\ (max. 1MHz)
…………………………………………...... internal line receiver EIA standard RS-422
Digital input 1 (“General Purpose”) ........................... +2.4 … +24 VDC (Ri = 11 kΩ)
Digital input 2 (“General Purpose”) ........................... +2.4 … +24 VDC (Ri = 11 kΩ)
Digital input 3 (“General Purpose”) ........................... +2.4 … +24 VDC (Ri = 11 kΩ)
Digital input 4 (“Home Switch”) ................................. +2.4 … +24 VDC (Ri = 11 kΩ)
Digital input 5 (“Positive Limit Switch”) ..................... +2.4 … +24 VDC (Ri = 11 kΩ)
Digital input 6 (“Negative Limit Switch”) .................... +2.4 … +24 VDC (Ri = 11 kΩ)
Analogue input 1 ……………………… .... resolution 10-bit 0 … +5 V (Ri = 36 kΩ)
Analogue input 2 ……………………… .... resolution 10-bit 0 … +5 V (Ri = 36 kΩ)
CAN-ID (CAN node identification) ......................... configured by DIP-Switch 1 … 4
6.3 Outputs
Digital output 3 (“General Purpose”) ........... open drain max. 24 VDC (IL< 50 mA)
Digital output 4 (“General Purpose”) ........... open drain max. 24 VDC (IL< 50 mA)
6.4 Voltage outputs
Encoder supply voltage ......................................................... +5 VDC, max. 100 mA
Hall sensors supply voltage1................................................... +5 VDC, max. 30 mA
Auxiliary output voltage............................................................ +5 VDC, max. 10 mA
6.5 Motor connections
maxon EC motor1maxon DC motor
Motor winding 1 +Motor
Motor winding 2 -Motor
Motor winding 3
6.6 Interfaces
RS-232 ........................................ RxD; TxD .............................. max. 115 200 bit/s
CAN ............................................ CAN_H (high); CAN_L (low) .......... max.1 MBit/s
6.7 LED indicator
Green LED .................................................................................................. ENABLE
Red LED ........................................................................................................ FAULT
1Only in use with EPOS 24/1 for maxon EC motor
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EPOS Positioning Controller EPOS 24/1 Hardware Reference
6.8 Ambient temperature- / Humidity range
Operating .............................................................................................. -10 … +45°C
Storage ................................................................................................ -40 … +85°C
Non condensating .................................................................................... 20 … 80 %
6.9 Mechanical data
Weight .................................................................................................... approx 45 g
Dimensions (L x W x H) ....................................................... see dimension drawing
Mounting plate .................................................................................... for M3 screws
6.10 Connections
J1 Supply / control signals ............................................................... PCB screw clamps
............................................................................................. 13 poles; pitch 2.54 mm
J2 Communication / analogue inputs .............................................. PCB screw clamps
............................................................................................... 8 poles; pitch 2.54 mm
EPOS 24/1 for maxon DC motors #280937
....................... with interface according to MR-Encoder Type S with Line Driver and
........................................................................ MR-Encoder Type M with Line Driver
J3 Motor / Encoder ................................................................. Plug DIN41651; 10 poles
................................................................... for ribbon cable, pitch 1.27mm, AWG 28
Suitable locking clip: ................................. Tyco C42334-A421-C42 (right); C42334-A421-C52 (left)
EPOS 24/1 for maxon EC 6 motor #317270
................................................................... with digital Hall sensors and MR-Encoder
J6 Encoder ............................................................. SMD Flex Print Connector; 4 poles
.................................................................................... pitch 1.0mm, top contact style
J7 Motor / Hall ........................................................ SMD Flex Print Connector; 8 poles
.................................................................................... pitch 0.5mm, top contact style
EPOS 24/1 for maxon EC 16/EC 22 motors #302267
................................................................... with digital Hall sensors and MR-Encoder
J8 Motor / Hall ........................................... STOCKO MKS1658; 8 poles; pitch 2.5 mm
J9 Encoder ............................................................................ Plug DIN41651; 10 poles
................................................................... for ribbon cable, pitch 1.27mm, AWG 28
Suitable locking clip: ................................. Tyco C42334-A421-C42 (right); C42334-A421-C52 (left)
EPOS 24/1 for maxon DC/EC motors #302287
DC motor .................................................................................... with digital Encoder
EC motor ............................................... with digital Hall sensors and digital Encoder
J10 Motor / Hall ........................... dual row male header (8 poles) Molex Micro-Fit 3.0TM
Suitable plug/terminal: ........... Molex Micro-Fit 3.0TM 430-25-0800 / female crimp terminal 430-30-0010
J11 Encoder ............................................................................ Plug DIN41651; 10 poles
................................................................... for ribbon cable, pitch 1.27mm, AWG 28
Suitable locking clip: ................................. Tyco C42334-A421-C42 (right); C42334-A421-C52 (left)
J12 RS232
............................................ dual row male header (6 poles) Molex Micro-Fit 3.0TM
Suitable plug/terminal: .......... Molex Micro-Fit 3.0TM 430-25-0600 / female crimp terminal 430-30-0010
J13 CAN
................................................ dual row male header (4 poles) Molex Micro-Fit 3.0TM
Suitable plug/terminal: .............. Molex Micro-Fit 3.0TM 430-25-0400 / female crimp terminal 430-30-0010
J14 Supply / control signals ......... dual row male header (16 poles) Molex Micro-Fit 3.0TM
Suitable plug/terminal: .............. Molex Micro-Fit 3.0TM 430-25-1600 / female crimp terminal 430-30-0010
6.11 Order number
EPOS 24/1 for maxon DC motors ................................................................. 280937
EPOS 24/1 for maxon EC 6 motor ................................................................ 317270
EPOS 24/1 for maxon EC 16/EC 22 motors .................................................. 302267
EPOS 24/1 for maxon DC/EC motors ........................................................... 302287
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EPOS Positioning Controller EPOS 24/1 Hardware Reference
7Connections 280937, 317270, 302267
EPOS 24/1 for maxon DC motors #280937
Figure 3: EPOS 24/1 for maxon DC motors connector description
Figure 4: Wiring diagram for maxon DC motors (overview)
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EPOS Positioning Controller EPOS 24/1 Hardware Reference
EPOS 24/1 for maxon EC 6 motor #317270
Figure 5: EPOS 24/1 for maxon EC 6 motor connector description
Figure 6: Wiring diagram for maxon EC 6 motor (overview)
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EPOS Positioning Controller EPOS 24/1 Hardware Reference
EPOS 24/1 for maxon EC 16/EC 22 motors #302267
Figure 7: EPOS 24/1 for maxon EC 16/EC 22 motors connecto descriptionr
Figure 8: Wiring diagram for maxon EC 16/EC 22 motors (overview)
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EPOS Positioning Controller EPOS 24/1 Hardware Reference
7.1 Connector (J1)
Signal connector contains multi-purpose digital I/O’s. The digital inputs
are configurable as: “Home Switch” or “Positive- or Negative Limit
Switch”. Additionally “General Purpose” digital I/O’s are provided.
Figure 9: Connector (J1)
Pin
No.
Signal Description
1 DigIN 1 Digital input 1 “General Purpose”
2 DigIN 2 Digital input 2 “General Purpose”
3 DigIN 3 Digital input 3 “General Purpose”
4 DigIN 4 Digital input 4 “Home Switch”
5 DigIN 5 Digital input 5 “Positive Limit Switch”
6 DigIN 6 Digital input 6 “Negative Limit Switch”
7 D_Gnd Digital signal ground
8 +VOUT Auxiliary supply voltage Output
(+5 VDC / 10 mA)
9 DigOUT 3 Digital output 3 “General Purpose”
10 DigOUT 4 Digital output 4 “General Purpose”
11 D_Gnd Digital signal ground
12 Power_Gnd Power Ground
13 +Vcc (9 … 24 VDC) Power supply voltage (+ 9 ... 24 VDC)
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EPOS Positioning Controller EPOS 24/1 Hardware Reference
7.1.1 Digital input 1 “General Purpose“
“General Purpose” input by default and can be configured via software
setting.
Connector No. and Pin No. Connector [J1] Pin number [1]
Input voltage 0 ... 24 VDC
Max. input voltage -30 ... +30 VDC
Logic 0 < 0.7 VDC
Logic 1 > 2.4 VDC
Input resistance
typical 22 kΩ(< 3.3V)
typical 11 kΩ(> 3.3V)
Input current at logic 1 typical 2 mA @24 VDC
Switching delay
< 300µs @5 VDC
Figure 10: Digital input 1
7.1.2 Digital input 2 "General Purpose"
“General Purpose” input by default and can be configured via software
setting.
Connector No. and Pin No. Connector [J1] Pin number [2]
Input voltage 0 ... 24 VDC
Max. input voltage -30 ... +30 VDC
Logic 0 < 0.7 VDC
Logic 1 > 2.4 VDC
Input resistance
typical 22 kΩ(< 3.3 V)
typical 11 kΩ(> 3.3 V)
Input current at logic 1 typical 2 mA @24 VDC
Switching delay
< 1 µs @5 VDC
Figure 11: Digital input 2
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EPOS Positioning Controller EPOS 24/1 Hardware Reference
7.1.3 Digital input 3 "General Purpose"
“General Purpose” input by default and can be configured via software
setting.
Connector No. and Pin No. Connector [J1] Pin number [3]
Input voltage 0 ... 24 VDC
Max. input voltage -30 ... +30 VDC
Logic 0 < 0.7 VDC
Logic 1 > 2.4 VDC
Input resistance
typical 22 kΩ(< 3.3 V)
typical 11 kΩ(> 3.3 V)
Input current at logic 1 typical 2 mA @24 VDC
Switching delay
< 1 µs @5 VDC
Figure 12: Digital input 3
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EPOS Positioning Controller EPOS 24/1 Hardware Reference
7.1.4 Digital input 4 "Home Switch"
Determine the absolute position of the axis.
“Home Switch” input by default and can be configured via software
setting.
Connector No. and Pin No. Connector [J1] Pin number [4]
Input voltage 0 ... 24 VDC
Max. input voltage -30 ... +30 VDC
Logic 0 < 0.7 VDC
Logic 1 > 2.4 VDC
Input resistance
typical 22 kΩ(< 3.3 V)
typical 11 kΩ(> 3.3 V)
Input current at logic 1 typical 2 mA @24 VDC
Switching delay
< 300 µs @5 VDC
Figure 13: Digital input 4
Wiring examples:
a) Proximity switches type: PNP
3-wire model R IN = 11 kΩ
Figure 14: Digital input 4 external wiring example a)
b) Slotted optical sensor
R IN = 11 kΩ
R ext (12 V) = 20 kΩ
R ext (24 V) = 51 kΩ
Note: Logic level thresholds
Figure 15: Digital input 4 external wiring example b)
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EPOS Positioning Controller EPOS 24/1 Hardware Reference
7.1.5 Digital input 5 "Positive Limit Switch"
“Positive Limit Switch” input by default and can be configured via
software setting.
Connector No. and Pin No. Connector [J1] Pin number [5]
Input voltage 0 ... 24 VDC
Max. input voltage -30 ... +30 VDC
Logic 0 < 0.7 VDC
Logic 1 > 2.4 VDC
Input resistance
typical 22 kΩ(< 5 V)
typical 11 kΩ(> 5 V)
Input current at logic 1 typical 2 mA @24 VDC
Switching delay
< 300 µs @5 VDC
Figure 16: Digital input 5
Wiring examples:
a) Proximity switches type: PNP
3-wire model R IN = 11 kΩ
Figure 17: Digital input 5 external wiring example a)
b) Slotted optical sensor
R IN = 11 kΩ
R ext (12 V) = 20 kΩ
R ext (24 V) = 51 kΩ
Note: Logic level thresholds
Figure 18: Digital input 5 external wiring example b)
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EPOS Positioning Controller EPOS 24/1 Hardware Reference
7.1.6 Digital input 6 "Negative Limit Switch"
“Negative Limit Switch” input by default and can be configured via
software setting.
Connector No. and Pin No. Connector [J1] Pin number [6]
Input voltage 0 ... 24 VDC
Max. input voltage -30 ... +30 VDC
Logic 0 < 0.7 VDC
Logic 1 > 2.4 VDC
Input resistance
typical 22 kΩ(< 5 V)
typical 11 kΩ(> 5 V)
Input current at logic 1 typical 2 mA @24 VDC
Switching delay
< 300 µs @5 VDC
Figure 19: Digital input 6
Wiring examples:
a) Proximity switches type: PNP
3-wire model R IN = 11 kΩ
Figure 20: Digital input 6 external wiring example a)
b) Slotted optical sensor
R IN = 11 kΩ
R ext (12 V) = 20 kΩ
R ext (24 V) = 51 kΩ
Note: Logic level thresholds
Figure 21: Digital input 6 external wiring example b)
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EPOS Positioning Controller EPOS 24/1 Hardware Reference
7.1.7 Auxiliary output voltage
Auxiliary output voltage can be used as power supply for external
devices (switches…) connected to EPOS 24/1 digital inputs.
The auxiliary output voltage is short circuit protected.
Connector No. and Pin No. Connector [J1] Pin number [8]
Output voltage +5 VDC
Max. output current 10 mA
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EPOS Positioning Controller EPOS 24/1 Hardware Reference
7.1.8 Digital output 3 "General Purpose"
“General Purpose” output by default and can be configured via
software setting.
Connector No. and Pin No. Connector [J1] Pin number [9]
Circuit
Open Collector (internal pull-up
resistor 2k2 and diode to +5
VDC)
Figure 22: Digital output 3 circuit
Wiring examples:
a) DigOut3 “sink"
Max. input voltage +30 VDC
Max. load current 50 mA
Max. voltage drop < 1.0 V @ 50 mA
Figure 23: Digital output 3 external wiring example a)
b) DigOut3 “source”
Output voltage Uout ≈5V - 0.75V - (Iload × 2200Ω)
Max. load current Iload ≤2mA
Figure 24: Digital output 3 external wiring example b)
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EPOS Positioning Controller EPOS 24/1 Hardware Reference
7.1.9 Digital output 4 "General Purpose"
“General Purpose” output by default and can be configured via
software setting.
Connector No. and Pin No. Connector [J1] Pin number [10]
Circuit
Open Collector (internal pull-up
resistor 2k2 and diode to +5
VDC)
Figure 25: Digital output 4 circuit
Wiring examples:
a) DigOut4 “sink"
Max. input voltage +30 VDC
Max. load current 50 mA
Max. voltage drop < 1.0 V @ 50 mA
Figure 26: Digital output 4 external wiring example a)
b) DigOut4 “source”
Output voltage Uout ≈5V - 0.75V - (Iload × 2200Ω)
Max. load current Iload ≤2 mA
Figure 27: Digital output 4 external wiring example b)
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EPOS Positioning Controller EPOS 24/1 Hardware Reference
7.1.10 Supply voltage
Connector No. and Pin No. Connector [J1] Pin number [12,13]
Any available power supply can be used, provided that it meets the
minimal requirements specified below.
During set up and adjustment phases, we recommend separating the
motor mechanically from the machine to prevent damage due to
uncontrolled motion.
Power supply requirements
Output voltage VCC min. 9 VDC; VCC max. 24 VDC
Ripple < 10 %
Output current Depending on load,
continuous max. 1 A acceleration,
short-time max. 2 A
The required voltage can be calculated as follows:
Known values:
•Operating torque MB [mNm]
•Operating speed nB [min-1]
•Nominal motor voltage UN [Volt]
•Motor no-load speed at UN, n0 [min-1]
•Speed/torque gradient of the motor ∆n/∆M [min-1 mNm-1]
Sought value:
•Supply voltage VCC [Volt]
Solution:
][1
98.01
)(
0
VM
M
n
n
n
U
VBB
N
CC +⋅⋅
∆
∆
+⋅=
Choose a power supply capable of supplying this calculated voltage
under load. The formula takes a max. PWM cycle of 98 % and
a 1 Volt maximum voltage drop at EPOS 24/1 into account.
Consider:
During braking of the load, the power supply must be capable of
buffering the fed back energy, e.g. in a capacitor.
When using an electronically stabilized power supply observe that the
over current protection shall not be activated in any operating state.
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