maxon motor EPOS 70/10 Application guide

maxon motor
maxon motor control EPOS Positioning Controller
Hardware Reference December 2008 Edition
70/10
Positioning Controller
Documentation
Hardware Reference
maxon document number: 752380-04

maxon motor
EPOS Positioning Controller EPOS 70/10 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 ............................................................................................................................ 7
6.7 LED indicator....................................................................................................................... 7
6.8 Ambient temperature- / Humidity range.............................................................................. 7
6.9 Mechanical data.................................................................................................................. 7
6.10 Connections ........................................................................................................................ 7
6.11 Order number...................................................................................................................... 7
7Connections 300583 ............................................................................................................. 8
7.1 Power supply connector (J1) .............................................................................................. 9
7.2 Logic supply connector (J1A)............................................................................................ 10
7.3 Motor connector (J2)......................................................................................................... 11
7.3.1 maxon EC motor .......................................................................................................... 11
7.3.2 maxon DC motor with separated motor and encoder cable ........................................ 11
7.4 Hall sensor connector (J3) ................................................................................................ 12
7.5 Encoder connector (J4)..................................................................................................... 13
7.6 Signal 1 connector (J5) ..................................................................................................... 14
7.6.1 Digital input 1, 2, 3 “General Purpose“ ........................................................................ 15
7.6.2 Digital input 4, 5, 6 "Home Switch", "Positive and Negative Limit Switch" .................. 16
7.6.3 “+V Opto IN” external supply Input voltage for Digital Outputs.................................... 18
7.6.4 Digital output 1, 2, 3 “General Purpose“ ...................................................................... 19
7.6.5 Digital output 4 "Brake"................................................................................................ 20
7.7 Signal 2 connector (J5A)................................................................................................... 21
7.7.1 Reference Output voltage............................................................................................ 22
7.7.2 Analogue input 1 "General Purpose" ........................................................................... 23
7.7.3 Analogue input 2 "General Purpose" ........................................................................... 23
7.7.4 Digital input 7 "High Speed Command"....................................................................... 24
7.7.5 Digital input 8 "High Speed Command"....................................................................... 25
7.8 RS-232 connector (J6)...................................................................................................... 26
7.9 CAN connector (J7, J8)..................................................................................................... 27
7.10 CAN Node Identification (JP 1) ......................................................................................... 28
8LED status........................................................................................................................... 29
9Dimension drawing.............................................................................................................. 29
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EPOS Positioning Controller EPOS 70/10 Hardware Reference
2Table of figures
Figure 1: EPOS 70/10 photo ........................................................................................................... 4
Figure 2: EPOS documentation hierarchy....................................................................................... 4
Figure 3: EPOS photo with connector description .......................................................................... 8
Figure 4: Wiring diagram (overview) ............................................................................................... 8
Figure 5: Power connector (J1)....................................................................................................... 9
Figure 6: Logic supply connector (J1A)......................................................................................... 10
Figure 7: Motor connector (J2)...................................................................................................... 11
Figure 8: Motor connector (J2)...................................................................................................... 11
Figure 9: Hall sensor input circuit.................................................................................................. 12
Figure 10: Hall sensor connector (J3)...........................................................................................12
Figure 11: Encoder input circuit sketch .........................................................................................13
Figure 12: Encoder connector (J4)................................................................................................ 13
Figure 13: Signal connector (J5) ................................................................................................... 14
Figure 14: Logic level .................................................................................................................... 15
Figure 15: Digital input 1..3 ........................................................................................................... 15
Figure 16: Logic level .................................................................................................................... 16
Figure 17: Digital input 4…6.......................................................................................................... 16
Figure 18: Digital input 4,5,6 external wiring examples ................................................................ 17
Figure 19: Digital output 1, 2, 3 circuit........................................................................................... 19
Figure 20: Signal connector (J5A)................................................................................................. 21
Figure 21: Analogue input 1 circuit................................................................................................ 23
Figure 22: Analogue input 2 circuit................................................................................................ 23
Figure 23: Digital input 7 “Differential” circuit ................................................................................ 24
Figure 24: Digital input 7 “Single-ended” circuit ............................................................................ 24
Figure 25: Digital input 8 “Differential” circuit ................................................................................ 25
Figure 26: Digital input 8 “Single-ended” circuit ............................................................................ 25
Figure 27: RS232 cable connector (J6) ........................................................................................ 26
Figure 28: CAN connector (J7,J8)................................................................................................. 27
Figure 29: Table binary code value............................................................................................... 28
Figure 30: CAN ID examples ........................................................................................................ 28
Figure 31: Dimensions EPOS 70/10 ............................................................................................. 29
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EPOS Positioning Controller EPOS 70/10 Hardware Reference
3Introduction
This documentation “Hardware Reference” provides the hardware details of the EPOS 70/10
positioning controller. It contains performance data, connections, specification, pin assignment
and wiring examples.
The maxon motor EPOS 70/10 is a small-sized full digital
smart motion controller. Due to the flexible and high efficient
power stage the EPOS 70/10 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 70/10 photo
The latest edition of these “Hardware Reference”, additional documentation and software to the
EPOS positioning controller may also be found on 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 hierarchy
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EPOS Positioning Controller EPOS 70/10 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 70/10 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 11 and 70 VDC. Voltages higher than
77 VDC or of wrong polarity will destroy the unit.
Electrostatic Sensitive Device (ESD)
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EPOS Positioning Controller EPOS 70/10 Hardware Reference
6Performance Data
6.1 Electrical data
Power supply voltage VCC (Ripple < 10%) .......................................... 11 … 70 VDC
Logic supply voltage VC(Ripple < 10%) (optional) ............................. 11 … 70 VDC
Max. output voltage .................................................................................... 0.9 • VCC
Max. output current Imax (<1sec) ........................................................................ 25 A
Continuous output current Icont ........................................................................... 10 A
Switching frequency ....................................................................................... 50 kHz
Max. efficiency .................................................................................................. 93 %
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 ............................................................. 25 µH / 10 A
6.2 Inputs
Hall sensor signals ........................... 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”) ......... opto-isolated +9 ... +24 VDC (Ri = 1.8kΩ)
Digital input 2 (“General Purpose”) ......... opto-isolated +9 ... +24 VDC (Ri = 1.8kΩ)
Digital input 3 (“General Purpose”) ......... opto-isolated +9 ... +24 VDC (Ri = 1.8kΩ)
Digital input 4 (“Home Switch”) ............... opto-isolated +9 ... +24 VDC (Ri = 1.8kΩ)
Digital input 5 (“Positive Limit Switch”) ... opto-isolated +9 ... +24 VDC (Ri = 1.8kΩ)
Digital input 6 (“Negative Limit Switch”) .. opto-isolated +9 ... +24 VDC (Ri = 1.8kΩ)
Digital input 7 (“High Speed Command”).internal line receiver EIA standard RS-422
Digital input 8 (“High Speed Command”).internal line receiver EIA standard RS-422
Analogue input 1 ...................................... resolution 10-bit 0 ... +5 V (differential)
Analogue input 2 ...................................... resolution 10-bit 0 ... +5 V (differential)
+V Opto IN ...................................................................................... +12 … +24 VDC
CAN-ID (CAN identification) ........... ID 1-127configured by DIP-Switch or Software
6.3 Outputs
Digital output 1 (“General Purpose”) ........ opto-isolated max. 24 VDC (IL< 20 mA)
Digital output 2 (“General Purpose”) ........ opto-isolated max. 24 VDC (IL< 20 mA)
Digital output 3 (“General Purpose”) ........ opto-isolated max. 24 VDC (IL< 20 mA)
Digital output 4 (“Brake”)……………………opto-isolated max. 24 VDC (IL< 500 mA)
6.4 Voltage outputs
Encoder supply voltage ........................................................ +5 VDC, max. 100 mA
Hall sensors supply voltage .................................................... +5 VDC, max. 30 mA
Reference Output voltage ........................................................... +5 VDC (Ri =1 kΩ)
6.5 Motor connections
maxon EC motor maxon DC motor
Motor winding 1 +Motor
Motor winding 2 -Motor
Motor winding 3
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EPOS Positioning Controller EPOS 70/10 Hardware Reference
6.6 Interfaces
RS-232 .............................. RxD; TxD ......................................... max. 115 200 bit/s
CAN (1) ............................. CAN_H (high); CAN_L (low) .................... max.1 MBit/s
CAN (2) ............................. CAN_H (high); CAN_L (low) .................... max.1 MBit/s
6.7 LED indicator
2 colours LED ............................................................................... ENABLE / FAULT
................................................................................. green = ENABLE, red = FAULT
6.8 Ambient temperature- / Humidity range
Operating .............................................................................................. -10 ... +45°C
Storage ................................................................................................. -40 ... +85°C
Non condensating .................................................................................... 20 ... 80 %
6.9 Mechanical data
Weight ................................................................................................. approx. 330 g
Dimensions (L x W x H) ................................................................ 150 x 93 x 27 mm
Mounting plate .................................................................................... for M3 screws
6.10 Connections
Power on board: .................. dual row male header (2 poles) Molex Mini-Fit Jr.TM
Supply Suitable plug: .......... dual row female receptacle (2 poles) Molex Mini-Fit Jr.TM 39-01-2020
Suitable terminal: ..... female crimp terminal Molex Mini-Fit Jr.TM 444-76-1111 (AWG 18-24)
Logic On board: ....................... dual row male header (2 poles) Molex Mini-Fit Jr.TM
Supply Suitable plug: ............. dual row female receptacle (2 poles) Molex Mini-Fit Jr.TM 39-01-2020
Suitable terminal: ...... female crimp terminal Molex Mini-Fit Jr.TM 444-76-1111 (AWG 18-24)
Motor On board: ....................... dual row male header (4 poles) Molex Mini-Fit Jr.TM
Suitable plug: ............. dual row female receptacle (4 poles) Molex Mini-Fit Jr.TM 39-01-2040
Suitable terminal: ...... female crimp terminal Molex Mini-Fit Jr.TM 444-76-1111 (AWG 18-24)
Hall On board: ................... dual row male header (6 poles) Molex Micro-Fit 3.0TM
Suitable plug: ........ dual row female receptacle (6 poles) Molex Micro-Fit 3.0TM 430-25-0600
Suitable terminal: .... female crimp terminal Molex Micro-Fit 3.0TM 430-30-0010 (AWG26-30)
Signal 1 On board: ................ dual row male header (16 poles) Molex Micro-Fit 3.0TM
Suitable plug: dual row female receptacle (16 poles) Molex Micro-Fit 3.0TM 430-25-1600
Suitable terminal: ..... female crimp terminal Molex Micro-Fit 3.0TM 430-30-0010(AWG26-30)
Signal 2 On board: ................ dual row male header (12 poles) Molex Micro-Fit 3.0TM
Suitable plug: ...... dual row female receptacle (12 poles) Molex Micro-Fit 3.0TM 430-25-1200
Suitable terminal: ..... female crimp terminal Molex Micro-Fit 3.0TM 430-30-0010(AWG26-30)
RS232 On board: ................... dual row male header (6 poles) Molex Micro-Fit 3.0TM
Suitable plug: ........ dual row female receptacle (6 poles) Molex Micro-Fit 3.0TM 430-25-0600
Suitable terminal: ..... female crimp terminal Molex Micro-Fit 3.0TM 430-30-0010(AWG26-30)
CAN 1 On board: ................... dual row male header (4 poles) Molex Micro-Fit 3.0TM
Suitable plug: ........ dual row female receptacle (4 poles) Molex Micro-Fit 3.0TM 430-25-0400
Suitable terminal: ..... female crimp terminal Molex Micro-Fit 3.0TM 430-30-0010(AWG26-30)
CAN 2 On board: ................... dual row male header (4 poles) Molex Micro-Fit 3.0TM
Suitable plug: ........ dual row female receptacle (4 poles) Molex Micro-Fit 3.0TM 430-25-0400
Suitable terminal: ..... female crimp terminal Molex Micro-Fit 3.0TM 430-30-0010(AWG26-30)
Encoder On board: ........................................... Plug DIN41651 (10 poles) for flat band cable
............................................................................................................... pitch 1.27mm, AWG 28
Suitable locking clip: .............................................................. Tyco C42334-A421-C42 (right)
.................................................................................................. Tyco C42334-A421-C52 (left)
6.11 Order number
EPOS 70/10 .................................................................................................. 300583
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EPOS Positioning Controller EPOS 70/10 Hardware Reference
7Connections 300583
Figure 3: EPOS photo with connector description
Figure 4: Wiring diagram (overview)
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7.1 Power supply connector (J1)
Any available power supply can be used, provided it meets the
minimal requirements set out 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. 11 VDC; VCC max. 70 VDC
Ripple < 10 %
Output current Depending on load,
continuous min. 10 A
acceleration, short-time min. 25 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
9.0
1
)(
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 90 % and
a 1 volts max. voltage drop at EPOS 70/10 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 or shunt regulator
(235811).
When using an electronically stabilized power supply observe that the
over current protection shall not be activated in any operating state
Figure 5: Power connector (J1)
Pin
No.
Signal Description
1 Power_Gnd Ground of supply voltage
2 +VCC Power supply voltage
+11 ... +70 VDC
Accessories: EPOS power cable maxon order number: 275829
Notes: Suitable connector: Molex Mini-Fit Jr.TM 2 poles (39-01-2020)
Suitable crimp terminals: Molex Mini-Fit Jr.TM female crimp
terminals (444-76-1111)
Suitable hand crimper: Molex hand crimper (69008-0724)
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EPOS Positioning Controller EPOS 70/10 Hardware Reference
7.2 Logic supply connector (J1A)
Optionally, the logic supply voltage can be sourced separately.
This allows a safe and economical power backup feature.
In case no separate Logic supply is applied, the Logic supply will be
sourced by the Power supply voltage automatically.
Any available power supply can be used, provided it meets the
minimal requirements set out below.
Logic supply requirements
Output voltage VCC min. 11 VDC; VCC max. 70 VDC
Ripple < 10 %
Min. Output power PCC min. 5W
Figure 6: Logic supply connector (J1A)
Pin
No.
Signal Description
1 Power_Gnd Ground of supply voltage
2 +VCLogic supply voltage
+11 ... +70 VDC
Accessories: EPOS power cable maxon order number: 275829
Notes: Suitable connector: Molex Mini-Fit Jr.TM 2 poles (39-01-2020)
Suitable crimp terminals: Molex Mini-Fit Jr.TM female crimp
terminals (444-76-1111)
Suitable hand crimper: Molex hand crimper (69008-0724)
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EPOS Positioning Controller EPOS 70/10 Hardware Reference
7.3 Motor connector (J2)
7.3.1 maxon EC motor
Connect the maxon EC motor (brushless) motor windings on motor
connector (J2).
Figure 7: Motor connector (J2)
Pin
No.
Signal Description
1 Motor winding 1 EC motor: Winding 1
2 Motor winding 2 EC motor: Winding 2
3 Motor winding 3 EC motor: Winding 3
4 Motor shield Cable shield
Accessories: EPOS motor cable maxon order number: 275851
Notes: Suitable connector: Molex Mini-Fit Jr.TM 4 poles
(39-01-2040)
Suitable crimp terminals: Molex Mini-Fit Jr.TM female crimp
terminals (444-76-1111)
Suitable hand crimper: Molex hand crimper (69008-0724)
7.3.2 maxon DC motor with separated motor and encoder cable
Connect the maxon DC motor (brush) on motor connector (J2).
Figure 8: Motor connector (J2)
Pin
No.
Signal Description
1 Motor (+M) DC motor: Motor +
2 Motor (-M) DC motor: Motor -
3 Do not connect Do not connect
4 Motor shield Cable shield
Accessories: EPOS motor cable maxon order number: 275851
Notes: Suitable connector: Molex Mini-Fit Jr.TM 4 poles
(39-01-2040)
Suitable crimp terminals: Molex Mini-Fit Jr.TM female crimp
terminals (444-76-1111)
Suitable hand crimper: Molex hand crimper (69008-0724)
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EPOS Positioning Controller EPOS 70/10 Hardware Reference
7.4 Hall sensor connector (J3)
Hall sensors are needed for detecting rotor position of maxon EC
motors (brushless).
Suitable for Hall Effect sensors IC using Schmitt-trigger with open
collector output.
Hall sensor supply voltage +5 VDC
Max. Hall sensor supply current 30 mA
Input voltage 0…+10 VDC
Logic 0 typical < 0.8 VDC
Logic 1 typical > 2.4 VDC
Internal pull-up resistor 2.7 kΩ(against +5 VDC)
Figure 9: Hall sensor input circuit
Figure 10: Hall sensor connector (J3)
Pin
No.
Signal Description
1 Hall sensor 1 Hall sensor 1 Input
2 Hall sensor 2 Hall sensor 2 Input
3 Hall sensor 3 Hall sensor 3 Input
4 GND Ground of Hall sensor supply
5 +VHall Hall sensor supply voltage
+5 VDC / 30 mA
6 Hall shield Cable shield
Accessories: EPOS Hall sensor cable maxon order number: 275878
Notes: Suitable connector: Molex Micro-Fit 3.0TM 6 poles
(430-25-0600)
Suitable crimp terminals: Molex Micro-Fit 3.0TM female crimp
terminals (430-30-0010)
Suitable hand crimper: Molex hand crimper (69008-0983)
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EPOS Positioning Controller EPOS 70/10 Hardware Reference
7.5 Encoder connector (J4)
It is necessary that an encoder with a built-in line driver is used
(3-channel recommended).
The standard encoder adjustment (original packing) refers to a
500-count per turn encoder. For other encoders the adjustment must
be modified with the software.
Encoder supply voltage +5 VDC
Max. encoder supply current 100 mA
Min. differential Input voltage ± 200 mV
Line receiver (internal) EIA standard RS-422
Max. encoder input frequency 1 MHz
Figure 11: Encoder input circuit sketch
Figure 12: Encoder connector (J4)
Pin
No.
Signal Description
1 n.c. Not connected
2 +5 VDC / 100 mA Encoder supply voltage
3 GND Ground
4 n.c. Not connected
5 Channel A\ Channel A complement
6 Channel A Channel A
7 Channel B\ Channel B complement
8 Channel B Channel B
9 Channel I\ Index complement
10 Channel I Index
Encoder pin out suits for example to:
- maxon digital MR-Encoder type ML, L all with Line Driver
- maxon digital encoder HEDL 55__ with Line Driver RS 422
Accessories: EPOS encoder cable maxon order number: 275934
Notes: Suitable connector: DIN 41651 Plug, pitch 2.54 mm,
10 poles, plug strain relief
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EPOS Positioning Controller EPOS 70/10 Hardware Reference
7.6 Signal 1 connector (J5)
Signal connector contains smart multi-purpose digital I/O’s
configurable as: “Positive- and Negative Limit Switches”, “Home
Switch” and “Brake Output”.
Additionally “General Purpose” digital I/O’s are provided.
Figure 13: Signal connector (J5)
Pin
No.
Signal Description
1 IN_COM 2 Common signal 2 for DigIN 4…6
2 IN_COM 1 Common signal 1 for DigIN 1…3
3 DigIN 6 Digital input 6 “Negative Limit Switch”
4 DigIN 5 Digital input 5 “Positive Limit Switch”
5 DigIN 4 Digital input 4 “Home Switch”
6 DigIN 3 Digital input 3 “General Purpose”
7 DigIN 2 Digital input 2 “General Purpose”
8 DigIN 1 Digital input 1 “General Purpose”
9 +V Opto IN External supply Input voltage for
Digital Outputs (+12 … 24VDC)
10 DigOUT 4 Digital output 4 “Brake”
11 DigOUT 3 Digital output 3 “General Purpose”
12 DigOUT 2 Digital output 2 “General Purpose”
13 DigOUT 1 Digital output 1 “General Purpose”
14 DigOUT_Gnd Digital OUT Ground
referred to “+V Opto IN”
15 n.c. Not connected
16 n.c. Not connected
Accessories: EPOS signal cable maxon order number: 275932
Notes: Suitable connector: Molex Micro-Fit 3.0TM 16 poles
(430-25-1600)
Suitable crimp terminals: Molex Micro-Fit 3.0TM female crimp
terminals (430-30-0010)
Suitable hand crimper: Molex hand crimper (69008-0983)
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EPOS Positioning Controller EPOS 70/10 Hardware Reference
7.6.1 Digital input 1, 2, 3 “General Purpose“
These opto-isolated inputs are defined as “General Purpose” by
default and can be configured via software setting.
Digital input 1 [DigIN1] Connector [J5] Pin number [8]
Digital input 2 [DigIN2] Connector [J5] Pin number [7]
Digital input 3 [DigIN3] Connector [J5] Pin number [6]
Common signal [IN_COM1] Connector [J5] Pin number [2]
Type of Input Optical isolated
Single ended, Bipolar
Input voltage ±24 VDC
Max. input voltage ± 30 VDC
Logic 0 | Iin | < 1 mA
| Uin | < 5 VDC
Logic 1 | Iin | > 3 mA
| Uin | > 9 VDC
Figure 14: Logic level
Input resistance typical 1.8 kΩ
Input current at logic 1 typical 13.2 mA @24 VDC
Switching delay < 300 µs @24 VDC
Figure 15: Digital input 1..3
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EPOS Positioning Controller EPOS 70/10 Hardware Reference
7.6.2 Digital input 4, 5, 6 "Home Switch", "Positive and Negative Limit Switch"
These opto-isolated inputs are defined as:
Digital input 4: “Home Switch”
Digital input 5: “Positive Limit Switch“
Digital input 6: “Negative Limit Switch“
by default and can be configured via software setting.
Digital input 4 [DigIN4] Connector [J5] Pin number [5]
Digital input 5 [DigIN5] Connector [J5] Pin number [4]
Digital input 6 [DigIN6] Connector [J5] Pin number [3]
Common signal [IN_COM2] Connector [J5] Pin number [1]
Type of Input Optical isolated
Single ended, Bipolar
Input voltage ±24 VDC
Max. input voltage ± 30 VDC
Logic 0 | Iin | < 1 mA
| Uin | < 5 VDC
Logic 1 | Iin | > 3 mA
| Uin | > 9 VDC
Figure 16: Logic level
Input resistance typical 1.8 kΩ
Input current at logic 1 typical 13.2 mA @24 VDC
Switching delay < 300 µs @24 VDC
Figure 17: Digital input 4…6
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EPOS Positioning Controller EPOS 70/10 Hardware Reference
Wiring examples:
Different types of proximity switches
6
Figure 18: Digital input 4,5, external wiring examples
Notes: •Use of 3-wire PNP proximity switches is preferred.
•Use of 3-wire NPN proximity switches needs an additional
external pull-up resistor
R ext (12V) = 560 Ω(300mW)
R ext (24V) = 3 kΩ(200mW)
•Use of 2-wire proximity switches is possible.
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7.6.3 “+V Opto IN” external supply Input voltage for Digital Outputs
An external supply voltage has to be applied for supplying the EPOS
70/10 digital optical-isolated outputs.
+V Opto IN [+V Opto IN] Connector [J5] Pin number [9]
Digital OUT Ground [DigOUT_Gnd] Connector [J5] Pin number [14]
Any available power supply can be used, provided it meets the
minimal requirements set below.
Supply voltage +12…+24 VDC
Min. current 560 mA
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7.6.4 Digital output 1, 2, 3 “General Purpose“
These opto-isolated outputs are defined as “General Purpose” by
default and can be configured via software setting.
Digital output 1 [DigOUT1] Connector [J5] Pin number [13]
Digital output 2 [DigOUT2] Connector [J5] Pin number [12]
Digital output 3 [DigOUT3] Connector [J5] Pin number [11]
+V Opto IN [+V Opto IN] Connector [J5] Pin number [9]
Type of Output Optical isolated
Open-Emitter
Output voltage
Uout ≥+ V Opto IN – 3V
Max. load current Iload ≤20 mA
Leakage current
Ileak ≤20 µA
Switching delay < 500 µs @ 24 VDC
Figure 19: Digital output 1, 2, 3 circuit
19 maxon motor control December 2008 Edition / document number 752380-04 / subject to change

maxon motor
EPOS Positioning Controller EPOS 70/10 Hardware Reference
7.6.5 Digital output 4 "Brake"
Apply permanent magnet brake for DC voltage.
Digital output 4 [DigOUT4] Connector [J5] Pin number [10]
+V Opto IN [+V Opto IN] Connector [J5] Pin number [9]
Digital OUT Ground [DigOUT_Gnd] Connector [J5] Pin number [14]
Type of Output Optical isolated
Open-Emitter
Output voltage
Uout ≥+V Opto IN – 1V
Max. load current Iload ≤500 mA
Leakage current
Ileak ≤50 µA
Switching delay < 300 µs @ 24 VDC
Max. inductive load 2 H @ 24VDC; 500mA
Wiring example:
Permanent magnet brake
20 maxon motor control December 2008 Edition / document number 752380-04 / subject to change