maxon motor EPOS2 24/2 Application guide

maxon motor ag Brünigstrasse 220 P.O.Box 263 CH-6072 Sachseln Phone [phone] Fax [phone] www.maxonmotor.com
Edition November 2017
EPOS2 Positioning Controller
Hardware Reference
maxon motor control
Positioning Controller
Hardware Reference
Document ID: rel7748

maxon motor control
A-2 Document ID: rel7748 EPOS2 Positioning Controller
Edition: November 2017 EPOS2 24/2 Hardware Reference
© 2017 maxon motor. Subject to change without prior notice.
PLEASE 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.
We have tried to provide you with all information necessary to install and commission the equipment in a
secure, safe and time-saving manner. Our main focus is …
• to familiarize you with all relevant technical aspects,
• to let you know the easiest way of doing,
• to alert you of any possibly dangerous situation you might encounter or that you might cause if
you do not follow the description,
•to write as little and to say as much as possible and
• not to bore you with things you already know.
Likewise, we tried to skip repetitive information! Thus, you will find things mentioned just once. If, for
example, an earlier mentioned action fits other occasions you then will be directed to that text passage
with a respective reference.
Follow any stated reference – observe respective information – then go back and continue with
the task!
PREREQUISITES FOR PERMISSION TO COMMENCE INSTALLATION
The EPOS2 24/2 is considered as partly completed machinery according to EU directive 2006/42/EC,
Article 2, Clause (g) and therefore is intended to be incorporated into or assembled with other
machinery or other partly completed machinery or equipment.
You must not put the device into service, …
• unless you have made completely sure that the other machinery – the surrounding system the device
is intended to be incorporated to – fully complies with the requirements stated in EU directive 2006/
42/EC!
• unless the surrounding system fulfills all relevant health and safety aspects!
• unless all respective interfaces have been established and fulfill the stated requirements!

maxon motor control
EPOS2 Positioning Controller Document ID: rel7748 A-3
EPOS2 24/2 Hardware Reference Edition: November 2017
© 2017 maxon motor. Subject to change without prior notice.
1 About this Document 5
2 Introduction 7
2.1 Documentation Structure . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 7
2.2 Safety Precautions. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 8
3 Technical Data 9
3.1 Electrical Data . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 9
3.2 Mechanical Data . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 11
3.3 Environmental Conditions . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 13
3.4 Order Details . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 13
3.5 Standards . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 14
4 Connections 15
4.1 Wiring Diagrams . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 15
4.1.1 EPOS2 24/2 for maxon DC motors (390438). . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 15
4.1.2 EPOS2 24/2 for maxon DC/EC motors (390003). . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 16
4.1.3 EPOS2 24/2 for maxon DCX motors (530239) . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 17
4.1.4 EPOS2 24/2 for maxon EC motors (380264). . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 18
4.2 Connectors . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 19
4.2.1 Supply/Control Signals Connector (J1) . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 20
4.2.2 Communication/Analog Inputs Connector (J2) . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 27
4.2.3 Motor/Encoder Connector (J3). . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 29
4.2.4 Encoder Connector (J4) . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 30
4.2.5 Motor Connectors (J5 / J6 / J7) . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 30
4.2.6 Motor/Hall Sensors Connector (J8) . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 31
4.2.7 Encoder Connector (J9) . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 32
4.2.8 Motor/Hall Sensors Connector (J10) . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 33
4.2.9 Encoder Connector (J11) . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 34
4.2.10 RS232 Connector (J12) . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 35
4.2.11 CAN Connector (J13). . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 36
4.2.12 Supply/Control Signals Connector (J14) . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 37
4.2.13 USB Connector (J15). . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 38
4.3 CAN Node Identification (JP1). . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 39
4.3.1 CAN ID (Node Address). . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 39
4.3.2 CAN Bus Termination . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 40
4.4 CAN Bit Rate Detection . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 40
4.5 Status LEDs. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 40
TABLE OF CONTENTS

maxon motor control
A-4 Document ID: rel7748 EPOS2 Positioning Controller
Edition: November 2017 EPOS2 24/2 Hardware Reference
© 2017 maxon motor. Subject to change without prior notice.
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About this Document
© 2017 maxon motor. Subject to change without prior notice.
maxon motor control
EPOS2 Positioning Controller Document ID: rel7748 1-5
EPOS2 24/2 Hardware Reference Edition: November 2017
1 About this Document
1.1 Intended Purpose
The purpose of the present document is to familiarize you with the described equipment and the tasks
on safe and adequate installation and/or commissioning.
Observing the described instructions in this document will help you …
• to avoid dangerous situations,
• to keep installation and/or commissioning time at a minimum and
• to increase reliability and service life of the described equipment.
Use for other and/or additional purposes is not permitted. maxon motor, the manufacturer of the equip-
ment described, does not assume any liability for loss or damage that may arise from any other and/or
additional use than the intended purpose.
1.2 Target Audience
This document is meant for trained and skilled personnel working with the equipment described. It con-
veys information on how to understand and fulfill the respective work and duties.
This document is a reference book. It does require particular knowledge and expertise specific to the
equipment described.
1.3 How to use
Take note of the following notations and codes which will be used throughout the document.
Table 1-1 Notations used in this Document
1.4 Symbols and Signs
In the course of the present document, the following symbols and sings will be used.
Notation Explanation
(n) referring to an item (such as order number, list item, 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!

About this Document
© 2017 maxon motor. Subject to change without prior notice.
maxon motor control
1-6 Document ID: rel7748 EPOS2 Positioning Controller
Edition: November 2017 EPOS2 24/2 Hardware Reference
Table 1-2 Symbols & Signs
1.5 Trademarks and Brand Names
For easier legibility, registered brand names are listed below and will not be further tagged with their
respective trademark. It must be understood that the brands (the below list is not necessarily conclud-
ing) are protected 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
1.6 Copyright
© 2017 maxon motor. All rights reserved.
The present document – including all parts thereof – is protected by copyright. Any use (including repro-
duction, translation, microfilming and other means of electronic data processing) beyond the narrow
restrictions of the copyright law without the prior approval of maxon motor ag, is not permitted and sub-
ject to persecution under the applicable law.
maxon motor ag
Brünigstrasse 220
P.O.Box 263
CH-6072 Sachseln
Switzerland
Phone [phone]
Fax [phone]
www.maxonmotor.com
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.
Type Symbol Meaning
The brand name(s) … … is/are a registered trademark(s) of …
Adobe® Reader® © Adobe Systems Incorporated, USA-San Jose, CA
Micro-Fit™
Mini-Fit Jr.™ © Molex, USA-Lisle, IL
Pentium® © Intel Corporation, USA-Santa Clara, CA
Windows® © Microsoft Corporation, USA-Redmond, WA

Introduction
Documentation Structure
© 2017 maxon motor. Subject to change without prior notice.
maxon motor control
EPOS2 Positioning Controller Document ID: rel7748 2-7
EPOS2 24/2 Hardware Reference Edition: November 2017
2Introduction
The present document provides you with information on the EPOS2 24/2 Positioning Controller’s hard-
ware. It contains…
• performance data and specifications,
• information on connections and pin assignment and
• wiring examples.
The EPOS2 24/2 Positioning Controller is available in different variants possessing an identical basic
setup, however, their individual configuration varies slightly. The present document covers the entire
scope on all variants, thus providing you with all relevant information regardless of the actual type of
controller you are using.
maxon motor control’s EPOS2 24/2 is a small-sized, full digital, smart motion controller. Due to its flexi-
ble and high efficient power stage, the EPOS2 24/2 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 the possibility to drive brushless EC
motors with minimal torque ripple and low noise. The integrated position, velocity and current control
functionality allows sophisticated positioning applications. The EPOS2 24/2 is especially designed being
commanded and controlled as a slave node in a CANopen network. In addition, the unit can be operated
via any USB or RS232 interface.
Find the latest edition of the present document, as well as additional documentation and software to the
EPOS2 24/2 Positioning Controller also on the Internet: www.maxonmotor.com
2.1 Documentation Structure
The present document is part of a documentation set. Please find below an overview on the documenta-
tion hierarchy and the interrelationship of its individual parts:
Figure 2-1 Documentation Structure

Introduction
Safety Precautions
© 2017 maxon motor. Subject to change without prior notice.
maxon motor control
2-8 Document ID: rel7748 EPOS2 Positioning Controller
Edition: November 2017 EPOS2 24/2 Hardware Reference
2.2 Safety Precautions
Prior continuing …
• make sure you have read and understood chapter “ PLEASE READ THIS FIRST” on page A-2,
• do not engage with any work unless you possess the stated skills (chapter “1.2 Target Audi-
ence” on page 1-5),
• refer to chapter “1.4 Symbols and Signs” on page 1-5 to understand the subsequently used
indicators,
• 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,
• take note of the subsequently used indicators and follow them at all times.
Requirements
• Make sure that all associated devices and components are installed according to local regulations.
• Be aware that, by principle, an electronic apparatus can not be considered fail-safe. Therefore, you
must make sure that any machine/apparatus has been fitted with independent monitoring and safety
equipment. 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 motor.
Best Practice
• For initial operation, make sure that the motor is free running. If not the case, mechanically discon-
nect the motor from the load.
Maximal permitted Supply Voltage
• Make sure that supply power is between 9…24 VDC.
• Supply voltages above 30 VDC will destroy the unit.
• Wrong polarity will destroy the unit.
Electrostatic Sensitive Device (ESD)
• Make sure to wear working cloth in compliance with ESD.
• Handle device with extra care.
Hot plugging the USB interface may cause hardware damage
If the USB interface is being hot-plugged (connecting while the power supply is on), the possibly high
potential differences of the two power supplies of controller and PC/Notebook can lead to damaged
hardware.
• Avoid potential differences between the power supply of controller and PC/Notebook or, if possible,
balance them.
• Insert the USB connector first, then switch on the power supply of the controller.
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 with your name!

Technical Data
Electrical Data
© 2017 maxon motor. Subject to change without prior notice.
maxon motor control
EPOS2 Positioning Controller Document ID: rel7748 3-9
EPOS2 24/2 Hardware Reference Edition: November 2017
3 Technical Data
3.1 Electrical Data
Table 3-4 Electrical Data – Rating
Table 3-5 Electrical Data – Inputs
Table 3-6 Electrical Data – Outputs
Rating
Nominal power supply voltage VCC 9…24 VDC
Absolute min. supply voltage VCC 8 VDC
Absolute max. supply voltage VCC 28 VDC
Max. output voltage 0.9 • VCC
Max. output current Imax (<1 sec) 4 A
Continuous output current Icont 2 A
Switching frequency 100 kHz
Max. efficiency 90%
Sample rate PI – current controller 10 kHz
Sample rate PI – speed controller 1 kHz
Sample rate PID – positioning controller 1 kHz
Max. speed @ sinusoidal commutation
(motors with 1 pole pair) 25 000 rpm
Max. speed @ block commutation
(motors with 1 pole pair) 100 000 rpm
Built-in motor choke per phase 47 μH / 2 A
Inputs
Hall sensor signals (380264 and 390003 only)
Hall sensor 1, Hall sensor 2 and Hall sensor 3
for Hall effect sensor ICs (Schmitt trigger with open
collector output)
Encoder signals A, A\, B, B\, I, I\ (max. 5 MHz)
internal line receiver EIA RS422 Standard
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)
Analog Input 1 resolution 12-bit 0…+5 V (Ri = 47 kΩ)
Analog Input 2 resolution 12-bit 0…+5 V (Ri = 47 kΩ)
CAN ID (CAN identification) ID 1…15 configurable via DIP switch 1…4
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)

Technical Data
Electrical Data
© 2017 maxon motor. Subject to change without prior notice.
maxon motor control
3-10 Document ID: rel7748 EPOS2 Positioning Controller
Edition: November 2017 EPOS2 24/2 Hardware Reference
Table 3-7 Electrical Data – Voltage Outputs
Table 3-8 Electrical Data – Motor Connections
*1) with interface according to MR Encoder Type S with Line Driver and MR Encoder Type M with Line Driver.
Table 3-9 Electrical Data – Connections
Voltage Outputs
Encoder supply voltage +5 VDC (IL <100 mA)
Hall sensors supply voltage (380264 and 390003 only) +5 VDC (IL <30 mA)
Auxiliary output voltage +5 VDC (IL <10 mA)
Motor Connections
maxon EC motor (380264 and 390003 only) maxon DC motor
Motor winding 1 + Motor
Motor winding 2 − Motor
Motor winding 3
Connections
DC (390438) DC/EC (390003) DC(X) (530239) EC (380264)
Purpose Connector Type
J1 –J1 J1 Supply /
Control Signals PCB screw clamps, 13 poles, pitch 2.54 mm
J2 –J2 J2 Communication /
Analog Inputs PCB screw clamps, 8 poles, pitch 2.54 mm
J3 –––Motor*1) /
Encoder
DIN41651; 10 poles for ribbon cable, pitch 1.27 mm, AWG 28
Suitable clip: Tyco C42334-A421-C42 (right); C42334-A421-C52 (left)
– – J4 –Encoder Half pitch box header, 2 x 5 poles, pitch 1.27/1.27 mm
– – J5 –Motor PCB screw clamps, 2 poles, pitch 2.54 mm
– – J6 –Motor Hirose DF3-3P-2DSA
Suitable plug/terminal: Hirose DF3-3S-2C / Hirose DF3-22SC
– – J7 –Motor JST B2B-PH-K-S
Suitable plug/terminal: JST PHR-2 / JST SPH-002T
– – – J8 Motor /
Hall Sensors Lumberg 2.5 MSF/O 08, 8 poles, pitch 2.5 mm
–J11 J3 J9 Encoder DIN41651; 10 poles for ribbon cable, pitch 1.27 mm, AWG 28
Suitable clip: Tyco C42334-A421-C42 (right); C42334-A421-C52 (left)
–J10 – –
DC Motor /
EC Motor with
Hall Sensors
Dual row male header (8 poles) Molex Micro-Fit 3.0
Suitable plug/terminal: Molex Micro-Fit 3.0 430-25-0800 / female crimp
terminal 43030-xxxx (AWG 20-30)
–J12 – – RS232
Dual row male header (6 poles) Molex Micro-Fit 3.0
Suitable plug/terminal: Molex Micro-Fit 3.0 430-25-0600 / female crimp
terminal 43030-xxxx (AWG 20-30)
–J13 – – CAN
Dual row male header (4 poles) Molex Micro-Fit 3.0
Suitable plug/terminal: Molex Micro-Fit 3.0 430-25-0400 / female crimp
terminal 43030-xxxx (AWG 20-30)
–J14 – – Supply /
Control Signals
Dual row male header (16 poles) Molex Micro-Fit 3.0
Suitable plug/terminal: Molex Micro-Fit 3.0 430-25-1600 / female crimp
terminal 43030-xxxx (AWG 20-30)
J15 J15 J15 J15 USB
USB connector type mini-B jack (5 poles)
Suitable plug: Standard USB cable with type mini-B plug connector (5
poles)

Technical Data
Mechanical Data
© 2017 maxon motor. Subject to change without prior notice.
maxon motor control
EPOS2 Positioning Controller Document ID: rel7748 3-11
EPOS2 24/2 Hardware Reference Edition: November 2017
Table 3-10 Electrical Data – Interfaces
Table 3-11 Electrical Data – LEDs
3.2 Mechanical Data
*1) Max. tightening torque 0.16 Nm.
Table 3-12 Mechanical Data
Figure 3-2 Dimensional Drawing [mm] – DC (390438)
Interfaces
RS232 RxD; TxD max. 115 200 bit/s
USB 2.0 /
USB 3.0 Data+; Data− full speed
CAN 1 CAN_H (high); CAN_L (low) max.1 Mbit/s
CAN 2 CAN_H (high); CAN_L (low) max.1 Mbit/s
Status Indicators
Operation green LED
Error red LED
Mechanical Data DC
(390438)
DC/EC
(390003)
DCX
(530239)
EC
(380264)
Weight approx. 27 g approx. 28 g approx. 27 g approx. 30 g
Dimensions (L x W x H) 55 x 40 x 15.6 mm 55 x 40 x 18.2 mm 55 x 40 x 18.2 mm 55 x 40 x 19.6 mm
Mounting plate for M2.5 screws *1) for M2.5 screws *1) for M2.5 screws *1) for M2.5 screws *1)

Technical Data
Mechanical Data
© 2017 maxon motor. Subject to change without prior notice.
maxon motor control
3-12 Document ID: rel7748 EPOS2 Positioning Controller
Edition: November 2017 EPOS2 24/2 Hardware Reference
Figure 3-3 Dimensional Drawing [mm] – DC/EC (390003)
Figure 3-4 Dimensional Drawing [mm] – DCX (530239)
Figure 3-5 Dimensional Drawing [mm] – EC (380264)

Technical Data
Environmental Conditions
© 2017 maxon motor. Subject to change without prior notice.
maxon motor control
EPOS2 Positioning Controller Document ID: rel7748 3-13
EPOS2 24/2 Hardware Reference Edition: November 2017
3.3 Environmental Conditions
*1) Operation within the extended range (temperature and altitude) is permitted. However, a respective derating
(declination of output current Icont) as to the stated values will apply.
*2) Operating altitude in meters above Mean Sea Level, MSL.
Table 3-13 Environmental Conditions
Figure 3-6 Derating Output Current
3.4 Order Details
Table 3-14 Order Details
Environmental Condition
Temperature
Operation −10…+55 °C
Extended Range *1) +55…+74 °C / Derating Figure 3-6
Storage −40…+85 °C
Altitude *2) Operation 0…10’000 m MSL
Humidity 5…90% (condensation not permitted)
Order # Order Details
380264 EPOS2 24/2 for maxon EC motors
390003 EPOS2 24/2 for maxon DC motors
for maxon EC motors
390438 EPOS2 24/2 for maxon DC motors
530239 EPOS2 24/2 for maxon DC motors
for maxon DCX motors

Technical Data
Standards
© 2017 maxon motor. Subject to change without prior notice.
maxon motor control
3-14 Document ID: rel7748 EPOS2 Positioning Controller
Edition: November 2017 EPOS2 24/2 Hardware Reference
3.5 Standards
The described device has been successfully tested for compliance with the below listed standards. In
practical terms, only the complete system (the fully operational equipment comprising all individual com-
ponents, such as motor, servo controller, power supply unit, EMC filter, cabling etc.) can undergo an
EMC test to ensure interference-free operation.
Important Notice
The device’s compliance with the mentioned standards does not imply its compliance within the final,
ready to operate setup. In order to achieve compliance of your operational system, you must perform
EMC testing of the involved equipment as a whole.
Table 3-15 Standards
Electromagnetic Compatibility
Generic Standards
IEC/EN 61000-6-2 Immunity for industrial environments
IEC/EN 61000-6-3 Emission standard for residential, commercial and light-
industrial environments
Applied Standards
IEC/EN 61000-6-3
IEC/EN 55022
(CISPR22)
Radio disturbance characteristics / radio interference
IEC/EN 61000-4-3 Radiated, radio-frequency, electromagnetic field immunity
test >10 V/m
IEC/EN 61000-4-4 Electrical fast transient/burst immunity test ±2 kV
IEC/EN 61000-4-6 Immunity to conducted disturbances, induced by radio-
frequency fields 10 Vrms
IEC/EN 61000-4-8 Power frequency magnetic field 30 A/m
Others
Environmental
Standards
IEC/EN 60068-2-6 Environmental testing – Test Fc: Vibration (sinusoidal,
10…500 Hz, 20 m/s2)
MIL-STD-810F Random transport (10…500 Hz up to 2.53 grms)
Safety Standards UL File Numbers E76332, E174311; unassembled printed circuit board
Reliability MIL-HDBK-217F
Reliability prediction of electronic equipment
Environment: Ground, benign
Ambient temperature: 298 K (25 °C)
Component stress: In accordance with circuit diagram and
nominal power
Mean Time Between Failures (MTBF)
• DC (390438): 912'810 hours
• DC/EC (390003): 751'966 hours
• DCX (530239): 912'810 hours
• EC (380264): 750'015 hours

Connections
Wiring Diagrams
© 2017 maxon motor. Subject to change without prior notice.
maxon motor control
EPOS2 Positioning Controller Document ID: rel7748 4-15
EPOS2 24/2 Hardware Reference Edition: November 2017
4 Connections
4.1 Wiring Diagrams
4.1.1 EPOS2 24/2 for maxon DC motors (390438)
Figure 4-7 Interfaces – Designations and Location «DC» (390438)
Figure 4-8 Wiring Diagram «DC» (390438)

Connections
Wiring Diagrams
© 2017 maxon motor. Subject to change without prior notice.
maxon motor control
4-16 Document ID: rel7748 EPOS2 Positioning Controller
Edition: November 2017 EPOS2 24/2 Hardware Reference
4.1.2 EPOS2 24/2 for maxon DC/EC motors (390003)
Figure 4-9 Interfaces – Designations and Location «DC/EC» (390003)
Figure 4-10 Wiring Diagram «DC/EC» (390003)

Connections
Wiring Diagrams
© 2017 maxon motor. Subject to change without prior notice.
maxon motor control
EPOS2 Positioning Controller Document ID: rel7748 4-17
EPOS2 24/2 Hardware Reference Edition: November 2017
4.1.3 EPOS2 24/2 for maxon DCX motors (530239)
Figure 4-11 Interfaces – Designations and Location «DCX» (530239)
Figure 4-12 Wiring Diagram «DCX» (530239)

Connections
Wiring Diagrams
© 2017 maxon motor. Subject to change without prior notice.
maxon motor control
4-18 Document ID: rel7748 EPOS2 Positioning Controller
Edition: November 2017 EPOS2 24/2 Hardware Reference
4.1.4 EPOS2 24/2 for maxon EC motors (380264)
Figure 4-13 Interfaces – Designations and Location «EC» (380264)
Figure 4-14 Wiring Diagram «EC» (380264)

Connections
Connectors
© 2017 maxon motor. Subject to change without prior notice.
maxon motor control
EPOS2 Positioning Controller Document ID: rel7748 4-19
EPOS2 24/2 Hardware Reference Edition: November 2017
4.2 Connectors
Use below table to determine the connectors installed on the type of controller you are using. Follow the
respective hyperlink to receive detailed information and data on the respective connector.
Table 4-16 Controller Types and their Connectors
EPOS2 24/2
Purpose
Find detailed
information
here:
DC
(390438)
DC/EC
(390003)
DCX
(530239)
EC
(380264)
J1 –J1 J1 Supply/Control Signals page 4-20
J2 –J2 J2 Communication/Analog Inputs page 4-27
J3 – – – Motor/Encoder page 4-29
––
J3 – Encoder page 4-29
–––
J9 Encoder page 4-32
–J11 – – Encoder page 4-34
––
J4 – Encoder page 4-30
––
J5 – Motor page 4-30
––J6 – Motor page 4-30
––
J7 – Motor page 4-30
–––
J8 Motor/Hall Sensors page 4-31
–J10 – – Motor/Hall Sensors page 4-33
–J12 ––RS232 page 4-35
–J13 ––CAN page 4-36
–J14 – – Supply/Control Signals page 4-37
J15 J15 J15 J15 USB page 4-38

Connections
Connectors
© 2017 maxon motor. Subject to change without prior notice.
maxon motor control
4-20 Document ID: rel7748 EPOS2 Positioning Controller
Edition: November 2017 EPOS2 24/2 Hardware Reference
4.2.1 Supply/Control Signals Connector (J1)
Contains multi-purpose digital I/Os configurable as…
• “Home Switch”
• “Positive Limit Switch”
• “Negative Limit Switch”
Additionally available are “General Purpose” digital I/Os and supply voltage.
Figure 4-15 Supply/Control Signals Connector (J1)
Pin Signal Description
1DigIN1 Digital Input 1 “General Purpose”
2DigIN2 Digital Input 2 “General Purpose”
3DigIN3 Digital Input 3 “General Purpose”
4DigIN4 Digital Input 4 “Home Switch”
5DigIN5 Digital Input 5 “Positive Limit Switch”
6DigIN6 Digital Input 6 “Negative Limit Switch”
7D_Gnd Digital signal ground
8+VOUT Auxiliary supply voltage Output (+5 VDC / 10 mA)
9DigOUT3 Digital Output 3 “General Purpose”
10 DigOUT4 Digital Output 4 “General Purpose”
11 D_Gnd Digital signal ground
12 Power_Gnd Power ground
13 +VCC Power supply voltage (+9…24 VDC)