maxon motor EPOS2 Module 36/2 Application guide

maxon motor ag Brünigstrasse 220 P.O.Box 263 CH-6072 Sachseln Phone [phone] Fax [phone] www.maxonmotor.com
Edition May 2017
EPOS2 Positioning Controller
Hardware Reference
maxon motor control
Positioning Controller
Hardware Reference
Document ID: rel7050

maxon motor control
A-2 Document ID: rel7050 EPOS2 Positioning Controller
Edition: May 2017 EPOS2 Module 36/2 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,
•towrite 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 Module 36/2 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: rel7050 A-3
EPOS2 Module 36/2 Hardware Reference Edition: May 2017
© 2017 maxon motor. Subject to change without prior notice.
1 About this Document 5
2 Introduction 9
2.1 Documentation Structure . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 9
2.2 Safety Precautions. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 10
3 Technical Data 11
3.1 Electrical Data . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 11
3.2 Mechanical Data . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 12
3.3 Dimensional Drawings . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 13
3.4 Environmental Conditions . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 14
3.5 Order Details . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 14
3.6 Standards . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 15
4 Connections 17
4.1 Pin Assignment . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 17
4.2 Minimum external Wiring . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 19
4.3 Power Supply. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 20
4.3.1 Determination of Power Supply . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 20
4.3.2 Use of separate Logic Supply (optional) . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 21
4.3.3 Low Supply Voltage Operation (optional). . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 21
4.4 Motor Connection . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 22
4.4.1 maxon EC motor (brushless) . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 22
4.4.2 maxon DC motor (brushed) . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 22
4.5 Hall Sensor Connection . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 23
4.6 Encoder Connection . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 24
4.7 Digital Input Connection. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 25
4.7.1 Digital Inputs 1, 2, 3 and 4 . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 25
4.7.2 Digital Inputs 7 and 8 . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 27
4.8 Analog Input Connection . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 28
4.8.1 Analog Inputs 1 and 2 . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 28
4.9 Digital Output Connection . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 29
4.9.1 Digital Outputs 1 and 2 . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 29
4.9.2 Digital Output 5 . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 31
4.10 RS232 Connection. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 32
4.11 SCI Interface Connection. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 33
4.12 CAN Connection . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 33
4.13 CAN Configuration. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 34
4.13.1 CAN ID (Node Address). . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 34
4.13.2 CAN automatic Bit Rate Detection. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 35
4.14 Status LEDs. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 36
TABLE OF CONTENTS

maxon motor control
A-4 Document ID: rel7050 EPOS2 Positioning Controller
Edition: May 2017 EPOS2 Module 36/2 Hardware Reference
© 2017 maxon motor. Subject to change without prior notice.
5 Motherboard Design Guide 37
5.1 Requirements for external Components. . . . . . . . . . . . . . . . . . . . . . . . . . . . . 37
5.1.1 Card Edge Connector . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 37
5.1.2 Power Supply Voltage . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 37
5.1.3 Logic Supply Voltage . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 38
5.1.4 Motor Phase . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 39
5.1.5 Supplier Reference . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 39
5.1.6 USB . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 40
5.2 Design Rules . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 41
5.2.1 Ground. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 41
5.2.2 Communication Interfaces. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 41
5.2.3 I/Os . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 41
5.2.4 Layout . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 42
5.3 Schematic Examples . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 42
5.3.1 Minimum External Wiring. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 42
5.3.2 Separate Logic Supply Voltage and CAN Communication . . . . . . . . . . . . . . . . . . . . . . 42
5.3.3 USB Interface . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 43
5.3.4 Wiring Example: Low Supply Voltage Operation . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 44
5.3.5 Wiring Example: Two Axes with RS232 to CAN Gateway. . . . . . . . . . . . . . . . . . . . . . . 45

maxon motor control
EPOS2 Positioning Controller Document ID: rel7050 1-5
EPOS2 Module 36/2 Hardware Reference Edition: May 2017
© 2017 maxon motor. Subject to change without prior notice.
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
Notation Explanation
(n) referring to an item (such as order number, list item, etc.)
denotes “see”, “see also”, “take note of” or “go to”

About this Document
maxon motor control
1-6 Document ID: rel7050 EPOS2 Positioning Controller
Edition: May 2017 EPOS2 Module 36/2 Hardware Reference
© 2017 maxon motor. Subject to change without prior notice.
1.4 Symbols and Signs
In the course of the present document, the following symbols and sings will be used.
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
Type Symbol Meaning
Safety Alert
(typical)
DANGER Indicates an imminent hazardous situation. If not
avoided, it will result in death or serious injury.
WARNING Indicates a potential hazardous situation. If not
avoided, it can result in death or serious injury.
CAUTION
Indicates a probable hazardous situation or calls
the attention to unsafe practices. If not avoided, it
may result in injury.
Prohibited
Action
(typical)
Indicates a dangerous action. Hence, you must not!
Mandatory
Action
(typical)
Indicates a mandatory action. Hence, you must!
Information
Requirement /
Note / Remark
Indicates an activity you must perform prior
continuing, or gives information on a particular item
you need to observe.
Best Practice Indicates an advice or recommendation on the
easiest and best way to further proceed.
Material
Damage
Indicates information particular to possible damage
of the equipment.
The brand name(s) … … is/are a registered trademark(s) of …
Adobe® Reader® © Adobe Systems Incorporated, USA-San Jose, CA
OMNI-BLOK®
SMD NANO2® © Littelfuse, USA-Chicago, IL
Pentium® © Intel Corporation, USA-Santa Clara, CA
Windows® © Microsoft Corporation, USA-Redmond, WA

maxon motor control
EPOS2 Positioning Controller Document ID: rel7050 1-7
EPOS2 Module 36/2 Hardware Reference Edition: May 2017
© 2017 maxon motor. Subject to change without prior notice.
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

About this Document
maxon motor control
1-8 Document ID: rel7050 EPOS2 Positioning Controller
Edition: May 2017 EPOS2 Module 36/2 Hardware Reference
© 2017 maxon motor. Subject to change without prior notice.
••page intentionally left blank••

maxon motor control
EPOS2 Positioning Controller Document ID: rel7050 2-9
EPOS2 Module 36/2 Hardware Reference Edition: May 2017
© 2017 maxon motor. Subject to change without prior notice.
2Introduction
The present document provides you with information on the EPOS2 Module 36/2 Positioning Control-
ler’s hardware. It contains…
• performance data and specifications,
• information on connections and pin assignment and
• wiring examples.
maxon motor control’s EPOS2 Module 36/2 is a small-sized, full digital, smart motion controller. It is des-
ignated for the use as plug-in module in customer-specific motherboards for single axis or multi axes
motion control systems. Due to its flexible and high efficient power stage, the EPOS2 Module 36/2
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 Module 36/2 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 (external transceiver necessary) or RS232 interface.
Find the latest edition of the present document, as well as additional documentation and software to the
EPOS2 Module 36/2 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
maxon motor control
2-10 Document ID: rel7050 EPOS2 Positioning Controller
Edition: May 2017 EPOS2 Module 36/2 Hardware Reference
© 2017 maxon motor. Subject to change without prior notice.
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 1-6 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 11…36 VDC.
• Supply voltages above 40 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!

maxon motor control
EPOS2 Positioning Controller Document ID: rel7050 3-11
EPOS2 Module 36/2 Hardware Reference Edition: May 2017
© 2017 maxon motor. Subject to change without prior notice.
3TechnicalData
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 11…36 VDC
Nominal logic supply voltage VC(optional) 11…36 VDC
Absolute minimum supply voltage 10 VDC
Absolute max. supply voltage 40 VDC
Max. output voltage 0.9 • VCC
Max. output current Imax (<1sec) 4 A
Continuous output current Icont 2 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 @ 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 10 μH / 2 A
Inputs
Hall sensor signals
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”) +3…+36 VDC (Ri = 12 kΩ)
Digital Input 2 (“General Purpose”) +3…+36 VDC (Ri = 12 kΩ)
Digital Input 3 (“General Purpose”) +3…+36 VDC (Ri = 12 kΩ)
Digital Input 4 (“General Purpose”) +3…+36 VDC (Ri = 12 kΩ)
Digital Input 7 (“High Speed Command”) internal line receiver EIA RS422 Standard
Digital Input 8 (“High Speed Command”) internal line receiver EIA RS422 Standard
Analog Input 1 resolution 11-bit 0…+5 V (Ri = 34 kΩ)
Analog Input 2 resolution 11-bit 0…+5 V (Ri = 34 kΩ)
CAN ID (CAN identification) ID 1…127 configurable by external wiring
Outputs
Digital Output 1 (“General Purpose”), open collector max. 36 VDC (IL<50 mA)
Digital Output 2 (“General Purpose”), open collector max. 36 VDC (IL<50 mA)
Digital Output 5 (“High Speed Command”), push-pull max. 3.3 VDC (IL<10 mA)

Technical Data
Mechanical Data
maxon motor control
3-12 Document ID: rel7050 EPOS2 Positioning Controller
Edition: May 2017 EPOS2 Module 36/2 Hardware Reference
© 2017 maxon motor. Subject to change without prior notice.
Table 3-7 Electrical Data – Voltage Outputs
Table 3-8 Electrical Data – Motor Connections
Table 3-9 Electrical Data – Interfaces
Table 3-10 Electrical Data – LEDs
Table 3-11 Electrical Data – Connections
3.2 Mechanical Data
Table 3-12 Mechanical Data
Voltage Outputs
Encoder supply voltage +5 VDC (IL<100 mA)
Hall sensors supply voltage +5 VDC (IL<30 mA)
Motor Connections
maxon EC motor maxon DC motor
Motor winding 1 + Motor
Motor winding 2 −Motor
Motor winding 3
Interfaces
RS232 RxD; TxD max. 115 200 bit/s
USB 2.0 /
USB 3.0 external transceiver necessary
CAN CAN_H (high); CAN_L (low) max.1 Mbit/s
Status Indicators
Operation green LED
Error red LED
Connections
On board:
Suitable plug:
Suitable retainer:
Card edge connector
PCI Express (PCIe) Connector 2x32 Pin vertical or horizontal, 1 mm pitch
Tyco 2-1775801-1 (vertical) / Tyco 1761465-2 (horizontal)
FCI 10018783-11111TLF (vertical)
Meritec 983172-064-2MMF (horizontal)
FCI PCI express retainer, blue, 10042618-002LF
Mechanical Data
Weight approx. 10 g
Dimensions (L x W x H) 54.5 x 28.2 x 9 mm
Mounting pluggable card edge connector
with optional PCB support brackets

maxon motor control
EPOS2 Positioning Controller Document ID: rel7050 3-13
EPOS2 Module 36/2 Hardware Reference Edition: May 2017
© 2017 maxon motor. Subject to change without prior notice.
3.3 Dimensional Drawings
VERTICAL CONNECTOR
Figure 3-2 Dimensional Drawing (with vertical Connector) [mm]
HORIZONTAL CONNECTOR
Figure 3-3 Dimensional Drawing (with horizontal connector Meritec 983172-064-2MMF) [mm]
RETAINER
Figure 3-4 Footprint of Retainer (Meritec 983172-064-2MMF connector) [mm]

Technical Data
Environmental Conditions
maxon motor control
3-14 Document ID: rel7050 EPOS2 Positioning Controller
Edition: May 2017 EPOS2 Module 36/2 Hardware Reference
© 2017 maxon motor. Subject to change without prior notice.
3.4 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 3-5 Derating Output Current
3.5 Order Details
Table 3-14 Order Details
Table 3-15 Accessories
Note
Accessories are not part of the delivery. You will need to order them separately.
Environmental Condition
Temperature
Operation −10…+45 °C
Extended Range *1) +45…+75 °C / Derating: Figure 3-5
Storage −40…+85 °C
Altitude *2) Operation 0…6’000 m MSL
Extended Range *1) 6’000…10’000 m MSL / Derating: Figure 3-5
Humidity 5…90% (condensation not permitted)
Order Details
EPOS2 Module 36/2 Order number 360665
Accessories
EPOS2 Module Evaluation Board Order number 361435
EPOS2 Module Starter Kit
(including EPOS2 Module 36/2, EPOS2 Module
Evaluation Board and necessary cables)
Order number 363407

maxon motor control
EPOS2 Positioning Controller Document ID: rel7050 3-15
EPOS2 Module 36/2 Hardware Reference Edition: May 2017
© 2017 maxon motor. Subject to change without prior notice.
3.6 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 3-16 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 ±1 kV/±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 1.05 grms)
Safety Standards UL File Number E172472 or E92481; 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): 610'435 hours

Technical Data
Standards
maxon motor control
3-16 Document ID: rel7050 EPOS2 Positioning Controller
Edition: May 2017 EPOS2 Module 36/2 Hardware Reference
© 2017 maxon motor. Subject to change without prior notice.
••page intentionally left blank••

maxon motor control
EPOS2 Positioning Controller Document ID: rel7050 4-17
EPOS2 Module 36/2 Hardware Reference Edition: May 2017
© 2017 maxon motor. Subject to change without prior notice.
4 Connections
Figure 4-6 EPOS2 Module 36/2 – PCB with Connector Array
4.1 Pin Assignment
ARRAY A
Pin Signal Description
A1 Power_GND Ground of supply voltage
A2 VCC
Power supply voltage +0…+36 VDCA3 VCC
A4 VCC
A5 VCLogic supply voltage 11…36 VDC (optional)
A6 Power_GND Ground of supply voltage
A7 Hall sensor 1 Hall sensor 1 input
A8 Hall sensor 2 Hall sensor 2 input
A9 Hall sensor 3 Hall sensor 3 input
A10 +Vaux Auxiliary voltage output +5 VDC
+VDDin Auxiliary supply voltage input +5 VDC (optional)
A11 GND Ground of Hall sensor supply and
Ground of encoder supply
A12 Channel A Encoder channel A
A13 Channel A\ Encoder channel A complement
A14 Channel B Encoder channel B
A15 Channel B\ Encoder channel B complement
A16 Channel I Encoder index
A17 Channel I\ Encoder index complement
A18 GND Ground of analog inputs
A19 AnIN1 Analog Input 1
A20 AnIN2 Analog Input 2
A21 GND Ground of digital output
A22 DigOUT5 Digital Output 5
A23 not connected
A24 EPOS SCI RTS Serial communication interface handshake *1)
A25 EPOS SCI RxD Serial communication interface receive *1)
A26 EPOS SCI TxD Serial communication interface transmit *1)
A27 EPOS RxD EPOS RS232 receive *2)
A28 EPOS TxD EPOS RS232 transmit *2)
A29 GND Ground of SCI and RS232

Connections
Pin Assignment
maxon motor control
4-18 Document ID: rel7050 EPOS2 Positioning Controller
Edition: May 2017 EPOS2 Module 36/2 Hardware Reference
© 2017 maxon motor. Subject to change without prior notice.
Note
*1) Voltage level “low” = 0V, “high” = 3.3V, connected directly to the DSP
*2) EIA RS232 Standard
Table 4-17 EPOS2 Module 36/2 – Pin Assignment Array A
ARRAY B
A30 CAN low CAN low bus line
A31 CAN high CAN high bus line
A32 GND Ground of CAN bus
Pin Signal Description
B1 Power_GND Ground of supply voltage
B2 EC: Motor winding 1
DC: Motor +
EC motor: Motor winding 1
DC motor: Motor +
B3 EC: Motor winding 1
DC: Motor +
B4 EC: Motor winding 1
DC: Motor +
B5 EC: Motor winding 2
DC: Motor −
EC motor: Motor winding 2
DC motor: Motor −
B6 EC: Motor winding 2
DC: Motor −
B7 EC: Motor winding 2
DC: Motor −
B8 EC: Motor winding 3
DC: not connected
EC motor: Motor winding 3
DC motor: not connected
B9 EC: Motor winding 3
DC: not connected
B10 EC: Motor winding 3
DC: not connected
B11 Power_GND Ground of supply voltage
B12 GND Ground of digital input
B13 DigIN1 Digital Input 1
B14 DigIN2 Digital Input 2
B15 DigIN3 Digital Input 3
B16 DigIN4 Digital Input 4
B17 GND Ground of digital input
B18 DigIN7 Digital Input 7 “High Speed Command”
B19 DigIN7\ Digital Input 7 “High Speed Command” complement
B20 DigIN8 Digital Input 8 “High Speed Command”
B21 DigIN8\ Digital Input 8 “High Speed Command” complement
B22 DigOUT1 Digital Output 1
B23 DigOUT2 Digital Output 2
B24 GND Ground of CAN ID setting
B25 CAN ID 1 CAN ID 1 (valence = 1)
B26 CAN ID 2 CAN ID 2 (valence = 2)
Pin Signal Description

maxon motor control
EPOS2 Positioning Controller Document ID: rel7050 4-19
EPOS2 Module 36/2 Hardware Reference Edition: May 2017
© 2017 maxon motor. Subject to change without prior notice.
Table 4-18 EPOS2 Module 36/2 – Pin Assignment Array B
4.2 Minimum external Wiring
Figure 4-7 Minimum external Wiring
B27 CAN ID 3 CAN ID 3 (valence = 4)
B28 CAN ID 4 CAN ID 4 (valence = 8)
B29 CAN ID 5 CAN ID 5 (valence = 16)
B30 CAN ID 6 CAN ID 6 (valence = 32)
B31 CAN ID 7 CAN ID 7 (valence = 64)
B32 Auto bit rate Automatic bit rate detection of CAN bus
Pin Signal Description

Connections
Power Supply
maxon motor control
4-20 Document ID: rel7050 EPOS2 Positioning Controller
Edition: May 2017 EPOS2 Module 36/2 Hardware Reference
© 2017 maxon motor. Subject to change without prior notice.
4.3 Power Supply
Best Practice
Keep the motor mechanically disconnected during setup and adjustment phase.
External Protection
Supply voltages above 40 VDC will destroy the unit.
To prevent damage to the EPOS2 Module 36/2, we recommend to install two upstream fuses – a tran-
sient voltage suppressor diode (TVS diode) and a capacitor in the power supply voltage line (for details
 chapter “5.1.2 Power Supply Voltage” on page 5-37).
4.3.1 Determination of Power Supply
Basically, any power supply may be used, provided it meets below stated minimal requirements.
1) Calculate required voltage under load using following scheme (the formula takes a max. PWM
cycle of 90% and a max. voltage drop of −1 V at EPOS2 Module 36/2 into account):
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 Δn/ΔM [min−1mNm−1]
SOUGHT VALUE:
• Supply voltage VCC [Volt]
SOLUTION:
2) Choose power supply capable as to above calculation. Thereby consider:
a) 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 (309687).
b) When using an electronically stabilized power supply, observe that the overcurrent protec-
tion must not be activated in any operating state.
Limited Current Rating per Pin
Due to the limited current rating per pin (1.1 A), you must connect all pins!
Power Supply Requirements
Output voltage VCC min. 11 VDC; VCC max. 36 VDC
Absolute output voltage min. 0 V (VCC below 11 V is only possible with separate logic supply voltage!) /
max. 40 VDC
Output current Depending on load (continuous max. 2 A / acceleration, short-time max. 4 A <1 s)
Pin Signal Description
A1/6
B1/11 Power_Gnd Ground of supply voltage
A2/3/4 VCC Power supply voltage +11…+36 VDC
VCC UN
nO
------- nBΔn
ΔM
---------MB
⋅+


1
0.9
-------
⋅⋅ 1V[]+=