maxon motor EPOS2 P 24/5 Application guide

maxon motor ag Brünigstrasse 220 P.O.Box 263 CH-6072 Sachseln Phone [phone] Fax [phone] www.maxonmotor.com
Edition May 2016
EPOS2 P Programmable Positioning Controller
Hardware Reference
maxon motor control
Programmable Positioning Controller
Hardware Reference
Document ID: rel5876

maxon motor control
A-2 Document ID: rel5876 EPOS2 P Programmable Positioning Controller
Edition: May 2016 EPOS2 P 24/5 Hardware Reference
© 2016 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 P 24/5 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 P Programmable Positioning Controller Document ID: rel5876 A-3
EPOS2 P 24/5 Hardware Reference Edition: May 2016
© 2016 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 . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 14
3.3 Environmental Conditions . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 15
3.4 Order Details . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 15
3.5 Standards . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 16
4 Connections 17
4.1 Power Supply Connector (J1) . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 18
4.1.1 Determination of Power Supply . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 18
4.1.2 Use of separate Logic Supply . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 19
4.2 Motor Connector (J2). . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 20
4.2.1 maxon EC motor (brushless) . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 20
4.2.2 maxon DC motor with separated Motor/Encoder Cable. . . . . . . . . . . . . . . . . . . . . . . . . 20
4.2.3 maxon DC motor with integrated Motor/Encoder Ribbon Cable . . . . . . . . . . . . . . . . . . 21
4.3 Hall Sensor Connector (J3) . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 22
4.4 Encoder Connector (J4). . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 23
4.5 Signal Connector (J5) . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 25
4.5.1 Digital Inputs 1, 2 and 3 . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 26
4.5.2 Digital Inputs 4, 5 and 6 . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 27
4.5.3 Analog Inputs 1 and 2 . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 29
4.5.4 Auxiliary Supply Voltage Output . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 29
4.5.5 Digital Outputs 1, 2 and 3 . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 30
4.5.6 Digital Output 4 . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 31
4.6 RS232 Connector (J6) . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 32
4.7 CAN Connector (J7, J8). . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 33
4.8 CAN Configuration (JP1 & JP1A) . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 34
4.8.1 CAN ID (Node Address) in “CAN-M” Supervisor Control (Master) Network . . . . . . . . . 34
4.8.2 CAN Bus Termination in “CAN-M” Supervisor Control (Master) Network . . . . . . . . . . . 35
4.8.3 CAN Bus Autobitrate in “CAN-M” Supervisor Control (Master) Network . . . . . . . . . . . . 35
4.8.4 CAN Bus Termination in “CAN-S” Slave Network . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 35
4.9 USB Connector (J9). . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 36
4.10 Status LEDs. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 37
TABLE OF CONTENTS

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EPOS2 P Programmable Positioning Controller Document ID: rel5876 1-5
EPOS2 P 24/5 Hardware Reference Edition: May 2016
© 2016 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”

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1-6 Document ID: rel5876 EPOS2 P Programmable Positioning Controller
Edition: May 2016 EPOS2 P 24/5 Hardware Reference
© 2016 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.
Brand Name Trademark Owner
Adobe® Reader® © Adobe Systems Incorporated, USA-San Jose, CA
CANopen®
CiA® © CiA CAN in Automation e.V, DE-Nuremberg
Micro-Fit™
Mini-Fit Jr.™ © Molex, USA-Lisle, IL

maxon motor control
EPOS2 P Programmable Positioning Controller Document ID: rel5876 1-7
EPOS2 P 24/5 Hardware Reference Edition: May 2016
© 2016 maxon motor. Subject to change without prior notice.
1.6 Copyright
© 2016 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

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maxon motor control
EPOS2 P Programmable Positioning Controller Document ID: rel5876 2-9
EPOS2 P 24/5 Hardware Reference Edition: May 2016
© 2016 maxon motor. Subject to change without prior notice.
2Introduction
The present document provides you with information on the EPOS2 P 24/5 Programmable Positioning
Controller’s hardware. It contains…
• performance data and specifications,
• information on connections and pin assignment and
• wiring examples.
maxon motor control’s EPOS2 P 24/5 is a small-sized, full digital and free programmable positioning
control unit. Due to its flexible and high efficient power stage, the EPOS2 P 24/5 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. The EPOS2 P 24/5 is programmable with a very efficient
software tool. The programming languages are according to IEC 61131-3 standard. The built-in
CANopen interface allows the design of an easy-to-use standalone multiple axis system, particularly
with standard maxon EPOS controllers. In addition, the unit can be operated via any USB or RS232
communication port.
Find the latest edition of the present document, as well as additional documentation and software to the
EPOS2 P 24/5 Programmable 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

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2-10 Document ID: rel5876 EPOS2 P Programmable Positioning Controller
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© 2016 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 indi-
cators,
• you must observe any regulation applicable in the country and/or at the site of implementation
with regard to health and safety/accident prevention and/or environmental protection,
• 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…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.
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!

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EPOS2 P Programmable Positioning Controller Document ID: rel5876 3-11
EPOS2 P 24/5 Hardware Reference Edition: May 2016
© 2016 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…24 VDC
Nominal logic supply voltage VC(optional) 11…24 VDC
Absolute minimum supply voltage 10 VDC
Absolute max. supply voltage 28 VDC
Max. output voltage 0.9 • VCC
Max. output current Imax (<1sec) 10 A
Continuous output current Icont 5 A
Switching frequency 50 kHz
Max. efficiency 92%
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 15 μH / 5 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…+24 VDC (Ri = 8 kΩ)
Digital Input 2 (“General Purpose”) +3…+24 VDC (Ri = 8 kΩ)
Digital Input 3 (“General Purpose”) +3…+24 VDC (Ri = 8 kΩ)
Digital Input 4 (“Home Switch”) +9…+24 VDC (Ri = 4 kΩ)
Digital Input 5 (“Positive Limit Switch”) +9…+24 VDC (Ri = 4 kΩ)
Digital Input 6 (“Negative Limit Switch”) +9…+24 VDC (Ri = 4 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…127 configurable via DIP switch or software
Outputs
Digital Output 1 (“General Purpose”), open drain max. 24 VDC (IL<100 mA)
Digital Output 2 (“General Purpose”), open drain max. 24 VDC (IL<100 mA)
Digital Output 3 (“General Purpose”), open drain max. 24 VDC (IL<100 mA)
Digital Output 4 (“Brake”) open drain max. 24 VDC (IL<1000 mA)

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3-12 Document ID: rel5876 EPOS2 P Programmable Positioning Controller
Edition: May 2016 EPOS2 P 24/5 Hardware Reference
© 2016 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 – Memory
Table 3-11 Electrical Data – LEDs
Voltage Outputs
Encoder supply voltage +5 VDC (IL<100 mA)
Hall sensors supply voltage +5 VDC (IL<30 mA)
Auxiliary output voltage Vcc (IL<1300 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 Data+; Data−full speed
CAN-S CAN_H (high); CAN_L (low) max.1 Mbit/s
CAN-M CAN_H (high); CAN_L (low) max.1 Mbit/s
Memory
Total memory 1 MByte
Application memory (free programmable) 768 kByte
Non-volatile memory 4 kByte
Status Indicators
Operation green LED
Error red LED
Program status blue LED
Program error orange LED

maxon motor control
EPOS2 P Programmable Positioning Controller Document ID: rel5876 3-13
EPOS2 P 24/5 Hardware Reference Edition: May 2016
© 2016 maxon motor. Subject to change without prior notice.
Table 3-12 Electrical Data – Connections
Connections
Power
Supply
On board:
Suitable plug:
Suitable terminal:
dual row male header (2 poles) Molex Mini-Fit Jr
dual row female receptacle (2 poles) Molex Mini-Fit Jr. 39-01-2020
female crimp terminal Molex Mini-Fit Jr. 44476-xxxx (AWG 16-20)
Motor
On board:
Suitable plug:
Suitable terminal:
dual row male header (4 poles) Molex Mini-Fit Jr
dual row female receptacle (4 poles) Molex Mini-Fit Jr. 39-01-2040
female crimp terminal Molex Mini-Fit Jr. 44476-xxxx (AWG 16-20)
Hall
On board:
Suitable plug:
Suitable terminal:
dual row male header (6 poles) Molex Micro-Fit 3.0
dual row female receptacle (6 poles) Molex Micro-Fit 3.0 430-25-0600
female crimp terminal Molex Micro-Fit 3.0 43030-xxxx (AWG 20-30)
Signal
On board:
Suitable plug:
Suitable terminal:
dual row male header (16 poles) Molex Micro-Fit 3.0
dual row female receptacle (12 poles) Molex Micro-Fit 3.0 430-25-1600
female crimp terminal Molex Micro-Fit 3.0 43030-xxxx (AWG 20-30)
RS232
On board:
Suitable plug:
Suitable terminal:
dual row male header (6 poles) Molex Micro-Fit 3.0
dual row female receptacle (6 poles) Molex Micro-Fit 3.0 430-25-0600
female crimp terminal Molex Micro-Fit 3.0 43030-xxxx (AWG 20-30)
USB On board:
Suitable plug:
USB connector type mini B jack (5 poles)
Standard USB cable with type mini B plug connector (5 poles)
CAN-S
On board:
Suitable plug:
Suitable terminal:
dual row male header (4 poles) Molex Micro-Fit 3.0
dual row female receptacle (4 poles) Molex Micro-Fit 3.0 430-25-0400
female crimp terminal Molex Micro-Fit 3.0 43030-xxxx (AWG 20-30)
CAN-M
On board:
Suitable plug:
Suitable terminal:
dual row male header (4 poles) Molex Micro-Fit 3.0
dual row female receptacle (4 poles) Molex Micro-Fit 3.0 430-25-0400
female crimp terminal Molex Micro-Fit 3.0 43030-xxxx (AWG 20-30)
Encoder On board:
Suitable locking clip:
Plug DIN41651 (10 poles) for flat band cable, pitch 1.27mm, AWG 28
Tyco C42334-A421-C42 (right) / Tyco C42334-A421-C52 (left)

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3-14 Document ID: rel5876 EPOS2 P Programmable Positioning Controller
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3.2 Mechanical Data
Table 3-13 Mechanical Data
Figure 3-2 Dimensional Drawing [mm]
Mechanical Data
Weight approx. 180 g
Dimensions (L x W x H) 105 x 83 x 24 mm
Mounting plate for M3 screws

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EPOS2 P 24/5 Hardware Reference Edition: May 2016
© 2016 maxon motor. Subject to change without prior notice.
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 3-14 Environmental Conditions
Figure 3-3 Derating Output Current
3.4 Order Details
Table 3-15 Order Details
Environmental Condition
Temperature
Operation −10…+55 °C
Extended Range *1) +55…+83 °C / Derating: Figure 3-3
Storage −40…+85 °C
Altitude *2) Operation 0…10’000 m MSL
Humidity 5…90% (condensation not permitted)
Order Details
EPOS2 P 24/5 Order number 378308

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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 3-16 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 61000-4-2 Electrostatic discharge immunity test 8 kV/6 kV
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 E187447 and E232940; 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): 320'814 hours

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EPOS2 P 24/5 Hardware Reference Edition: May 2016
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4 Connections
Figure 4-4 Interfaces – Designations and Location
Figure 4-5 Wiring Diagram

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4.1 Power Supply Connector (J1)
Best Practice
Keep the motor mechanically disconnected during setup and adjustment phase.
4.1.1 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 P 24/5 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.
b) When using an electronically stabilized power supply, observe that the overcurrent protection
must not be activated in any operating state.
Figure 4-6 Power Connector (J1)
Power Supply Requirements
Output voltage VCC min. 11 VDC; VCC max. 24 VDC
Absolute output voltage min. 10 VDC; max. 28 VDC
Output current Depending on load (continuous max. 5 A / acceleration, short-time max. 10 A)
Pin Signal Description
1Power_Gnd Ground of supply voltage
2+VCC Power supply voltage +11…+24 VDC
Accessories Cable Power Cable (275829)
Notes Suitable connector
Suitable crimp terminals
Suitable hand crimper
Molex Mini-Fit Jr. 2 poles (39-01-2020)
Molex Mini-Fit Jr. female crimp terminals (44476-xxxx)
Molex hand crimper (63819-0900)
VCC UN
nO
------- nBΔn
ΔM
---------MB
⋅+


1
0.9
-------
⋅⋅ 1V[]+=

maxon motor control
EPOS2 P Programmable Positioning Controller Document ID: rel5876 4-19
EPOS2 P 24/5 Hardware Reference Edition: May 2016
© 2016 maxon motor. Subject to change without prior notice.
4.1.2 Use of separate Logic Supply
By default, the logic is powered by the regular supply voltage. Optionally, you may wish to feed the logic
supply voltage separately, permitting a safe and economical power backup feature.
Basically, any power supply may be used, provided it meets below stated minimal requirements.
Using a separate logic supply, you will need to change the jumper JP4.
STOP!
Check on safety precautions before continuing (  page 2-10).
1) Open housing and find jumper JP4.
2) Open jumper JP4 (Figure 4-8, right).
3) Connect to respective supply voltage (chapter “4.5 Signal Connector (J5)” on page 4-25).
Figure 4-7 Jumper JP4 – Location and Factory Setting
Figure 4-8 Jumper JP4 – closed (left) / open (right)
Logic Power Supply Requirements
Output voltage VCmin. 11 VDC; VCmax. 24 VDC
Absolute output voltage min. 10 VDC; max. 28 VDC
Min. output power PCmin. 3 W

maxon motor control
4-20 Document ID: rel5876 EPOS2 P Programmable Positioning Controller
Edition: May 2016 EPOS2 P 24/5 Hardware Reference
© 2016 maxon motor. Subject to change without prior notice.
4.2 Motor Connector (J2)
By default, the controller is set to drive either maxon EC motor (brushless) or maxon DC motor
(brushed) with separated motor/encoder cable. Using a maxon DC motor with integrated motor/
encoder ribbon cable, you will need to change the jumpers JP2 and JP3.
Figure 4-9 Motor Connector (J2)
4.2.1 maxon EC motor (brushless)
4.2.2 maxon DC motor with separated Motor/Encoder Cable
Accessories Cable Motor Cable (275851)
Notes Suitable connector
Suitable crimp terminals
Suitable hand crimper
Molex Mini-Fit Jr. 4 poles (39-01-2040)
Molex Mini-Fit Jr. female crimp terminals (44476-xxxx)
Molex hand crimper (63819-0900)
Pin Signal Description
1Motor winding 1 EC motor: Winding 1
2Motor winding 2 EC motor: Winding 2
3Motor winding 3 EC motor: Winding 3
4Motor shield Cable shield
Pin Signal Description
1Motor (+M) DC motor: Motor +
2Motor (−M) DC motor: Motor −
3do not connect
4Motor shield Cable shield