maxon motor EPOS4 50/5 Application guide

maxon motor ag Brünigstrasse 220 P.O.Box 263 CH-6072 Sachseln Phone [phone] Fax [phone] www.maxonmotor.com
Edition May 2018
EPOS4 Positioning Controller
Hardware Reference
maxon motor control
Positioning Controller
P/N 534130
Positioning Controller
P/N 541718
Hardware Reference
Document ID: rel8003

maxon motor control
A-2 Document ID: rel8003 EPOS4 Positioning Controller
Edition: May 2018 EPOS4 Module/Compact 50/5 Hardware Reference
© 2018 maxon motor. Subject to change without prior notice.
1 About 5
1.1 About this Document . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 5
1.2 About the Devices . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 8
1.3 About the Safety Precautions. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 10
2 Specifications 11
2.1 Technical Data . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 11
2.2 Thermal Data . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 13
2.3 Limitations . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 14
2.4 Dimensional Drawings . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 14
2.5 Standards . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 16
3Setup 17
3.1 Generally applicable Rules. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 17
3.2 Pin Assignment for Module Version . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 18
3.3 Pin Assignment for Connector Boards & Compact Versions . . . . . . . . . . . . . 21
3.3.1 EPOS4 CB 50/5 CAN (534133) / EPOS4 Compact 50/5 CAN (541718) . . . . . . . . . . . 21
3.3.2 Cabling. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 21
3.3.3 Tools . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 22
3.3.4 Connections. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 23
3.3.5 DIP Switch Configuration (SW1) . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 35
3.3.6 Spare Parts . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 37
3.4 Connection Specifications . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 38
3.4.1 Power Supply. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 38
3.4.2 Logic Supply . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 39
3.4.3 Motor . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 40
3.4.4 Hall Sensor . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 41
3.4.5 Encoder . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 42
3.4.6 Sensor . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 44
3.4.7 Digital I/Os . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 55
TABLE OF CONTENTS
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.
EPOS4 Module 50/5 and EPOS4 Compact 50/5 positioning controllers are considered as partly completed machinery
according to EU Directive 2006/42/EC, Article 2, Clause (g) and are intended to be incorporated into or assembled with
other machinery or other partly completed machinery or equipment.
Therefore, you must not put the device into service,…
• unless you have made completely sure that the other machinery fully complies with the EU directive’s requirements!
• unless the other machinery fulfills all relevant health and safety aspects!
• unless all respective interfaces have been established and fulfill the herein stated requirements!

maxon motor control
EPOS4 Positioning Controller Document ID: rel8003 A-3
EPOS4 Module/Compact 50/5 Hardware Reference Edition: May 2018
© 2018 maxon motor. Subject to change without prior notice.
3.4.8 Safe Torque Off I/Os . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 59
3.4.9 Analog I/Os . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 61
3.4.10 Serial Communication Interface (SCI) / RS232 . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 63
3.4.11 CAN Interface . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 65
3.4.12 Serial Peripheral Interface (SPI) . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 67
3.4.13 USB (X13) . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 68
3.5 Status Indicators . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 69
4 Motherboard Design Guide 71
4.1 Requirements for Components of Third-party Suppliers . . . . . . . . . . . . . . . . 72
4.1.1 Socket Headers . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 72
4.1.2 Supply Voltage. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 72
4.1.3 Logic Supply Voltage . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 73
4.1.4 Motor Cables and Motor Chokes . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 74
4.1.5 RS232 Transceiver . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 75
4.1.6 Recommended Components and Manufacturers . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 76
4.2 Design Guidelines . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 77
4.2.1 Ground . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 77
4.2.2 Layout . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 77
4.3 SMT Footprint . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 78
5Wiring 79
5.1 Contents . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 79
5.2 DC Motors (brushed) . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 80
5.3 EC Motors (BLDC, brushless) . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 87

maxon motor control
A-4 Document ID: rel8003 EPOS4 Positioning Controller
Edition: May 2018 EPOS4 Module/Compact 50/5 Hardware Reference
© 2018 maxon motor. Subject to change without prior notice.
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About
About this Document
maxon motor control
EPOS4 Positioning Controller Document ID: rel8003 1-5
EPOS4 Module/Compact 50/5 Hardware Reference Edition: May 2018
© 2018 maxon motor. Subject to change without prior notice.
1 About
1.1 About this Document
1.1.1 Intended Purpose
Use the document
to…
–stay safe,
–be fast,
–end up with set
up and ready-to-go
equipment.
The purpose of the present document is to familiarize you with the EPOS4 Module 50/5 and EPOS4
Compact 50/5 positioning controllers. It will highlight the tasks for safe and adequate installation and/or
commissioning. Follow the described instructions …
• to avoid dangerous situations,
• to keep installation and/or commissioning time at a minimum,
• to increase reliability and service life of the described equipment.
The present document is part of a documentation set and contains performance data and specifications,
information on fulfilled standards, details on connections and pin assignment, and wiring examples. The
below overview shows the documentation hierarchy and the interrelationship of its individual parts:
Figure 1-1 Documentation structure
1.1.2 Target Audience
The present document is intended for trained and skilled personnel. It conveys information on how to
understand and fulfill the respective work and duties.

About
About this Document
maxon motor control
1-6 Document ID: rel8003 EPOS4 Positioning Controller
Edition: May 2018 EPOS4 Module/Compact 50/5 Hardware Reference
© 2018 maxon motor. Subject to change without prior notice.
1.1.3 How to use
If not stated otherwise, the described details are valid for both the plug-in module and the stand-alone
compact version (chapter “1.2 About the Devices” on page 1-8).
Throughout the document, the following notations and codes will be used.
Table 1-1 Notation used
1.1.4 Symbols & Signs
In the course of the present document, the following symbols and sings will be used.
Table 1-2 Symbols and signs
Notation Meaning
(n) refers to an item (such as part numbers, list items, 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!
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.

About
About this Document
maxon motor control
EPOS4 Positioning Controller Document ID: rel8003 1-7
EPOS4 Module/Compact 50/5 Hardware Reference Edition: May 2018
© 2018 maxon motor. Subject to change without prior notice.
1.1.5 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 list below 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
1.1.6 Copyright
© 2018 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 prosecution under the applicable law.
Brand Name Trademark Owner
Adobe® Reader® © Adobe Systems Incorporated, USA-San Jose, CA
BiSS © iC-Haus GmbH, DE-Bodenheim
CANopen®
CiA® © CiA CAN in Automation e.V, DE-Nuremberg
CLIK-Mate™
Micro-Fit™
Mini-Fit Jr.™
Mega-Fit®
© Molex, USA-Lisle, IL
EnDat © DR. JOHANNES HEIDENHAIN GmbH, DE-Traunreut
EtherCAT® © EtherCAT Technology Group, DE-Nuremberg, licensed by Beckhoff
Automation GmbH, DE-Verl
har-flexicon® © HARTING AG & Co. KG, DE-Espelkamp
Linux® © Linus Torvalds (The Linux Foundation, USA-San Francisco CA)
Littelfuse®
SMD NANO2® © Littelfuse Inc., USA-Chicago, IL
Windows® © Microsoft Corporation, USA-Redmond, WA
maxon motor ag
Brünigstrasse 220
P.O.Box 263
CH-6072 Sachseln
Phone
Fax
Web
[phone]
[phone]
www.maxonmotor.com

About
About the Devices
maxon motor control
1-8 Document ID: rel8003 EPOS4 Positioning Controller
Edition: May 2018 EPOS4 Module/Compact 50/5 Hardware Reference
© 2018 maxon motor. Subject to change without prior notice.
1.2 About the Devices
Capabilities of the
device, included fea-
tures, and supported
motors.
maxon motor control’s EPOS4 Module 50/5 and EPOS4 Compact 50/5 are small-sized, full digital, smart
positioning control units. Their high power density allow flexible use for brushed DC and brushless EC
(BLDC) motors up to approximately 250 Watts with various feedback options, such as Hall sensors,
incremental encoders as well as absolute sensors in a multitude of drive applications.
The devices are specially designed to be commanded and controlled as a slave node in a CANopen net-
work. In addition, the units can be operated via any USB or RS232 (the Module requires an external
transceiver) communication port of a Windows or Linux workstation. Moreover, the integrated extension
interface allows pooling with optionally available communication interfaces, such as EtherCAT or other
additional functionalities.
Latest technology, such as field-oriented control (FOC) and acceleration/velocity feed forward in combi-
nation with highest control cycle rates allow sophisticated, ease-of-use motion control.
Thanks to its smart design, the EPOS4 Module 50/5 can either be used in combination with EPOS4 CB
50/5 connector boards as a compact, integrated solution or be incorporated into customer-specific moth-
erboards for single axis or multi axes motion control systems. The controller is available in the following
configurations:
•EPOS4 Module 50/5 (534130)
Plug-in module for use with maxon motor control EPOS4 connector boards or customer-spe-
cific motherboards
•EPOS4 CB 50/5 CAN (534133)
Connector board for initial commissioning or combination to a compact solution providing all
connectors, including CANopen interface
•EPOS4 Compact 50/5 CAN (541718)
Fully integrated, compact, ready-to-use assembly of plug-in module and CANopen connector
board
Figure 1-2 Configuration overview
For easier legibility, in the later course of this document naming of components will be as follows:
Table 1-4 Abbreviations
Short form Meaning
CB a connector board (EPOS4 CB 50/5 CAN, EPOS4 CB 50/5 EtherCAT,
available shortly)
Compact any type of Compact 50/5 version
Compact CAN EPOS4 Compact 50/5 CAN
Compact EtherCAT EPOS4 Compact 50/5 EtherCAT (available shortly)
EPOS4 all controller versions (Module and Compact) as well as other EPOS4
positioning controllers as a whole
Module EPOS4 Module 50/5

About
About the Devices
maxon motor control
EPOS4 Positioning Controller Document ID: rel8003 1-9
EPOS4 Module/Compact 50/5 Hardware Reference Edition: May 2018
© 2018 maxon motor. Subject to change without prior notice.
For easier legibility, in the later course of this document naming of components will be as follows:
• EPOS4 Module 50/5 will be named as «Module»
• EPOS4 Compact 50/5 will be named as «Compact» covering all Compact versions
• EPOS4 Compact 50/5 CAN will be named as «Compact CAN»
•«EPOS4» will be used to describe both versions, Module and Compact and/or other EPOS4
positioning controllers as a whole
Find the latest edition of the present document as well as additional documentation and software for
EPOS4 positioning controllers also on the Internet: http://epos.maxonmotor.com.
In addition, you may wish to browse the EPOS video library. It features video tutorials that provide easy
to follow instructions on how to get started with «EPOS Studio» and shows you tips and tricks on how to
setup communication interfaces, and so on. Explore on Vimeo: https://vimeo.com/album/4646388

About
About the Safety Precautions
maxon motor control
1-10 Document ID: rel8003 EPOS4 Positioning Controller
Edition: May 2018 EPOS4 Module/Compact 50/5 Hardware Reference
© 2018 maxon motor. Subject to change without prior notice.
1.3 About the Safety Precautions
Keep in mind:
Safety first! Always! • Make sure that you have read and understood the note “READ THIS FIRST” on page A-2!
• Do not engage with any work unless you possess the stated skills (chapter “1.1.2 Target
Audience” on page 1-5)!
• Refer to chapter “1.1.4 Symbols & 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!
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.
Electrostatic sensitive device (ESD)
• Wear working cloth and use equipment in compliance with ESD protective measures.
• 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 it with your name!

Specifications
Technical Data
maxon motor control
EPOS4 Positioning Controller Document ID: rel8003 2-11
EPOS4 Module/Compact 50/5 Hardware Reference Edition: May 2018
© 2018 maxon motor. Subject to change without prior notice.
2 Specifications
2.1 Technical Data
EPOS4 Module 50/5 (534130)
EPOS4 Compact 50/5 CAN (541718)
Electrical
Rating
Nominal power supply voltage +VCC 10…50 VDC
Nominal logic supply voltage +VC
Module 10…50 VDC
Compact 10…50 VDC, optional
Absolute supply voltage +Vmin / +Vmax 8 VDC / 56 VDC
Output voltage (max.) 0.9 x +VCC
Output current Icont / Imax (<3 s) 5 A / 15 A
Pulse Width Modulation frequency 50 kHz
Sampling rate PI current controller 25 kHz (40 μs)
Sampling rate PID speed controller 2.5 kHz (400 μs)
Sampling rate PID positioning controller 2.5 kHz (400 μs)
Max. efficiency 97% (Figure 2-4)
Max. speed DC motor limited by max. permissible speed (motor) and
max. output voltage (controller)
Max. speed EC motor (block) 100’000 rpm (1 pole pair)
Max. speed EC motor (sinusoidal) 50’000 rpm (1 pole pair)
Built-in motor choke Module –
Compact 3 x 9.4 μH; 5 A
Inputs
&
Outputs
Digital Input 1 (general purpose)
Digital Input 2 (general purpose)
Digital Input 3 (general purpose)
Digital Input 4 (general purpose)
Module +2.1…+36 VDC
Compact
DIP switch-selectable levels:
• Logic: +2.0…+30 VDC
• PLC: +9.0…+30 VDC
Digital Output 1 (general purpose)
Digital Output 2 (general purpose)
max. 36 VDC / IL ≤500 mA
(open collector with internal pull-up)
STO Input 1
STO Input 2 +4.5…+30 VDC (optically isolated)
STO Output max. 30 VDC / IL ≤15 mA (optically isolated with self-resetting
short-circuit protection)
Analog Input 1
Analog Input 2 Resolution 12-bit, −10…+10 V, 10 kHz, differential
Analog Output 1
Analog Output 2 Resolution 12-bit, −4…+4 V, 25 kHz, referenced to GND
Digital Hall sensor signals
H1, H2, H3 +2.0…+24 VDC (internal pull-up)
Continued on next page.

Specifications
Technical Data
maxon motor control
2-12 Document ID: rel8003 EPOS4 Positioning Controller
Edition: May 2018 EPOS4 Module/Compact 50/5 Hardware Reference
© 2018 maxon motor. Subject to change without prior notice.
Table 2-5 Technical data
Inputs
&
Outputs
(continued)
Digital incremental encoder signals
A, A\, B, B\, I, I\ EIA RS422, max. 6.25 MHz
Sensor signals
(choice between multiple functions)
• Digital incremental encoder
• Analog incremental encoder
• SSI absolute encoder
• High-speed digital input 1…4 and
High-speed digital output 1
3-channel, EIA RS422, max. 6.25 MHz
3-channel, resolution 12-bit, ±1.8 V, differential
configurable, EIA RS422, 5 MHz
EIA RS422, max. 6.25 MHz
EIA RS422, max. 6.25 MHz
Voltage
Outputs
Sensor supply voltage VSensor +5 VDC / IL ≤100 mA
Auxiliary output voltage VAux +5 VDC / IL ≤150 mA
Motor
Connections
DC motor + Motor, − Motor
EC motor Motor winding 1, Motor winding 2, Motor winding 3
Interfaces
RS232 Module max. 115’200 bit/s; external transceiver
necessary
Compact max. 115’200 bit/s
USB 2.0 / USB 3.0 Full Speed
CAN max. 1 Mbit/s
Status
Indicators
Operation green LED
Error red LED
Physical
Weight Module approx. 17 g
Compact CAN approx. 58 g
Dimensions (L x W x H) Module 53.8 x 38.8 x 11.1 mm
Compact CAN 55.0 x 40.0 x 31.1 mm
Mounting Module pluggable female box headers 1.27 mm
or mounting holes for M2.5 screws
Compact mounting holes for M2.5 screws 3)
Environ-
mental
Conditions
Temperature
Operation Module: −30…+45 °C
Compact: −30…+25 °C
Extended range 1)
Module: +45…+75 °C
Derating −0.167 A/°C
(Figure 2-3)
Compact: +25…+70 °C
Derating −0.111 A/°C
(Figure 2-3)
Storage −40…+85 °C
Altitude 2)
Operation 0…6’000 m MSL
Extended range 1) 6’000…10’000 m MSL
Derating Figure 2-3
Humidity 5…90% (condensation not permitted)
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.
3) Max. tightening torque 0.16 Nm.
EPOS4 Module 50/5 (534130)
EPOS4 Compact 50/5 CAN (541718)

Specifications
Thermal Data
maxon motor control
EPOS4 Positioning Controller Document ID: rel8003 2-13
EPOS4 Module/Compact 50/5 Hardware Reference Edition: May 2018
© 2018 maxon motor. Subject to change without prior notice.
2.2 Thermal Data
2.2.1 Derating of Output Current
Figure 2-3 Derating of output current
Module Compact

Specifications
Limitations
maxon motor control
2-14 Document ID: rel8003 EPOS4 Positioning Controller
Edition: May 2018 EPOS4 Module/Compact 50/5 Hardware Reference
© 2018 maxon motor. Subject to change without prior notice.
2.2.2 Power Dissipation and Efficiency
Figure 2-4 Power dissipation and efficiency
2.3 Limitations
Table 2-6 Limitations
2.4 Dimensional Drawings
Figure 2-5 EPOS4 Module 50/5 – Dimensional drawing [mm]
Protection functionality Switch-off threshold Recovery threshold
Undervoltage 8.0 V 8.5 V
Overvoltage 58 V 56 V
Overcurrent 20 A —
Thermal overload 105 °C 90 °C

Specifications
Dimensional Drawings
maxon motor control
EPOS4 Positioning Controller Document ID: rel8003 2-15
EPOS4 Module/Compact 50/5 Hardware Reference Edition: May 2018
© 2018 maxon motor. Subject to change without prior notice.
Figure 2-6 EPOS4 CB 50/5 CAN – Dimensional drawing [mm]
Figure 2-7 EPOS4 Compact 50/5 CAN – Dimensional drawing [mm]

Specifications
Standards
maxon motor control
2-16 Document ID: rel8003 EPOS4 Positioning Controller
Edition: May 2018 EPOS4 Module/Compact 50/5 Hardware Reference
© 2018 maxon motor. Subject to change without prior notice.
2.5 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 2-7 Standards
Electromagnetic Compatibility
Generic
IEC/EN 61000-6-2 Immunity for industrial environments
IEC/EN 61000-6-3 Emission standard for residential, commercial and light-
industrial environments
Applied
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
Others
Environment
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 UL File Number
Unassembled printed circuit board
• Module: E207844
• Compact CAN: E207844
Reliability MIL-HDBK-217F
Reliability prediction of electronic equipment
Environment: Ground, benign (GB)
Ambient temperature: 298 K (25 °C)
Component stress: In accordance with circuit diagram and
nominal power
Mean Time Between Failures (MTBF)
• Module: 314'822 hours
• Compact CAN: 253'865 hours

Setup
Generally applicable Rules
maxon motor control
EPOS4 Positioning Controller Document ID: rel8003 3-17
EPOS4 Module/Compact 50/5 Hardware Reference Edition: May 2018
© 2018 maxon motor. Subject to change without prior notice.
3Setup
IMPORTANT NOTICE: PREREQUISITES FOR PERMISSION TO COMMENCE INSTALLATION
EPOS4 Module 50/5 and EPOS4 Compact 50/5 positioning controllers are considered as partly com-
pleted machinery according to EU Directive 2006/42/EC, Article 2, Clause (g) and are intended to be
incorporated into or assembled with other machinery or other partly completed machinery or
equipment.
3.1 Generally applicable Rules
Maximal permitted supply voltage
• Make sure that supply power is between 10…50 VDC.
• Supply voltages above 56 VDC, or wrong polarity will destroy the unit.
• Note that the necessary output current is depending on the load torque. Yet, the output current limits
are as follows:
– continuous max. 5 A
– short-time (acceleration) max. 15 A
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.
WARNING
Risk of injury
Operating the device without the full compliance of the surrounding system with the EU Direc-
tive 2006/42/EC may cause serious injuries!
• Do not operate the device, unless you have made completely sure that the other machinery fully
complies with the EU directive’s requirements!
• Do not operate the device, unless the other machinery fulfills all relevant health and safety
aspects!
• Do not operate the device, unless all respective interfaces have been established and fulfill the
requirements stated in this document!

Setup
Pin Assignment for Module Version
maxon motor control
3-18 Document ID: rel8003 EPOS4 Positioning Controller
Edition: May 2018 EPOS4 Module/Compact 50/5 Hardware Reference
© 2018 maxon motor. Subject to change without prior notice.
3.2 Pin Assignment for Module Version
For in-depth details on connections chapter “3.4 Connection Specifications” on page 3-38.
Figure 3-8 Pin assignment
Table 3-8 Pin assignment A1…A46 (X1…X5)
Pin Signal Description
A1…A7** Motor (+M)
Motor winding 1
DC motor: Motor +
EC motor: Winding 1
A8…A14** Motor (−M)
Motor winding 2
DC motor: Motor −
EC motor: Winding 2
A15…A21** Motor winding 3 EC motor: Winding 3
A22 +VC Logic supply voltage (+10…+50 VDC)
A23…A29** +VCC Power supply voltage (+10…+50 VDC)
A30…A36** GND Ground
A37 Hall sensor 1 Hall sensor 1 input
A38 Hall sensor 2 Hall sensor 2 input
A39 Hall sensor 3 Hall sensor 3 input
A40 VSensor Sensor supply voltage (+5 VDC; IL ≤100 mA)
A41 Channel A Digital incremental encoder channel A
A42 Channel A\ Digital incremental encoder channel A complement
A43 Channel B Digital incremental encoder channel B
A44 Channel B\ Digital incremental encoder channel B complement
A45 Channel I Digital incremental encoder channel I
A46 Channel I\ Digital incremental encoder channel I complement
** Connect all pins in respect to the individual pin current rating.

Setup
Pin Assignment for Module Version
maxon motor control
EPOS4 Positioning Controller Document ID: rel8003 3-19
EPOS4 Module/Compact 50/5 Hardware Reference Edition: May 2018
© 2018 maxon motor. Subject to change without prior notice.
Pin Signal Description
B1 DigIN1 Digital input 1
B2 DigIN2 Digital input 2
B3 DigIN3 Digital input 3
B4 DigIN4 Digital input 4
B5 DigOUT1 Digital output 1
B6 DigOUT2 Digital output 2
B7 Channel A
HsDigIN1
Digital/analog incremental encoder channel A
High-speed digital input 1
B8 Channel A\
HsDigIN1\
Digital/analog incremental encoder channel A complement
High-speed digital input 1 complement
B9 Channel B
HsDigIN2
Digital/analog incremental encoder channel B
High-speed digital input 2
B10 Channel B\
HsDigIN2\
Digital/analog incremental encoder channel B complement
High-speed digital input 2 complement
B11
Channel I
HsDigIN3
Clock
HsDigOUT1
Digital/analog incremental encoder channel I
High-speed digital input 3
Clock (SSI)
High-speed digital output 1
B12
Channel I\
HsDigIN3\
Clock\
HsDigOUT1\
Digital/analog incremental encoder channel I complement
High-speed digital input 3 complement
Clock (SSI) complement
High-speed digital output 1 complement
B13 Data
HsDigIN4
Data (SSI)
High-speed digital input 4
B14 Data\
HsDigIN4\
Data (SSI) complement
High-speed digital input 4 complement
B15 VAux Auxiliary output voltage (+5 VDC; IL ≤150 mA)
B16 GND Ground
B17 STO-IN1+ Safe Torque Off input 1, positive signal
B18 STO-IN1− Safe Torque Off input 1, negative signal
B19 STO-IN2+ Safe Torque Off input 2, positive signal
B20 STO-IN2− Safe Torque Off input 2, negative signal
B21 STO-OUT+ Safe Torque Off output, positive signal
B22 STO-OUT− Safe Torque Off output, negative signal
B23 AnIN1+ Analog input 1, positive signal
B24 AnIN1− Analog input 1, negative signal
B25 AnIN2+ Analog input 2, positive signal
B26 AnIN2− Analog input 2, negative signal
B27 AnOUT1 Analog output 1
B28 AnOUT2 Analog output 2
B29 CAN ID 1 CAN ID 1 (valence = 1)
B30 CAN ID 2 CAN ID 2 (valence = 2)
Continued on next page.

Setup
Pin Assignment for Module Version
maxon motor control
3-20 Document ID: rel8003 EPOS4 Positioning Controller
Edition: May 2018 EPOS4 Module/Compact 50/5 Hardware Reference
© 2018 maxon motor. Subject to change without prior notice.
Table 3-9 Pin assignment B1…B46 (X6…X12)
B31 CAN ID 3 CAN ID 3 (valence = 4)
B32 CAN ID 4 CAN ID 4 (valence = 8)
B33 CAN ID 5 CAN ID 5 (valence = 16)
B34 Auto bit rate Automatic bit rate detection of CAN bus
B35 CAN high CAN high bus line
B36 CAN low CAN low bus line
B37…B38 GND Ground
B39 4) DSP_RxD Serial communication interface receive (UART)
B40 DSP_TxD Serial communication interface transmit (UART)
B41 5) SPI_CLK Serial Peripheral Interface clock
B42 5) SPI_IRQ Serial Peripheral Interface interrupt request
B43 5) SPI_SOMI Serial Peripheral Interface Slave output, Master input
B44 5) SPI_SIMO Serial Peripheral Interface Slave input, Master output
B45 5) SPI_CS2 Serial Peripheral Interface chip select 2
B46 5) SPI_CS1 Serial Peripheral Interface chip select 1
4) connect to sensor supply voltage VSensor (A40) when RS232 is not in use
5) only used for maxon extension modules
Pin Signal Description