maxon motor ESCON 36/3 EC Application guide

maxon motor ag Brünigstrasse 220 P.O.Box 263 CH-6072 Sachseln Phone [phone] Fax [phone] www.maxonmotor.com
Edition November 2018
ESCON Servo Controller
Hardware Reference
maxon motor control
ESCON 36/3 EC
Servo Controller
P/N 414533
Hardware Reference
Document ID: rel7132

maxon motor control
A-2 Document ID: rel7132 ESCON Servo Controller
Edition: November 2018 ESCON 36/3 EC Hardware Reference
© 2018 maxon motor. Subject to change without prior notice.
1 About 3
1.1 About this Document . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 3
1.2 About the Device . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 5
1.3 About the Safety Precautions. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 6
2 Specifications 7
2.1 Technical Data . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 7
2.2 Standards . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 10
3Setup 11
3.1 Generally applicable Rules. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 11
3.2 Determination of Power Supply . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 12
3.3 Cabling . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 13
3.4 Connections . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 14
3.5 Potentiometers . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 28
3.6 Status Indicators. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 29
4Wiring 31
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.
The ESCON 36/3 EC is considered as partly completed machinery according to EU Directive 2006/42/EC, Article 2, Clause
(g) and is 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!

About
About this Document
maxon motor control
ESCON Servo Controller Document ID: rel7132 1-3
ESCON 36/3 EC Hardware Reference Edition: November 2018
© 2018 maxon motor. Subject to change without prior notice.
1 About
1.1 About this Document
1.1.1 Intended Purpose
The purpose of the present document is to familiarize you with the ESCON 36/3 EC Servo Controller. 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 document contains performance data and specifications, information on fulfilled standards, details
on connections and pin assignment, and wiring examples.
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.
1.1.3 How to use
Take note of the following notations and codes which will be used throughout the document.
Table 1-1 Notation used
1.1.4 Symbols & Signs
In the course of the present document, the following symbols and signs will be used.
Notation Meaning
(n) refers 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
About this Document
maxon motor control
1-4 Document ID: rel7132 ESCON Servo Controller
Edition: November 2018 ESCON 36/3 EC Hardware Reference
© 2018 maxon motor. Subject to change without prior notice.
Table 1-2 Symbols & Signs
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.
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
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
Type Symbol Meaning

About
About the Device
maxon motor control
ESCON Servo Controller Document ID: rel7132 1-5
ESCON 36/3 EC Hardware Reference Edition: November 2018
© 2018 maxon motor. Subject to change without prior notice.
1.2 About the Device
The ESCON 36/3 EC is a small-sized, powerful 4-quadrant PWM servo controller for the highly efficient
control of permanent magnet-activated brushless EC motors up to approximately 97 Watts.
The featured operating modes – speed control (closed loop), speed control (open loop), and current
control – meet the highest requirements. The ESCON 36/3 EC is designed being commanded by an
analog set value and features extensive analog and digital I/O functionality.
The device is designed to be configured via USB interface using the graphical user interface «ESCON
Studio» for Windows PCs.
You can download the latest ESCON software version (as well as the latest edition of the documenta-
tion) from the internet under http://escon.maxonmotor.com.

About
About the Safety Precautions
maxon motor control
1-6 Document ID: rel7132 ESCON Servo Controller
Edition: November 2018 ESCON 36/3 EC Hardware Reference
© 2018 maxon motor. Subject to change without prior notice.
1.3 About the Safety Precautions
• 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 1-3)!
• Refer to chapter “1.1.4 Symbols & Signs” on page 1-3 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)
• 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 it with your name!

Specifications
Technical Data
maxon motor control
ESCON Servo Controller Document ID: rel7132 2-7
ESCON 36/3 EC Hardware Reference Edition: November 2018
© 2018 maxon motor. Subject to change without prior notice.
2 Specifications
2.1 Technical Data
ESCON 36/3 EC (414533)
Electrical Rating
Nominal operating voltage +VCC 10…36 VDC
Absolute operating voltage
+VCC min / +VCC max
8 VDC / 38 VDC
Output voltage (max.) 0.98 x +VCC
Output current Icont / Imax (<4 s) 2.7 A / 9 A
Pulse Width Modulation frequency 53.6 kHz
Sampling rate PI current controller 53.6 kHz
Sampling rate PI speed controller 5.36 kHz
Max. efficiency 95%
Max. speed 150'000 rpm (1 pole pair)
Built-in motor chokes 3 x 47 μH; 2.7 A
Inputs & Outputs
Analog Input 1
Analog Input 2 resolution 12-bit; −10…+10 V; differential
Analog Output 1
Analog Output 2 resolution 12-bit; −4…+4 V; referenced to GND
Digital Input 1
Digital Input 2 +2.4…+36 VDC (Ri = 38.5 kΩ)
Digital Input/Output 3
Digital Input/Output 4 +2.4…+36 VDC (Ri = 38.5 kΩ) / max. 36 VDC (IL <500 mA)
Hall sensor signals H1, H2, H3
Voltage Outputs
Auxiliary output voltage +5 VDC (IL ≤80 mA)
Hall sensor supply voltage +5 VDC (IL ≤30 mA)
Potentiometer Potentiometer P1 (on board) 210°; linear
Motor
Connections EC motor Motor winding 1, Motor winding 2, Motor winding 3
Interface USB 2.0 / USB 3.0 full speed
Status Indicators
Operation green LED
Error red LED
Physical
Weight approx. 36 g
Dimensions (L x W x H) 55 x 40 x 19.8 mm
Mounting holes for M2.5 screws (max. tightening torque 0.16 Nm)

Specifications
Technical Data
maxon motor control
2-8 Document ID: rel7132 ESCON Servo Controller
Edition: November 2018 ESCON 36/3 EC Hardware Reference
© 2018 maxon motor. Subject to change without prior notice.
Table 2-4 Technical Data
Figure 2-1 Derating Output Current
Table 2-5 Limitations
Environmental
Conditions
Temperature
Operation −30…+45 °C
Extended range *1) +45…+78 °C
Derating Figure 2-1
Storage −40…+85 °C
Altitude *2)
Operation 0…6’000 m MSL
Extended range *1) 6’000…10’000 m MSL
Derating Figure 2-1
Humidity 5…90% (condensation not permitted)
*1) Operation within the extended range (temperature and altitude) is permitted. However, a respective derating (declina-
tion of output current Icont) as to the stated values will apply.
*2) Operating altitude in meters above Mean Sea Level, MSL.
ESCON 36/3 EC (414533)
Protection functionality Switch-off threshold Recovery threshold
Undervoltage 7.2 V 7.4 V
Overvoltage 43 V 41 V
Overcurrent 13.5 A —
Thermal overload 95 °C 85 °C

Specifications
Technical Data
maxon motor control
ESCON Servo Controller Document ID: rel7132 2-9
ESCON 36/3 EC Hardware Reference Edition: November 2018
© 2018 maxon motor. Subject to change without prior notice.
Figure 2-2 Dimensional Drawing [mm]

Specifications
Standards
maxon motor control
2-10 Document ID: rel7132 ESCON Servo Controller
Edition: November 2018 ESCON 36/3 EC Hardware Reference
© 2018 maxon motor. Subject to change without prior notice.
2.2 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 2-6 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
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 Number E207844; unassembled printed circuit board
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): 403'301 hours

Setup
Generally applicable Rules
maxon motor control
ESCON Servo Controller Document ID: rel7132 3-11
ESCON 36/3 EC Hardware Reference Edition: November 2018
© 2018 maxon motor. Subject to change without prior notice.
3Setup
IMPORTANT NOTICE: PREREQUISITES FOR PERMISSION TO COMMENCE INSTALLATION
The ESCON 36/3 EC is considered as partly completed machinery according to EU Directive 2006/42/
EC, Article 2, Clause (g) and is intended to be incorporated into or assembled with other machin-
ery or other partly completed machinery or equipment.
3.1 Generally applicable Rules
For each possible motor variant you will find information on the from/to connections and the cables you
will require. If you should decide not to use the ready-made maxon cables, you must establish the
respective connections as to chapter “3.4.7 ESCON 36/3 EC Connector Set” on page 3-28 and
chapter “4 Wiring” on page 4-31.
Maximal permitted Supply Voltage
• Make sure that supply power is between 10…36 VDC.
• Supply voltages above 38 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
of the ESCON 36/3 EC are as follows; continuous max. 2.7 A / short-time (acceleration) max. 9 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.
How to read the Wiring Details
The subsequent description follows this scheme:
• Column “J… & Head A”: Pin number…
– of the socket,
– of the corresponding plug, and
– of Head A of the matching prefab maxon cable.
• Column “Prefab Cable”: Wire color of the prefab maxon cable.
• Column “Head B”: Pin number of Head B of the matching prefab maxon cable.
WARNING
Risk of Injury
Operating the device without the full compliance of the surrounding system with EU Directive
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
Determination of Power Supply
maxon motor control
3-12 Document ID: rel7132 ESCON Servo Controller
Edition: November 2018 ESCON 36/3 EC Hardware Reference
© 2018 maxon motor. Subject to change without prior notice.
3.2 Determination of Power Supply
Basically, any power supply may be used, provided it meets the minimal requirements stated below.
1) Use the formula below to calculate the required voltage under load.
2) Choose a power supply according to the calculated voltage. Thereby consider:
a) During braking of the load, the power supply must be capable of buffering the recovered
kinetic energy (for example, in a capacitor).
b) If you are using an electronically stabilized power supply, make sure that the overcurrent
protection circuit is configured inoperative within the operating range.
Note
The formula already takes the following into account:
• Maximum PWM duty cycle of 98%
• Controller’s max. voltage drop of 1 V @ 2.7 A
KNOWN VALUES:
• Operating torque M [mNm]
• Operating speed n [rpm]
• Nominal motor voltage UN [Volt]
• Motor no-load speed at UN, n0 [rpm]
• Speed/torque gradient of the motor Δn/ΔM [rpm/mNm]
SOUGHT VALUE:
• Supply voltage +VCC [Volt]
SOLUTION:
Power Supply Requirements
Output voltage +VCC 10…36 VDC
Absolute output voltage min. 8 VDC; max. 38 VDC
Output current
Depending on load
• continuous max. 2.7 A
• short-time (acceleration, <4 s) max. 9 A
VCC UN
nO
------- nΔn
ΔM
---------M⋅+


1
0.98
----------
⋅⋅1V[]+≥

Setup
Cabling
maxon motor control
ESCON Servo Controller Document ID: rel7132 3-13
ESCON 36/3 EC Hardware Reference Edition: November 2018
© 2018 maxon motor. Subject to change without prior notice.
3.3 Cabling
Here you can get the connection information required to commission your ESCON 36/3 EC. You will find
all details for both approaches, Plug&Play and making your own cables.
PLUG&PLAY
Take advantage of maxon’s prefab cable assemblies. They come as ready-to-use parts and will help
you to reduce commissioning time to a minimum.
a) Check the «Cable Selector» (Table 3-7) to find the cable assemblies’ order number
matching the setup you will be using.
b) Follow the cross-reference to get the cable assemblies’ pin assignment.
MAKE&BAKE YOUR OWN
a) Check the «Cable Selector» (Table 3-7) to find the required cables for the setup you will
be using.
b) Follow the cross-reference to get the cable’s specification and pin assignment.
c) Utilize the installation kit (page 3-28) containing plugs and terminals that will fit the con-
troller’s sockets.
Table 3-7 Cable Selector
Cable / Adapter
Socket / Header
EC Motor
with…
Designation Order
number

page
Cable
Flexprint Cable
(FPC)
Power Cable 403957 3-14 J1 X X
I/O Cable 6core 403965 3-18 J5 X X
I/O Cable 7core 403964 3-22 J6 O O
USB Type A - micro B Cable 403968 3-24 J7 X X
Adapter BLACK FPC11poles 418719 3-26 J2 O
Adapter BLUE FPC8poles 418723 3-27 J2 O
Adapter GREEN FPC8poles 418721 3-27 J2 O
Legend: X = required / O = optional

Setup
Connections
maxon motor control
3-14 Document ID: rel7132 ESCON Servo Controller
Edition: November 2018 ESCON 36/3 EC Hardware Reference
© 2018 maxon motor. Subject to change without prior notice.
3.4 Connections
The actual connection will depend on the overall configuration of your drive system and the type of
motor you will be using. Some connections must be established in a given way, while for motor/Hall sen-
sor (J2/J2A alternative plug-in locations can be chosen from.
Follow the description in given order and choose the connection scheme that suits the respective com-
ponents you are using. For corresponding wiring diagrams chapter “4 Wiring” on page 4-31.
3.4.1 Power (J1)
Figure 3-3 Power Socket J1
Table 3-8 Power Socket J1 – Pin Assignment & Cabling
Table 3-9 Power Cable
J1 &
Head A
Prefab
Cable Head B
Signal Description
Pin Color Pin
1 white − Power_GND Ground of supply voltage
2brown+
+VCC Power supply voltage (+10…+36 VDC)
Power Cable (403957)
Cable cross-section 2 x 0.34 mm2
Length 1.5 m
Head A Suitable plugs
Suitable contacts
Hirose DF3-2S-2C
Hirose DF3-22SC…
Head B Cable end sleeves 0.34 mm2

Setup
Connections
maxon motor control
ESCON Servo Controller Document ID: rel7132 3-15
ESCON 36/3 EC Hardware Reference Edition: November 2018
© 2018 maxon motor. Subject to change without prior notice.
3.4.2 Motor / Hall Sensor (J2 / J2A)
Potential Destruction
Use only one of the two connectors – either J2 or J2A!
HEADER J2
Figure 3-4 Motor / Hall Sensor Header J2
Best Practice
• For EC motors with built-in FPC (Flexprint cable), you might wish to use one of the ready-made
adapters. For details  “Cable Selector” on page 3-13.
Table 3-10 Motor / Hall Sensor Header J2 – Pin Assignment & Cabling
Table 3-11 Motor / Hall Sensor Header J2 – Specification & Accessories
For circuitry Figure 3-6.
J2 &
Head A
Prefab
Cable Head B
Signal Description
Pin Color Pin
1 Motor winding 1 EC motor: Winding 1
2 Motor winding 2 EC motor: Winding 2
3 Motor winding 3 EC motor: Winding 3
4+5 VDC
Hall sensor supply voltage (+5 VDC; IL ≤30 mA)
5 GND Ground
6 Hall sensor 1 Hall sensor 1 input
7 Hall sensor 2 Hall sensor 2 input
8 Hall sensor 3 Hall sensor 3 input
Specification / Accessories
Type Mini module pin header, upright, single row, 8 poles, pitch 2.5 mm
Suitable plugs Lumberg crimping socket, 8 poles (3114 08)
Suitable
contacts Lumberg crimping contact for socket (3111 03)
Suitable tools Lumberg hand crimper (CZ31)

Setup
Connections
maxon motor control
3-16 Document ID: rel7132 ESCON Servo Controller
Edition: November 2018 ESCON 36/3 EC Hardware Reference
© 2018 maxon motor. Subject to change without prior notice.
SOCKET J2A
Figure 3-5 Motor / Hall Sensor Socket J2A
Table 3-12 Motor / Hall Sensor Socket J2A – Pin Assignment & Cabling
Table 3-13 Motor / Hall Sensor Socket J2A – Specification & Accessories
J2 &
Head A
Prefab
Cable Head B
Signal Description
Pin Color Pin
1 Motor winding 1 EC motor: Winding 1
2 Motor winding 2 EC motor: Winding 2
3 Motor winding 3 EC motor: Winding 3
4+5 VDC
Hall sensor supply voltage (+5 VDC; IL ≤30 mA)
5 GND Ground
6 Hall sensor 1 Hall sensor 1 input
7 Hall sensor 2 Hall sensor 2 input
8 Hall sensor 3 Hall sensor 3 input
Specification / Accessories
Type Spring-loaded contacts, 8 poles, pitch 2.5 mm
Suitable cables
Rigid 0.14…0.5 mm2, AWG 26-20 / wire stripping length 6 mm
Flexible
0.2…0.5 mm2, AWG 24-20 / wire stripping length 6 mm
0.25…0.5 mm2, AWG 24-20 / wire stripping length 6 mm, cable
end sleeves
Suitable tools Miniature screwdriver, size “00”

Setup
Connections
maxon motor control
ESCON Servo Controller Document ID: rel7132 3-17
ESCON 36/3 EC Hardware Reference Edition: November 2018
© 2018 maxon motor. Subject to change without prior notice.
Figure 3-6 Hall Sensor Input Circuit (analogously valid also for Hall Sensors 2 & 3)
Hall sensor supply voltage +5 VDC
Max. Hall sensor supply current 30 mA
Input voltage 0…24 VDC
Max. input voltage +24 VDC
Logic 0 typically <1.0 V
Logic 1 typically >2.4 V
Internal pull-up resistor 2.7 kΩ (against +5.45 V − 0.6 V)

Setup
Connections
maxon motor control
3-18 Document ID: rel7132 ESCON Servo Controller
Edition: November 2018 ESCON 36/3 EC Hardware Reference
© 2018 maxon motor. Subject to change without prior notice.
3.4.3 Digital I/Os (J5)
Figure 3-7 Digital I/Os Socket J5
Table 3-14 Digital I/Os Socket J5 – Pin Assignment & Cabling
Table 3-15 I/O Cable 6core
J5 &
Head A
Prefab
Cable Head B
Signal Description
Pin Color Pin
1 white DigIN1 Digital input 1
2 brown DigIN2 Digital input 2
3 green DigIN/DigOUT3 Digital input/output 3
4 yellow DigIN/DigOUT4 Digital input/output 4
5 grey GND Signal ground
6 pink +5 VDC Auxiliary output voltage (+5 VDC; ≤80 mA)
I/O Cable 6core (403965)
Cable cross-section 6 x 0.14 mm2
Length 1.5 m
Head A Suitable plugs
Suitable contacts
Hirose DF3-6S-2C
Hirose DF3-2428SC…
Head B Cable end sleeves 0.14 mm2

Setup
Connections
maxon motor control
ESCON Servo Controller Document ID: rel7132 3-19
ESCON 36/3 EC Hardware Reference Edition: November 2018
© 2018 maxon motor. Subject to change without prior notice.
3.4.3.1 Digital Input 1
Figure 3-8 DigIN1 Circuit
3.4.3.2 Digital Input 2
Figure 3-9 DigIN2 Circuit
Input voltage 0…36 VDC
Max. input voltage +36 VDC / −36 VDC
Logic 0 typically <1.0 V
Logic 1 typically >2.4 V
Input resistance
typically 47 kΩ (<3.3 V)
typically 38.5 kΩ (@ 5 V)
typically 25.5 kΩ (@ 24 V)
Input current at logic 1 typically 130 µA @ 5 VDC
Switching delay <8 ms
PWM frequency range 10 Hz…5 kHz
PWM duty cycle range (resolution) 10...90% (0.1%)
RC Servo cycle duration 3…30 ms
RC Servo pulse length 1…2 ms
Input voltage 0…36 VDC
Max. input voltage +36 VDC / −36 VDC
Logic 0 typically <1.0 V
Logic 1 typically >2.4 V
Input resistance
typically 47 kΩ (<3.3 V)
typically 38.5 kΩ (@ 5 V)
typically 25.5 kΩ (@ 24 V)
Input current at logic 1 typically 130 µA @ 5 VDC
Switching delay <8 ms

Setup
Connections
maxon motor control
3-20 Document ID: rel7132 ESCON Servo Controller
Edition: November 2018 ESCON 36/3 EC Hardware Reference
© 2018 maxon motor. Subject to change without prior notice.
3.4.3.3 Digital Inputs/Outputs 3 and 4
Figure 3-10 DigIN3 Circuit (analogously valid also for DigIN4)
Figure 3-11 DigOUT3 Circuit (analogously valid also for DigOUT4)
DigIN
Input voltage 0…36 VDC
Max. input voltage +36 VDC
Logic 0 typically <1.0 V
Logic 1 typically >2.4 V
Input resistance
typically 47 kΩ (<3.3 V)
typically 38.5 kΩ (@ 5 V)
typically 25.5 kΩ (@ 24 V)
Input current at logic 1 typically 130 µA @ 5 VDC
Switching delay <8 ms
DigOUT
Max. input voltage +36 VDC
Max. load current 500 mA
Max. voltage drop 0.5 V @ 500 mA
Max. load inductance 100 mH @ 24 VDC; 500 mA