maxon motor MCD EPOS 60 W Application guide


maxon document number: 791272 -04

Hardware Reference MCD EPOS 60 W
December 2011 Edition / document number 791272-04 / subject to change maxon motor control
1Table of contents................................................................................................................... 2
2Table of figures ..................................................................................................................... 3
3Introduction ........................................................................................................................... 4
4How to use this guide............................................................................................................ 4
5Safety Instructions................................................................................................................. 5
6Performance Data................................................................................................................. 6
6.1 Motor data........................................................................................................................... 6
6.2 Electrical data...................................................................................................................... 6
6.3 Inputs .................................................................................................................................. 6
6.4 Outputs................................................................................................................................ 6
6.5 Interfaces ............................................................................................................................ 7
6.6 LED indicator....................................................................................................................... 7
6.7 Ambient temperature- / Humidity range.............................................................................. 7
6.8 Mechanical data.................................................................................................................. 7
6.9 Connections........................................................................................................................ 7
6.10 Order number...................................................................................................................... 7
7Connections .......................................................................................................................... 8
7.1 Signal connector (J1).......................................................................................................... 9
7.1.1 Digital input 7 “High Speed Command” ....................................................................... 10
7.1.2 Digital input 8 “High Speed Command” ....................................................................... 11
7.1.3 Digital input 1, 2, 3, 4 “General Purpose” .................................................................... 12
7.1.4 “+V Opto IN” external supply Input voltage for Digital Outputs.................................... 14
7.1.5 Digital output 3 and 4 “General Purpose” .................................................................... 15
7.2 Power / Communication connector (J2)............................................................................ 16
7.2.1 RS-232 communication ............................................................................................... 17
7.2.2 CAN communication.................................................................................................... 18
7.2.3 Logic supply (optional)................................................................................................. 19
7.2.4 Power supply ............................................................................................................... 20
8LED status........................................................................................................................... 21
9Dimension drawing.............................................................................................................. 21

Hardware Reference MCD EPOS 60 W
December 2011 Edition / document number 791272-04 / subject to change maxon motor control
Figure 1: MCD EPOS 60 W............................................................................................................. 4
Figure 2: EPOS documentation hierarchy....................................................................................... 4
Figure 3: Connector location........................................................................................................... 8
Figure 4: Wiring diagram (overview) ............................................................................................... 8
Figure 5: Signal connector (J1) D-Sub connector High-Density 15 poles (female)........................ 9
Figure 6: Digital input 7 “Differential” circuit .................................................................................. 10
Figure 7: Digital input 7 “Single-ended” circuit .............................................................................. 10
Figure 8: Digital input 8 “Differential” circuit .................................................................................. 11
Figure 9: Digital input 8 “Single-ended” circuit .............................................................................. 11
Figure 10: Logic level.................................................................................................................... 12
Figure 11: Digital input 1,2,3,4 ...................................................................................................... 12
Figure 12: Digital input 1, 2, 3 ,4 external wiring examples .......................................................... 13
Figure 13: Digital output 3............................................................................................................. 15
Figure 14: Power / Communication connector (J2) D-Sub connector 9 poles (male) .................. 16
Figure 15: Dimensions MCD EPOS 60 W..................................................................................... 21

Hardware Reference MCD EPOS 60 W
December 2011 Edition / document number 791272-04 / subject to change maxon motor control
This documentation “Hardware Reference” provides the hardware details of the maxon compact drive
MCD EPOS 60 W. It contains performance data, connections, specification, pin assignment and
wiring examples.
The maxon MCD EPOS 60 W is a small-sized compact drive. It
contains a brushless EC motor with Hall-sensors, digital Encoder
and a digital position control unit. The optimized commutation by
space vector control offers to drive the integrated brushless EC
motor with minimal torque ripple and low noise. The integrated
position-, velocity- and current control functionality allows
sophisticated positioning applications. It is specially designed
being commanded and controlled as a slave node in the
CANopen network. In addition the unit can be operated through
any RS-232 communication port.
The latest edition of these “Hardware Reference”, additional documentation and software to the MCD
EPOS compact drive may also be found on the internet under http://www.maxonmotor.com category
<Service & Downloads> or in the maxon motor e-shop http://shop.maxonmotor.com.
Getting Started
Cable Starting Set
Graphical User
Interface
Windows DLL
IEC1131 libraries
Firmware
Specification
Communication Guide
Application Notes
Application Samples
Figure 2: EPOS documentation hierarchy
Figure 1: MCD EPOS 60 W

Hardware Reference MCD EPOS 60 W
December 2011 Edition / document number 791272-04 / subject to change maxon motor control
Installation and starting of the equipment shall only be performed by experienced,
skilled personnel.
The user must ensure that the compact drive and the components belonging to it
are assembled and connected according to local statutory regulations.
For primary operation the compact drive should be free running, i.e. with the load
disconnected.
Any electronic apparatus is, in principle, not fail-safe. Machines and apparatus
must therefore be fitted with independent monitoring and safety equipment. If the
equipment breaks down, if it is operated incorrectly, if the control unit breaks down
or if the cables break, etc., it must be ensured that the drive or the complete
apparatus is kept in a safe operating mode.
Repairs may be made by authorized personnel only or by the manufacturer.
Improper repairs can result in substantial dangers for the user.
During installation of the MCD EPOS 60 W, make sure to disconnect all apparatus
from the electrical supply.
After switch-on, do not touch any life parts!
Make sure that the supply voltage is between 12 and 50 VDC. Voltages higher than
55 VDC or of wrong polarity will destroy the unit.

Hardware Reference MCD EPOS 60 W
December 2011 Edition / document number 791272-04 / subject to change maxon motor control
Nominal torque (max. continuous torque) ............. 54 mNm (Ta=25 °C, 5000 rpm)
1
)
Max. torque ................................................................................................ 218 mNm
Max. permissible speed (restricted by Encoder) ..................................... 12000 rpm
Max. efficiency .................................................................................................. 70 %
Torque constant .................................................................................... 24.3 mNm/A
Speed constant ......................................................................................... 393 rpm/V
Speed / Torque gradient .................................................................... 20.6 rpm/mNm
Rotor inertia .............................................................................................. 21.9 gcm2
Axial play at axial load < 6 N ....................................................................... 0 mm
> 6 N .................................................................. 0.14 mm
Radial play ................................................................................................ preloaded
Max. axial load (dynamic) ................................................................................. 5.5 N
Max. force for press fits (static) ....................................................................... 100 N
Max. radial loading, 5 mm from flange .............................................................. 25 N
Power supply voltage VCC (Ripple < 10%) .......................................... 12 …50 VDC
Logic supply voltage VC(Ripple < 10%) (optional) ............................. 12 …50 VDC
Max. output voltage .................................................................................... 0.9 · VCC
Max. output current Imax ....................................................................................... 9 A
Continuous output current Icont ..................................... 2.6 A (Ta=25 °C, 5000 rpm)1)
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
Position resolution ............................................................................................ 0.09°
Position accuracy ..................................................................................... typical ± 1°
Position reproducibility ........................................................................ typical ± 0.09°
Hall sensor signals ................................. Hall sensor 1, Hall sensor 2, Hall sensor 3
Encoder signals .............................................................................. 1000 Increments
A, A\, B, B\, I, I\ (max. 200 KHz)
Digital input 1 (“General Purpose”) ........ opto-isolated ..................... +9 ... +24 VDC
Digital input 2 (“Home Switch”) .............. opto-isolated ..................... +9 ... +24 VDC
Digital input 3 (“Positive Limit Switch”) .. opto-isolated ..................... +9 ... +24 VDC
Digital input 4 (“Negative Limit Switch”) . opto-isolated ..................... +9 ... +24 VDC
Digital input 7 (“High Speed Command”) ............ line receiver EIA standard RS-422
Digital input 8 (“High Speed Command”) ............ line receiver EIA standard RS-422
+V Opto IN ...................................................................................... +12 …+24 VDC
Digital output 3 (“General Purpose”) ...... opto-isolated max. 24 VDC (IL< 350 mA)
Digital output 4 (“General Purpose”) ...... opto-isolated max. 24 VDC (IL< 350 mA)
1
)Valid at Ta=25°C, thermally isolated, no convection and 5000 rpm
Higher value (Icont max.3A) possible with better ambient conditions for example:
- free convection or forced air cooling
- thermal coupling
- lower speed

Hardware Reference MCD EPOS 60 W
December 2011 Edition / document number 791272-04 / subject to change maxon motor control
RS-232 .............................. RxD; TxD ......................................... max. 115 200 bit/s
CAN (high speed) ............. CAN_H (high); CAN_L (low) .................... max.1 MBit/s
CAN-ID, no mechanical switch, configured according to ............ LSS CiA DSP-305
Bi-colour LED .......................................................... green = ENABLE, red = FAULT
Blue LED ............................................................. is not used with MCD EPOS 60 W
Protection class ......................................................................... IP42 (optional IP54)
Operating ............................................................................................. -20 ... +85 °C
.................................................................. power derating 1.4%/K above Ta=25 °C
1
)
Storage ................................................................................................ -40 ... +85 °C
Non condensating .................................................................................... 20 ... 80 %
Max. case temperature ............................................................................... < 100 °C
Weight ................................................................................................. approx. 528 g
Dimensions (L x W x H) ................................................................ 120 x 33 x 53 mm
Mounting plate ............................................................................. for M3x4.5 screws
J1 Signal ...................................... D-Sub connector High-Density 15 poles (female)
Suitable plug: .............................................. D-Sub connector High-Density 15 poles (male)
J2 Power / Communication .................................... D-Sub connector 9 poles (male)
Suitable plug: .................................................................. D-Sub connector 9 poles (female)
MCD EPOS 60 W .........................................................................................
1
)Valid at Ta=25°C, thermally isolated, no convection and 5000 rpm
Higher value (Icont max.3A) possible with better ambient conditions for example:
- free convection or forced air cooling
- thermal coupling
- lower speed

Hardware Reference MCD EPOS 60 W
December 2011 Edition / document number 791272-04 / subject to change maxon motor control
Figure 3: Connector location
Figure 4: Wiring diagram (overview)

Hardware Reference MCD EPOS 60 W
December 2011 Edition / document number 791272-04 / subject to change maxon motor control
Signal connector contains smart multi-purpose digital I/O’s preconfigured
as: “Positive- and Negative Limit Switches” and “Home Switch”.
Additionally “General Purpose” digital I/O’s are provided.
Figure 5: Signal connector (J1) D-Sub connector High-Density 15 poles (female)
1
DigIN 7
Digital input 7 “High Speed Command”
signal
2
DigIN 7/
Digital input 7 “High Speed Command”
complement signal
3
DigIN 8
Digital input 8 “High Speed Command”
signal
4
DigIN 8/
Digital input 8 “High Speed Command”
complement signal
5
D_Gnd
Digital signal ground
6
DigIN 1
Digital input 1 “General Purpose”
7
DigIN 2
Digital input 2 “Home Switch”
8
DigIN 3
Digital input 3 “Positive Limit Switch”
9
DigIN 4
Digital input 4 “Negative Limit Switch”
10
IN_COM
Common signal for DigIN 1…4
11
+V Opto IN
External supply Input voltage for
Digital Outputs (+12 … 24VDC)
12
DigOUT 3
Digital output 3 “General Purpose”
13
DigOUT 4
Digital output 4 “General Purpose”
14
n.c.
Not connected
15
n.c.
Not connected
Accessories:
MCD EPOS signal cable
maxon order number:
Suitable connector:
D-Sub connector High-
Density 15 poles (male)

Hardware Reference MCD EPOS 60 W
December 2011 Edition / document number 791272-04 / subject to change maxon motor control
“High Speed Command” differential input by default and can be configured
via software setting.
Differential
Connector No. and Pin No.
Connector [J1] Pin number [1]
Connector [J1] Pin number [2]
Min. differential input voltage
±200 mV
Line receiver (internal)
EIA standards RS-422
Max. input frequency
500 kHz
Figure 6: Digital input 7 “Differential” circuit
Single-ended DigIN 7
Connector No. and Pin No.
Connector [J1] Pin number [1]
Input voltage
0…5 VDC
Max. input voltage
± 24 VDC
Logic 0
< 2.0 V
Logic 1
> 3.0 V
Input resistance
typical 48 kΩ
(referenced to D_Gnd)
Figure 7: Digital input 7 “Single-ended” circuit
Using the Digital Input as single ended, apply the input signal between
DigIN7 [J1/1] and D_Gnd [J1/5] and let DigIN7/ [J1/2] unconnected.