Maxon EPOS4 Application guide

EPOS4 Disk 60/12 Positioning Controller | P/Ns 688775 / 709859 / 688777 / 709862
Hardware Reference
CCMC | Edition 2022-06 | DocID rel10685
Hardware Reference

Table of Contents
EPOS4 Disk 60/12 Hardware Reference
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1 ABOUT 5
1.1 About this Document. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 5
1.2 About the Device. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 8
1.3 About the Safety Precautions . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 9
2 SPECIFICATIONS 11
2.1 Technical Data . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 11
2.2 Thermal Data . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 13
2.3 Limitations. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 14
2.4 Dimensional Drawings . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 15
2.5 Standards . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 17
3 SETUP 19
3.1 Generally applicable Rules . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 19
3.2 Cabling . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 20
3.3 Connections . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 22
3.3.1 Power Supply (X1; X1a) . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 26
3.3.2 Logic Supply (X2; X2a) . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 28
3.3.3 Motor (X3) . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 29
3.3.4 Hall Sensor (X4; X4a) . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 30
3.3.5 Encoder/Sensor (X5/X6) . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 32
3.3.6 Encoder (X5) . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 34
3.3.7 SSI (X6). . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 37
3.3.8 Digital I/O (X7; X7a) . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 39
3.3.9 Analog I/O (X8; X8a) . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 42
3.3.10 USB (X13; X13a). . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 44
3.3.11 CAN IN (X14; X14a) & CAN OUT (X15; X15a) . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 45
3.3.12 EtherCAT IN (X14; X14a) & EtherCAT OUT (X15; X15a). . . . . . . . . . . . . . . . . . . . . . . . . . 47
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 EPOS4 Disk 60/12 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!

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3.3.13 Brake (X16) . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 48
3.4 Prefab Cable Assemblies . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 49
3.5 DIP Switch Configuration (SW1) . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 56
3.5.1 CAN ID (Node-ID) / DEV ID . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 56
3.5.2 CAN automatic Bit Rate Detection . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 58
3.5.3 CAN Bus Termination . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 58
3.6 Status Indicators . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 59
4 WIRING 63
4.1 Possible Combinations to connect a Motor . . . . . . . . . . . . . . . . . . . . . . . . . . . . 65
4.2 Main Wiring Diagrams . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 67
4.3 Excerpts. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 69
LIST OF FIGURES 73
LIST OF TABLES 75
INDEX 77

Table of Contents
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About
About this Document
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1 ABOUT
1.1 About this Document
1.1.1 Intended Purpose
Use the docu-
ment 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 Disk 60/12 positioning 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 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 under-
stand and fulfill the respective work and duties.

About
About this Document
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1.1.3 How to use
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 signs 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
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1.1.5 Trademarks and Brand Names
For easier legibility, registered brand names are listed below and will not be further tagged with their respec-
tive trademark. It must be understood that the brands (the list below is not necessarily concluding) are pro-
tected 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
This document is protected by copyright. Any further use (including reproduction, translation, microfilming,
and other means of electronic data processing) without prior written approval is not permitted. The men-
tioned trademarks belong to their respective owners and are protected under intellectual property rights.
© 2022 maxon. All rights reserved. Subject to change without prior notice.
CCMC | EPOS4 Disk 60/12 Hardware Reference | Edition 2022-06 | DocID rel10685
Brand Name Trademark Owner
Adobe® Reader® © Adobe Systems Incorporated, USA-San Jose, CA
CANopen®
CiA® © CiA CAN in Automation e.V, DE-Nuremberg
EnDat © DR. JOHANNES HEIDENHAIN GmbH, DE-Traunreut
EtherCAT® © EtherCAT Technology Group, DE-Nuremberg, licensed by Beckhoff
Automation GmbH, DE-Verl
ix Industrial® © HARTING AG & Co. KG, DE-Espelkamp
Linux® © Linus Torvalds (The Linux Foundation, USA-San Francisco CA)
Micro-Fit™
Micro-Lock™
Mini-Fit Plus™
© Molex, USA-Lisle, IL
SMD NANO2® © Littelfuse, USA-Chicago, IL
Windows® © Microsoft Corporation, USA-Redmond, WA
maxon motor ag
Brünigstrasse 220
CH-6072 Sachseln
[phone]
www.maxongroup.com

About
About the Device
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1.2 About the Device
Capabilities of the
device, included
features, and sup-
ported motors.
maxon’s EPOS4 Disk 60/12 is a round-sized, full digital, smart positioning control unit with a center hole for
cable feed-trough. Its high power density allows flexible use for brushed DC and brushless EC (BLDC)
motors up to approximately 720 Watts with various feedback options, such as Hall sensors, incremental
encoders as well as absolute sensors in a multitude of drive applications.
The device provides motor and sensor connections and power, communication, and I/O connections. The
center hole provides room for the implementation of power and communication lines.
The EPOS4 Disk 60/12 is specially designed to be commanded and controlled as a slave node in a
CANopen or an EtherCAT network. In addition, it can be operated via any USB communication port of a
Windows or Linux workstation.
Latest technology, such as field-oriented control (FOC), acceleration/velocity feed forward, or dual loop, in
combination with highest control cycle rates allow sophisticated, ease-of-use motion control.
Apart from two different versions featuring either a CAN or EtherCAT interface, the device comes in differ-
ent variants in respect to the mounting location of their connectors:
• With the double-side version, the connectors for motor and sensor are located on one side while
those for power and communication are located on the opposite side. This offers the choice for an
application design with smart cable routing and easy accessible connectors.
• With the single-side version, all connectors are located on the same side. This allows an ultra-
compact integration into the application design and opens the way to mount the unit on a heat sink.
Table 1-4 Available versions and variants
For easier legibility, in the later course of this document naming of components will be as follows:
Table 1-5 Abbreviations
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.maxongroup.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
Controller Order number Mounting type
EPOS4 Disk 60/12 CAN 688775 Double-side mounted connectors
EPOS4 Disk 60/12 CAN SSC 709859 Single-side mounted connectors
EPOS4 Disk 60/12 EtherCAT 688777 Double-side mounted connectors
EPOS4 Disk 60/12 EtherCAT SSC 709862 Single-side mounted connectors
Short form Meaning
Disk any type of EPOS4 Disk 60/12 version
Disk CAN EPOS4 Disk 60/12 CAN
Disk EtherCAT EPOS4 Disk 60/12 EtherCAT
EPOS4 all controller versions (Module and Compact) as well as other EPOS4
positioning controllers as a whole

About
About the Safety Precautions
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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 Audi-
ence” on page 1-5)!
• Refer to chapter “1.1.4 Symbols & 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!
Requirements
• Make sure that all associated devices and components are installed according to local regulations.
• Be aware that, by principle, an electronic apparatus cannot be considered fail-safe. Therefore, you must
make sure that any machine/apparatus has been fitted with independent monitoring and safety equip-
ment. 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.
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!

About
About the Safety Precautions
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• • p a g e i n t e n t i o n a l l y l e f t b l a n k • •

Specifications
Technical Data
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2 SPECIFICATIONS
2.1 Technical Data
EPOS4 Disk 60/12 CAN (688775) EPOS4 Disk 60/12 EtherCAT (688777)
EPOS4 Disk 60/12 CAN SSC (709859) EPOS4 Disk 60/12 EtherCAT SSC (709862)
Electrical
Rating
Nominal power supply voltage +VCC [a] 12…60 VDC
Nominal logic supply voltage +VC12…60 VDC
Absolute supply voltage +Vmin / +Vmax 10 VDC / 61 VDC
Output voltage (max.) 0.9 x +VCC
Output current Icont / Imax (<5 s) 12 A / 36 A
Pulse Width Modulation frequency 50 kHz
Sampling rate PI current controller 25 kHz (40 s)
Sampling rate PI speed controller 2.5 kHz (400 s)
Sampling rate PID positioning controller 2.5 kHz (400 s)
Sampling rate analog input 2.5 kHz (400 s)
Max. efficiency 98% (Figure 2-3)
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 —
Inputs
&
Outputs
Digital Input 1 (general purpose)
Digital Input 2 (general purpose)
Digital Input 3 (general purpose)
Digital Input 4 (general purpose)
Logic: +2.1…+36 VDC
Digital Output 1 (general purpose)
Digital Output 2 (general purpose)
max. 36 VDC / IL 500 mA
(open drain with internal pull-up)
High-Speed Digital Output 2 (Holding
Brake only)
configurable, max. +VCC [a] / IL 700 mA (PWM frequency
25 kHz)
Analog Input 1
Analog Input 2 Resolution 12-bit, −10…+10 V, 10 kHz, differential
Analog Output 1 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)
Digital incremental encoder signals
A, A\, B, B\, I, I\ EIA RS422, max. 6.25 MHz
Continued on next page.

Specifications
Technical Data
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Table 2-6 Technical data
Inputs
&
Outputs
(continued)
Sensor signals (choice between multiple
functions)
• SSI absolute encoder signals
• High-speed digital input 4 and
High-speed digital output 1
EIA RS422, 0.4…2 MHz, configurable
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
Disk CAN Disk EtherCAT
USB 2.0 / USB 3.0 Full Speed Full Speed
CAN max. 1 Mbit/s —
EtherCAT — Full duplex (100 Mbit/s) as to
IEEE 802.3 100 Base T
Status
Indicators
Disk CAN Disk EtherCAT
Device status Operation (green)
Error (red)
Operation (green)
Error (red)
NET Status — RUN state (green)
Error (red)
NET Port — Link activity (green)
Physical
Disk CAN Disk EtherCAT
Weight approx. 43 g approx. 45 g
Dimensions (D outside/center hole x H) Ø90/24 x 27.6 mm (688775)
Ø90/24 x 17.6 mm (709859)
Ø90/24 x 27.6 mm (688777)
Ø90/24 x 17.6 mm (709862)
Mounting 4 mounting holes for M3 screws
Environment
Temperature
Operation −30…+50 °C −30…+45 °C
Extended
range [b]
+50…+75 °C;
Derating: −0.480 A/°C
(Figure 2-2)
+45…+70 °C;
Derating: −0.480 A/°C
(Figure 2-2)
Storage −40…+85 °C
Altitude [c]
Operation 0…10’000 m MSL 0…6’000 m MSL
Extended
range [b] —6’000…10’000 m MSL Derating Figure 2-2
Humidity 5…90% (condensation not permitted)
[a] Minimal power supply voltage +VCC must be equal or greater than the required holding brake supply voltage.
[b] Operation within the extended range is permitted. However, a respective derating (declination of output current Icont) as
to the stated values will apply.
[c] Operating altitude in meters above Mean Sea Level, MSL.
EPOS4 Disk 60/12 CAN (688775) EPOS4 Disk 60/12 EtherCAT (688777)
EPOS4 Disk 60/12 CAN SSC (709859) EPOS4 Disk 60/12 EtherCAT SSC (709862)

Specifications
Thermal Data
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2.2 Thermal Data
2.2.1 Derating of Output Current
Mandatory operation within the specified limits
Operation within the stated derating specifications is mandatory. Exceeding ambient temperatures beyond
the specified limits can lead to thermal overload even at low output currents.
Figure 2-2 Derating of output current
Disk CAN Disk EtherCAT

Specifications
Limitations
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2.2.2 Power Dissipation and Efficiency
Figure 2-3 Power dissipation and efficiency
2.3 Limitations
Table 2-7 Limitations
Protection functionality Switch-off threshold Recovery threshold
Undervoltage 8.0 V 8.5 V
Overvoltage 64 V 63 V
Overcurrent ±58 A —
Thermal overload 105 °C 90 °C

Specifications
Dimensional Drawings
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2.4 Dimensional Drawings
Disk CAN
Figure 2-4 EPOS4 Disk 60/12 CAN (688775) – Dimensional drawing [mm]
Figure 2-5 EPOS4 Disk 60/12 CAN SSC (709859) – Dimensional drawing [mm]

Specifications
Dimensional Drawings
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Disk EtherCAT
Figure 2-6 EPOS4 Disk 60/12 EtherCAT (688777) – Dimensional drawing [mm]
Figure 2-7 EPOS4 Disk 60/12 EtherCAT SSC (709862) – Dimensional drawing [mm]

Specifications
Standards
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2.5 Standards
The device described was successfully tested in the following setup for compliance with the standards listed
below: EPOS4 Disk 60/12 EtherCAT (688777) integrated in maxon's Robot Joint 90.
The described device has been successfully tested for compliance with the below listed standards. In prac-
tical terms, only the complete system (the fully operational equipment comprising all individual components,
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 2-8 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 55032
(CISPR32) Radio disturbance characteristics / radio interference
IEC/EN 61000-4-2 Electrostatic discharge immunity test 8 kV/4 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 ±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
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: 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)
• Disk CAN: 459'979 hours
• Disk EtherCAT: 288'239 hours

Specifications
Standards
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Setup
Generally applicable Rules
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3 SETUP
IMPORTANT NOTICE: PREREQUISITES FOR PERMISSION TO COMMENCE INSTALLATION
The EPOS4 Disk 60/12 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.
3.1 Generally applicable Rules
Maximal permitted supply voltage
• Make sure that supply power is between 12…60 VDC.
• Supply voltages above 67 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. 12 A
– short-time (acceleration) max. 36 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 poten-
tial 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, bal-
ance them.
• Insert the USB connector first, then switch on the power supply of the controller.
Hot plugging/hot swapping the extension slots may cause hardware damage
Switch off the controller’s power supply before removing or inserting an extension card.
WARNING
Risk of injury
Operating the device without the full compliance of the surrounding system with the 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 com-
plies 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
Cabling
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3.2 Cabling
PLUG&PLAY
Take advantage of maxon’s prefab cable assemblies. They come as ready-to-use parts and will help to
reduce commissioning time to a minimum.
a) Check the following table and find the part number of the cable assembly that matches the
setup you will be using.
b) Follow the cross-reference to get the cable’s pin assignment.
Table 3-9 Prefab maxon cables
Connector
Prefab Cable Assembly
Designation Part
Number Page
X1
X1a Power Cable High Current 710929 3-49
X2
X2a
Power Cable High Current
Power Cable
710929
275829
3-49
3-49
X3 Motor Cable High Current 710930 3-50
X4 Hall Sensor Cable 275878 3-50
X4a Hall Sensor Cable 696284 3-50
X5/X6 Sensor Cable 5x2core 520852 3-51
X5 Encoder Cable 696285 3-51
X6 Sensor Cable 3x2core 696286 3-51
X7
X7a Signal Cable 8core 696287 3-52
X8
X8a Signal Cable 7core 696288 3-52
X13
X13a USB Type A-Micro-Lock Cable 696289 3-52
X14
X14a
CAN-CAN Cable
CAN-COM Cable
710931
710932
3-53
3-53
X14
X14a
EtherCAT-EtherCAT Cable
EtherCAT-COM Cable
710933
710934
3-54
3-54
X15
X15a
CAN-CAN Cable
CAN-COM Cable
710931
710932
3-53
3-53
X15
X15a
EtherCAT-EtherCAT Cable
EtherCAT-COM Cable
710933
710934
3-54
3-54
X16 Brake Cable 710928 3-55