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EPOS4 Disk 60/8
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Maxon EPOS4 Disk 60/8 - Figure 4-40 Digital Incremental Encoder (Sensor 1); Figure 4-41 SSI Encoder (Sensor 2)
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Wiring
Excerpts
EPOS4
Disk 60/8
Hardware Reference
CCMC | 2021-10 | rel10276
4-57
4.3.5
Digital Incremental Encoder (Sensor 1)
Figure 4-40
Digital increme
ntal encoder (Sensor 1)
4.3.6
SSI Encoder (Sensor 2)
Figure 4-41
SSI encoder (Sensor 2)
56
58
Table of Contents
Main Page
Table of Contents
2
Figure 1-1 Documentation Structure
5
About
5
About this Document
5
Table 1-1 Notation Used
6
Table 1-2 Symbols and Signs
6
Table 1-3 Brand Names and Trademark Owners
7
About the Device
8
Table 1-4 Abbreviations
8
About the Safety Precautions
9
Specifications
11
Technical Data
11
Table 2-5 Technical Data
11
Thermal Data
13
Figure 2-2 Derating of Output Current
13
Limitations
14
Figure 2-3 Power Dissipation and Efficiency
14
Table 2-6 Limitations
14
Figure 2-5 EPOS4 Disk 60/8 Ethercat - Dimensional Drawing [MM]
15
Dimensional Drawings
15
Figure 2-4 EPOS4 Disk 60/8 CAN - Dimensional Drawing [MM]
15
Standards
16
Table 2-7 Standards
16
Setup
17
Generally Applicable Rules
17
Cabling
18
Table 3-8 Prefab Maxon Cables
18
Table 3-11 Recommended Tools
19
Table 3-10 EPOS4 Disk Communication Plugs
19
Table 3-9 EPOS4 Disk Connector Set - Content
19
Connections
20
Figure 3-6 EPOS4 Disk 60/8 CAN - Connectors
20
Figure 3-7 EPOS4 Disk 60/8 Ethercat - Connectors
20
Power & Logic Supply (X1/X2)
21
Figure 3-8 Power and Logic Supply Combo Connector X1/X2
21
Table 3-12 Power and Logic Supply Combo Connector X1/X2 - Pin Assignment
21
Table 3-13 Power and Logic Supply Combo Connector X1/X2 - Specifications
21
Table 3-14 Power Supply Requirements
22
Table 3-15 Logic Supply Requirements
22
Motor (X3)
23
Figure 3-9 Motor Connector X3
23
Table 3-16 Motor Connector X3 - Pin Assignment for Maxon DC Motor
23
Table 3-17 Motor Connector X3 - Pin Assignment for Maxon EC Motor
23
Table 3-18 Motor Connector X3 - Specifications
23
Table 3-21 Hall Sensor Specification
24
Table 3-20 Hall Sensor Connector - Specifications
24
Table 3-19 Hall Sensor Connector - Pin Assignment
24
Figure 3-11 Hall Sensor 1 Input Circuit (Analogously Valid for Hall Sensors 2 & 3)
24
Figure 3-10 Hall Sensor Connector X4
24
Hall Sensor (X4)
24
Encoder (X5)
25
Figure 3-12 Encoder Connector X5
25
Table 3-22 Encoder Connector X5 - Pin Assignment
25
Table 3-23 Encoder Connector X5 - Specifications
25
Figure 3-13 Digital Incremental Encoder Input Circuit Ch a "Differential" (Analogously Valid for Ch B & Ch I)
26
Table 3-24 Differential Digital Incremental Encoder Specification
26
Figure 3-14 Digital Incremental Encoder Input Circuit Ch a "Single-Ended" (Analogously Valid for Ch B & Ch I)
27
Table 3-25 Single-Ended Digital Incremental Encoder Specification
27
Figure 3-15 Sensor Connector X6
28
Table 3-26 Sensor Connector X6 - Pin Assignment
28
Table 3-27 Sensor Connector X6 - Specifications
28
Ssi (X6)
28
Figure 3-16 SSI Absolute Encoder Data Input (Analogously Valid for Hsdigin4)
29
Figure 3-17 SSI Absolute Encoder Clock Output (Analogously Valid for Hsdigout1)
29
Table 3-28 SSI Absolute Encoder Specification
29
Table 3-30 Digital I/O Connector X7 - Specifications
30
Digital I/O (X7)
30
Table 3-29 Digital I/O Connector X7 - Pin Assignment
30
Figure 3-18 Digital I/O Connector X7
30
Figure 3-19 Digin1 Circuit (Analogously Valid for Digin2
31
Figure 3-20 Digout1 Circuit (Analogously Valid for Digout2)
31
Table 3-31 Digital Input 1
31
Table 3-32 Digital Output Specification
31
Table 3-34 Digital Output 1 & 2 Specification - Source
32
Table 3-33 Digital Output 1 & 2 Specification - Sinks
32
Figure 3-22 Digout1 "Source" (Analogously Valid for Digout2)
32
Figure 3-21 Digout1 "Sinks" (Analogously Valid for Digout2)
32
Analog I/O (X8)
33
Figure 3-23 Analog I/O Connector X8
33
Table 3-35 Analog I/O Connector X8 - Pin Assignment
33
Table 3-36 Analog I/O Connector X8 - Specifications
33
Figure 3-24 Anin1 Circuit (Analogously Valid for Anin2)
34
Figure 3-25 Anout1 Circuit
34
Table 3-37 Analog Input Specification
34
Table 3-38 Analog Output Specification
34
Usb (X13)
35
Figure 3-26 USB Connector X13
35
Table 3-39 USB Connector X13 - Pin Assignment
35
Table 3-40 USB Connector X13 - Specifications
35
Table 3-41 USB Interface Specification
35
Table 3-42 CAN 1 Connector X14 / CAN 2 Connector X15 - Pin Assignment
36
Table 3-43 CAN 1 Connector X14 / CAN 2 Connector X15 - Specifications
36
Figure 3-27 CAN 1 Connector X14 / CAN 2 Connector X15
36
Can in (X14) & Can out (X15)
36
Table 3-44 CAN Interface Specification
37
Ethercat in (X14) & Ethercat out (X15)
38
Figure 3-28 Ethercat in Connector X14 / Ethercat out Connector X15
38
Table 3-45 Ethercat in Connector X14 / Ethercat out Connector X15 - Pin Assignment
38
Table 3-46 Ethercat in Connector X14 / Ethercat out Connector X15 - Specifications
38
Table 3-49 Brake Output Specification
39
Table 3-48 Brake Connector X16 - Specifications
39
Table 3-47 Brake Connector X16 - Pin Assignment
39
Figure 3-30 Hsdigout 2 (Holding Brake Only) Circuit
39
Figure 3-29 Brake Connector X16
39
Brake (X16)
39
Prefab Cable Assemblies
40
Table 3-50 Power & Motor Cable
40
Table 3-51 Hall Sensor Cable
40
Table 3-52 Encoder Cable
41
Table 3-53 Sensor Cable 3X2Core
41
Table 3-54 Signal Cable 8Core
41
Table 3-57 CAN-CAN Cable
42
Table 3-56 USB Type A-Micro-Lock Cable
42
Table 3-55 Signal Cable 7Core
42
Table 3-58 CAN-COM Cable
43
Table 3-59 Ethercat-Ethercat Cable
43
Table 3-60 Ethercat-COM Cable
44
Table 3-61 Brake Cable
44
DIP Switch Configuration (SW1)
45
CAN ID (Node-ID) / DEV ID
45
Figure 3-31 DIP Switch SW1 and Solder Pads - Location
45
Table 3-62 DIP Switch SW1 - Binary Code Values
45
Table 3-63 DIP Switch SW1 - Examples
46
CAN Automatic Bit Rate Detection
47
CAN Bus Termination
47
Table 3-64 DIP Switch SW1 - CAN Automatic Bit Rate Detection
47
Table 3-65 DIP Switch SW1 - CAN Bus Termination
47
Status Indicators
48
Figure 3-32 Leds - Location
48
Table 3-66 NET Status Leds
49
Table 3-67 Device Status Leds
49
Table 3-68 NET Port LED
50
Wiring
51
Figure 4-33 Interfaces - Designations and Location
51
Possible Combinations to Connect a Motor
52
Table 4-69 Possible Combinations of Feedback Signals for DC Motor
52
Table 4-70 Possible Combinations of Feedback Signals for EC (BLDC) Motor
53
Main Wiring Diagrams
54
Figure 4-34 EPOS4 Disk 60/8 CAN - Main Wiring Diagram
54
Figure 4-35 EPOS4 Disk 60/8 Ethercat - Main Wiring Diagram
55
Figure 4-38 EC (BLDC) Motor
56
Figure 4-39 Hall Sensors (Sensor 3)
56
Figure 4-36 Power & Logic Supply
56
Figure 4-37 DC Motor
56
Excerpts
56
Figure 4-40 Digital Incremental Encoder (Sensor 1)
57
Figure 4-41 SSI Encoder (Sensor 2)
57
List of Figures
59
List of Tables
60
Index
62
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