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EPOS Positioning Control Units Summary

Online commanded
EPOS 24/1 − Several device variations allows the operation of various maxon DC and EC micromotors of up to 20 watts − Point to point control (1 axis) − Combination of several drives via CAN Bus − CANopen − 6 digital inputs (TTL level) − 2 digital outputs − 2 analogue inputs (10-bit ADC) − Miniaturised module design Details page 302 Slave version (online commanded) using CAN Master (EPOS P, PC, PLC, SoftPLC, etc.) or PC via RS232 interface. Typical applications: − Small apparatus/appliances − System automation tasks − Drive technology Order Number EPOS 24/1 280937, 317270 302267, 302287

Online commanded

EPOS2 Module 36/2 − DC and EC motors up to 72 W − Point to point control unit (1 axis) − Interpolated position mode (PVT) − Combination of several drives via CAN Bus − CANopen − 6 digital inputs (TLL level) − 3 digital outputs − 2 analogue inputs (11-bit ADC) − Miniaturized open electronics board (OEM) Details page 302

Slave version (online commanding) using CAN Master (EPOS P, PC, PLC, SoftPLC, m-Prozessor, etc.) or PC via USB *) or RS232 *) requires external transceiver interface Typical applications: − Small apparatus/appliances − System automation tasks − OEM customer Order Number EPOS2 Module 36/2 360665

Online commanded

EPOS2 24/5 − DC and EC motors up to 120 W − Point to point control unit (1 axis) − Interpolated position mode (PVT) − Combination of several drives via CAN Bus − CANopen − 6 digital inputs (TTL and PLC level) − 4 digital outputs − 2 analogue inputs (12-bit ADC) − Compact module design Details page 303

Slave version (online commanding) using CAN Master (EPOS P, PC, PLC, SoftPLC, etc.) or PC via USB or RS232 interface Typical applications: − Tool building − Production equipment − System automation tasks Order Number EPOS2 24/5 367676

Online commanded

EPOS2 50/5 − DC and EC motors up to 250 W − Point to point control unit (1 axis) − Interpolated position mode (PVT) − Combination of several drives via CAN Bus − CANopen − 11 digital inputs (optically isolated) − 5 digital outputs and 1 analogue output − 2 analogue inputs (12-bit ADC, differential) − Compact module design Details page 303

Slave version (online commanding) using CAN Master (EPOS P, PC, PLC, SoftPLC, etc.) or PC via USB or RS232 interface Typical applications: − Tool building − Production equipment − System automation tasks Order Number EPOS2 50/5 347717

Online commanded

EPOS 70/10 − DC and EC motors up to 700 W − Point to point control unit (1 axis) − Combination of several drives via CAN Bus − CANopen − 8 digital inputs (optically isolated) − 4 digital outputs − 2 analogue inputs (10-bit ADC) − robust modular design Details page 303

Slave version (online commanding) using CAN Master (EPOS P, PC, PLC, SoftPLC, etc.) or PC via RS232 interface Typical applications: − Production equipment − System automation tasks − Plant construction Order Number EPOS 70/10 300583

May 2009 edition / subject to change

maxon motor control

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maxon motor control

300 maxon motor control May 2009 edition / subject to change .EPOS2 Positioning Control Units maxon motor control Slave version (online commanded) Single motion and I/O commands from the process control are transmitted to the positioning control unit by a superior system (Master). Feed forward control reduces control error. A number of operating modes provides flexible application in a wide range of drive systems in automation technology and mechatronics. Point to point The “CANopen Profile Position Mode” move the position of the motor axis from point A to point B. coordinated multi-axis movements as well as any profile in a 1-axis system can be carried out. the EPOS2 is able to synchronously run a path specified by interpolating points.700 watts. The motor axis retains speed until a new speed is set. It is suitable for DC and EC motors with incremental encoder with a power range from 1 . With a suitable master. Speed control In “CANopen Profile Velocity Mode”. EPOS supports feed forward acceleration and speed control. the motor axis is moved with a set speed. For that purpose product specific commands are available. EPOS is a modular constructed digital positioning controller. Positioning is in relation to the axis Home position (absolute) or the actual axis position (relative). EPOSZ Interpolated position mode (PVT) Thanks to interpolated position mode (IPM). (PVT = Position and Velocity versus Time) Position control with feed forward The combination of feedback and feed forward control provides ideal motion behaviour.

maxon motor control CA N1 ly upp er S upply Pow gic S Lo r oto or M J2 ens ll S Ha St at us J10 J11 N1 CA N2 CA 2 J1 EPOSZ Analogue Commands In the position. J5 Si al gn J4 1 En J6 Si g l na J3 er cod J7 Si gn J8 RS 3 J9 J1 J1A - 2 23 US B LE D EPOSZ Trigger output (Position Compare) EPOS2 digital outputs can be configured so that a digital signal is emitted at a set position value. Can easily be integrated into existing CANopen systems. Sinusoidal commutation for smooth operation of EC motors. + - Additional information for technical data of page 302/303 Operating modes CANopen Profile Position-. Velocity. reference switches. Networks with other CANopen modules. Vector and National Instruments).and Homing Mode Position-. . There are more than 30 methods available for finding the reference position. the motor follows a reference input produced by an external encoder. I/O configuration. speed and current/torque control. MS Visual Basic. Easy start-up procedure Graphic user interface with many functions and wizards for start-up procedure.g. Step/Direction In “Step/Direction Mode” the motor axis follows a digital signal step-by-step. Borland C++. automatic control settings. It can also be used to control the EPOS by a PLC without CAN interface. Borland Delphi.Homing The “CANopen Homing Mode” is for referencing to a special mechanical position. Various programming examples free available for MS Visual C++. EPOS2 additionally controllable by USB. Easy programming Numerous IEC 61131-3 libraries free available for CAN-Master units of several PLC manufacturers providers (Beckhoff. Details can be found on page 308. Electronic gearhead In “Master Encoder Mode”. Flexible. DSP-402 and EPOS2 additionally DSP-305. The sinusoidal commutation used produces minimum torque ripple. Alternatively controllable by serial interface (RS232). Profile Velocity.0 Gateway function RS232-to-CAN and USB-toCAN (EPOS2 only) Inputs / Outputs Free configurable digital inputs e. State-of-the-art Digital position. for brakes Free analogue inputs May 2009 edition / subject to change Available software EPOS Studio (EPOS P and EPOS2) EPOS Graphical User Interface (EPOS) Windows DLL IEC 61131-3 Libraries Firmware Available documentation Getting Started Cable Starting Set Hardware Reference Firmware Specification Communication Guide Application Notes Cable A comprehensive range of cables is available as an option.g. This mode can replace stepper motors. Master Encoder or external analogue commanding (EPOS2 only) Path generating with trapezoidal or sinusoidal profiles Feed forward for velocity and acceleration Interpolated Position Mode (PVT) only in use with EPOS2 Sinusoidal or block commutation for EC motors Communication Communication via CANopen and/or RS232. brakes and for other sensors and indicators near the drive. a controlled torque can be produced on the motor shaft. This function offers further possibilities to operate the EPOS2 without serial on-line commanding. A gearing factor can also be defined using software parameters. Siemens/Helmholz. ig nf Co ion at ur g n on in la ax n /5 er m sitio 50 itz 2 w Po OS S in EP de a M or ot m trol r 7 on con lle 771 ax r tro 34 m moto Con d EPOS2 50/5 N CA J9 301 maxon motor control Torque control In “Current Mode”. for limit switches and reference switches Free configurable digital outputs e. Standardised.and Current Mode Alternative set value setting via Step/Direction. National Instruments LabVIEW and National Instruments LabWindows/CVI. modular The same technology for DC and EC motors. Configurable inputs and outputs for limit switches. speed and current mode it is possible to give commands via an external analogue set value. extendable CANopen standard CiA DS-301. tests. VIPA) and 32-bit Windows-DLLs for PC Master (IXXAT. EPOS2 additionally with USB 2. al 2 Capture inputs (Position Marker) EPOS digital inputs can be configured so that the actual position value is saved when a positive and/or negative edge of an input appears. Two motors can be very easily synchronised using this method.

1 MHz) 6 digital inputs 2 analogue inputs 10-bit resolution.0 Indicator LED green = READY. max. A\.9 x VCC 4A 2A 10 kHz 1 kHz 1 kHz 25 000 rpm (sinusoidal). see page 308 363407 EPOS2 Module Starter-Kit Order accessories separately. TxD (max. B\. Slave version 11 . red LED -10 … +45°C -40 … +85°C 20 … 80 % Approx. 30 mA RxD.36 VDC (optional 5. 1 Mbit/s) EPOS2 Module 36/2 The EPOS2 is an OEM positioning controller plug-in module for brushed DC motors with encoder or brushless EC motors with Hall sensors and encoder up to 72 watts. A\. 115 200 bit/s) high. B.EPOS Positioning control unit Data 280937 302287 maxon motor control 317270 302267 *) EPOS 24/1 Matched with DC brush motors with encoder or brushless EC motors with Hall sensors and encoder up to 20 watts. speed (1 pole pair) Built-in motor choke per phase Input Hall sensor signals Encoder signals Digital inputs Analogue inputs CAN-ID (CAN node identification) Output Digital outputs Encoder voltage output Hall sensor voltage output Auxiliary voltage output Interface RS232 CAN USB 2.7 A (EC 10 flat) H1. low (max. H3 A. 5 MHz) 6 digital inputs 2 analogue inputs 11-bit resolution. H2. 30 mA +5 VDC. I\ (max. I. red LED -10 … +45°C -40 … +85°C 20 … 80 % Approx. H2. I. 45 g 55 x 40 x 25 mm Flange for M3-screws 280937 317270 302267 302287 EPOS 24/1 for DC motors EPOS 24/1 for EC 10 flat EPOS 24/1 for EC 16 / EC 22 motors EPOS 24/1 for DC / EC motors Accessories 309687 DSR 50/5 Shunt regulator Order accessories separately. see page 307 May 2009 edition / subject to change 302 maxon motor control . 100 000 rpm (block) 10 mH / 2 A H1. Controller versions Slave version Electrical Data Operating voltage VCC Logic supply voltage VC (optional) Max.positioning control Max. 10 mA RxD.5 x 28.2 x 9 mm PCB edge connector with locking mechanism 360665 EPOS2 Module 36/2 green LED. TxD (max.98 x VCC 2A 1A 10 kHz 1 kHz 1 kHz 25 000 rpm 150 mH / 1 A (DC / EC motors) 300 mH / 0.24 VDC 0.speed controller Sample rate of PID .36 VDC (optional 0 . low (max. H3 A.current controller Sample rate of PI . 0 … +5 V set by external wiring 3 digital outputs +5 VDC. I\ (max. 1 Mbit/s) *) external USB transceiver required green LED. B. max. max 100 mA +5 VDC. output current Imax (<1 s) Continuous output current Icont Sample rate of PI . red = ERROR Ambient temperature / Humidity range Operation Storage No condensation Mechanical data Weight Dimensions (L x W x H) Mounting threads Order Number 9 . 10 g 54.36 VDC) 11 . 0 … +5 V configurable with DIP switch 1 … 4 2 digital outputs +5 VDC.0 VDC) 0. 115 200 bit/s) high. max. max 100 mA +5 VDC. output voltage Max. B\.

H2. 115 200 bit/s) high. TxD (max. max. 1 MHz) 8 digital inputs 2 analogue inputs 10-bit resolution. 1 Mbit/s) Data+. 5 MHz) 12 digital inputs 2 analogue inputs (differential) 12-bit resolution.. Controller versions Slave version Electrical Data 11 . TxD (max. max. max 100 mA +5 VDC. Data. 150 mA RxD. see page 308 235811 DSR 70/30 Shunt regulator Order accessories separately. 240 g 120 x 93. 1 analogue 12-bit 0 . 1 Mbit/s) Bi-colour LED (green/red) -10 … +45°C -40 … +85°C 20 … 80 % Approx.24 VDC 0. 0 … +5 V configurable with DIP switch 1 … 7 4 digital outputs +5 VDC. B.50 VDC 0. B\.9 x VCC 10 A 5A 10 kHz 1 kHz 1 kHz 25 000 rpm (sinusoidal).. 12 Mbit/s) green LED.70 VDC 11 . H2.70 VDC 0. I. 100 mA +5 VDC. H3 A. from 5 to 250 watts. 30 mA +5 VDC. B\.9 x VCC 25 A 10 A 10 kHz 1 kHz 1 kHz 25 000 rpm 25 mH / 10 A H1. from 5 to 120 watts. red LED -10 … +45°C -40 … +85°C 20 … 80 % Approx. I. 100 000 rpm (block) 22 mH / 5 A Slave version 11 .(max. A\.24 VDC 11 . 170 g 105 x 83 x 24 mm Flange for M3-screws Order Number 367676 EPOS2 24/5 H1. B\.50 VDC 11 . 115 200 bit/s) high. B. see page 308 maxon motor control 303 maxon motor control . 12 Mbit/s) green LED. I. 100 000 rpm (block) 15 mH / 5 A EPOS2 50/5 Matched with DC brush motors with encoder or brushless EC motors with Hall sensors and encoder.(max. 100 mA +5 VDC.5 x 27 mm Flange for M3-screws 347717 EPOS2 50/5 H1. I\ (max. 1 Mbit/s) Data+. H3 A. 1300 mA RxD. 5 MHz) 6 digital inputs 2 analogue inputs 12-bit resolution. 115 200 bit/s) high. 10 V +5 VDC. I\ (max. Data. 0 … +5 V configurable with DIP switch 1 … 7 4 digital outputs +5 VDC. low (max. Slave version 11 . H2. max. max. H3 A. 330 g 150 x 93 x 27 mm Flange for M3-screws 300583 EPOS 70/10 Accessories 309687 DSR 50/5 Shunt regulator Order accessories separately.EPOS2 24/5 Matched with DC brush motors with encoder or brushless EC motors with Hall sensors and encoder. see page 308 May 2009 edition / subject to change 309687 DSR 50/5 Shunt regulator Order accessories separately. low (max. TxD (max. max. EPOS 70/10 Matched with DC brush motors with encoder or brushless EC motors with Hall sensors or encoder. A\. red LED Ambient temperature / Humidity range -10 … +45°C -40 … +85°C 20 … 80 % Mechanical data Approx. from 80 to 700 watts. max. max. 30 mA +5 VDC (Ri = 1 kW) RxD.9 x VCC 10 A 5A 10 kHz 1 kHz 1 kHz 25 000 rpm (sinusoidal). I\ (max. ±10 V configurable with DIP switch 1 … 7 5 digital outputs. A\. B. low (max. 30 mA VCC.

It is suitable for brushless and brush DC motors with incremental encoder and up to 120 watt output. the standalone version of EPOS can autonomously control single and multiple axis systems dispensing with the need for a superior intelligent control unit. LD.EPOS P programmable positioning controller Summary EPOS P 24/5 (programmable) − IEC 61131-3 programmable − CANopen Master function − Multiple axis systems via CAN Bus CANopen − Point to point control unit (1 axis) − DC and EC motors up to 120 W − 6 digital inputs (TTL and PLC level) − 4 digital outputs − 2 analogue inputs (10-bit ADC) − compact modular design Details page 306 Standalone operation. SFC) CANopen master function for controlling other axes. Standalone – single axis system Standalone – multi-axis system 304 maxon motor control May 2009 edition / subject to change . The combination with maxon motors produces drive systems for highly dynamic movements. based on the EPOS slave version. FBD. Via the CAN Bus all axes can be coordinated simultaneously. Typical applications: − Work equipment manufacturing − Tool building − System automation tasks Order Number EPOS P 24/5 323232 maxon motor control Standalone operation EPOS P is a freely programmable positioning controller with an integrated power stage. IL. Standard motion control library. Standalone drive systems With self-compiled programs. programmable from PC via RS232 with standard IEC 61131-3 program languages (ST.

FBD. The integrated project browser shows all network resources. LD.Technology The programming of applications complies with IEC 61131-3 standard. optimized by memory. Technical data page 306 Performance features − 32 bit host processor. EPOS Studio – programming according to IEC 61131-3 Editors (ST. IL. The Motion Firmware Library was implemented according to the widely-used PLCopen Motion Control Standard. Motion control library according to PLCopen standard The complexity and development costs of drive systems are substantially reduced. maxon utility library Thanks to the additional maxon user library. Complex programs with a large number of decentralized controls can be optimally managed with it. the programming of recurring motion control tasks is simplified. FBD. SFC) − IEC 61131-3 standard libraries − Motion control function blocks according to PLCopen standard − maxon utility function block library − CANopen function block library − User libraries − Network variables and data exchange − Online debugger with break points and watch variables − Axis configuration and parameterization − Online help Motion firmware library − − − − − − − − − − − Drive control Referencing (Homing) Speed control Positioning absolute and relative Error Management Parameter Handling Inputs and Outputs Error Handling Object Dictionary Access Homing Parameter Data Handling Motion utility library FBD Editor ST Editor SFC Editor May 2009 edition / subject to change maxon motor control 305 maxon motor control . SFC) of the powerful “EPOS Studio” tool are available for programming according to IEC 61131-3. 60 MHz − 1 MB memory. IL. By means of the «Best Practice» programs and the numerous applications examples. with 768 KB free user program memory − typicaly 2. Standardized function blocks make implementation easy. purposeful IEC6 3 -3 application programs can be compiled.5 ms / 5000 lines IL − 4 KB non-volatile memory − Digital motion control signal processor Software features − Windows-based development environment − IEC 61131-3 programming languages (ST. A non-volatile flash memory is used for saving. The three-stage code optimization produces IEC 61131-3 programs adjusted for the application‘s needs. Drive systems are configured and networked quickly using intelligent step-by-step wizards. LD. performance or a combination of both.

max. Profile Velocity. B. 0 … +5 V Configurable with DIP switch 1 … 7 4 digital outputs +5 VDC. B\. I\ (max. H2. max. 1 Mbit/s) green. for limit switches and reference switches Free configurable digital outputs e. for brakes Free analogue inputs Available software EPOS Studio .current controller Sample rate of PI .9 x VCC 10 A 5A 10 kHz 1 kHz 1 kHz 25 000 rpm 15 mH / 5 A H1. TxD (max.24 VDC 0. A\. I.programming according to IEC 61131-3 motion control library according to PLCopen standard maxon utility function block library maxon utility library Firmware Available documentation Getting Started Cable Starting Set Hardware Reference Firmware Specification Communication Guide Application Notes Cable A comprehensive range of cables is available as an option. Details can be found on page 308. 1300 mA RxD.g. max 100 mA +5 VDC. output current Imax (<1 s) Continuous output current Icont Sample rate of PI . Controller versions Master-Version (programmable) Electrical Data Operating voltage VCC Logic supply voltage VC (optional) Max. Velocity and Current Mode Digital position reference by Step-Direction or Master Encoder Path generating with trapezoidal or sinusoidal velocity profiles Feed forwarding for velocity and acceleration Sinusoidal or block commutation for EC motors Communication Programming interface (Windows) serial RS232 maxon protocol Inputs / Outputs Free configurable digital inputs e. speed (1 pole pair) Built-in motor choke per phase Input Hall sensor signals Encoder signals Digital inputs Analogue inputs CAN-ID (CAN node identification) Output Digital outputs Encoder voltage output Hall sensor voltage output Auxiliary voltage output Interface RS232 CAN Indicator Operating/Error/Program Ambient temperature / Humidity range Operation Storage No condensation Mechanical Data Weight Dimensions (L x W x H) Mounting threads Order Number Accessories 309687 DSR 50/5 Shunt regulator Order accessories separately. 306 maxon motor control May 2009 edition / subject to change . red and blue LED -10 … +45°C -40 … +85°C 20 … 80 % Approx. output voltage Max.EPOS P programmable positioning controller Data maxon motor control EPOS P 24/5 Matched with DC brush motors with encoder or brushless EC motors with Hall sensors and encoder.g. from 5 to 120 watts. 115 200 bit/s) high.positioning control Max.24 VDC 11 . low (max. 1 MHz) 6 digital inputs 2 analogue inputs 10-bit resolution. H3 A. 30 mA VCC. 180 g 105 x 83 x 24 mm Flange for M3-screws 323232 EPOS P 24/5 Additional information Operating modes CANopen Profile Position.and Homing Mode Position. see page 308 11 .speed controller Sample rate of PID .