EPOS2 24/2 Cable Starting Set (englisch, PDF 2 MB) Version October 2014

EPOS2 24/2 Cable Starting Set (englisch, PDF 2 MB) Version October 2014
maxon motor control
EPOS2 Positioning Controller
Cable Starting Set
Edition October 2014
Positioning Controller
Cable Starting Set
Document ID: rel5182
maxon motor ag Brünigstrasse 220 P.O.Box 263 CH-6072 Sachseln Phone +41 41 666 15 00 Fax +41 41 666 16 50 www.maxonmotor.com
PLEASE READ THIS FIRST
Theseinstructionsareintendedforqualifiedtechnicalpersonnel.Priorcommencingwithanyactivities
…
• you must carefully read and understand this manual and
• you must follow the instructions given therein.
We have tried to provide you with all information necessary to install and commission the equipment in a
secure, safe and time-saving manner. Our main focus is …
•
to familiarize you with all relevant technical aspects,
•
to let you know the easiest way of doing,
•
to alert you of any possibly dangerous situation you might encounter or that you might cause if
you do not follow the description,
•
to write as little and to say as much as possible and
•
not to bore you with things you already know.
Likewise, we tried to skip repetitive information! Thus, you will find things mentioned just once. If, for
example, an earlier mentioned action fits other occasions you then will be directed to that text passage
with a respective reference.
Follow any stated reference – observe respective information – then go back and continue with the task!
PREREQUISITES FOR PERMISSION TO COMMENCE INSTALLATION
The EPOS2 24/2 is considered as partly completed machinery according to EU directive 2006/42/EC,
Article 2, Clause (g) and therefore is intended to be incorporated into or assembled with other
machinery or other partly completed machinery or equipment.
You must not put the device into service, …
• unless you have made completely sure that the other machinery – the surrounding system the device
is intended to be incorporated to – fully complies with the requirements stated in EU directive 2006/
42/EC!
• unless the surrounding system fulfills all relevant health and safety aspects!
• unless all respective interfaces have been established and fulfill the stated requirements!
A-2
Document ID: rel5182
Edition: October 2014
© 2014 maxon motor. Subject to change without prior notice.
maxon motor control
EPOS2 Positioning Controller
EPOS2 24/2 Cable Starting Set
TABLE OF CONTENTS
1
About this Document
5
2
Introduction
8
2.1
2.2
Documentation Structure . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 8
Safety Precautions. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 9
3
Cables
10
3.1
3.2
3.3
3.4
Important Notice: Prerequisites for Permission to commence Installation. . .
Tools . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .
Cable Selector . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .
Cable Assemblies . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .
10
10
11
12
3.4.1 Encoder Cable (275934) – Connector J3. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 12
3.4.2 Encoder Cable (275934) – Connector J9. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 14
3.4.3 Motor/Hall Sensor Cable (302948) – Connector J10 . . . . . . . . . . . . . . . . . . . . . . . . . . . 16
3.4.4 DC Motor Cable (303490) – Connector J10. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 18
3.4.5 Encoder Cable (275934) – Connector J11. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 19
3.4.6 RS232-COM Cable (275900) – Connector J12 . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 21
3.4.7 CAN-COM Cable (275908) – Connector J13. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 22
3.4.8 CAN-CAN Cable (275926) – Connector J13 . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 23
3.4.9 CAN-Y Cable (319471) – Connector J13. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 24
3.4.10 Signal Cable 16core (275932) – Connector J14 . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 25
3.4.11 USB Type A - mini B Cable (370513) – Connector J15 . . . . . . . . . . . . . . . . . . . . . . . . . 27
3.5
maxon motor control
EPOS2 Positioning Controller
EPOS2 24/2 Cable Starting Set
EPOS2 24/2 Connector Set (303807) . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 28
Document ID: rel5182
Edition: October 2014
© 2014 maxon motor. Subject to change without prior notice.
A-3
••page intentionally left blank••
A-4
Document ID: rel5182
Edition: October 2014
© 2014 maxon motor. Subject to change without prior notice.
maxon motor control
EPOS2 Positioning Controller
EPOS2 24/2 Cable Starting Set
1
About this Document
1.1
Intended Purpose
The purpose of the present document is to familiarize you with the described equipment and the tasks
on safe and adequate installation and/or commissioning.
Observing the described instructions in this document will help you …
•
to avoid dangerous situations,
•
to keep installation and/or commissioning time at a minimum and
•
to increase reliability and service life of the described equipment.
Use for other and/or additional purposes is not permitted. maxon motor, the manufacturer of the equipment described, does not assume any liability for loss or damage that may arise from any other and/or
additional use than the intended purpose.
1.2
Target Audience
This document is meant for trained and skilled personnel working with the equipment described. It conveys information on how to understand and fulfill the respective work and duties.
This document is a reference book. It does require particular knowledge and expertise specific to the
equipment described.
1.3
How to use
Take note of the following notations and codes which will be used throughout the document.
Notation
Explanation
(n)
referring to an item (such as order number, list item, etc.)

denotes “see”, “see also”, “take note of” or “go to”
Table 1-1
1.4
Notations used in this Document
Symbols and Signs
1.4.1
Safety Alerts
Take note of when and why the alerts will be used and what the consequences are if you should fail to
observe them!
Safety alerts are composed of…
•
a signal word,
•
a description of type and/or source of the danger,
•
the consequence if the alert is being ignored, and
•
explanations on how to avoid the hazard.
Following types will be used:
1) DANGER
Indicates an imminently hazardous situation. If not avoided, the situation will result in death or
serious injury.
maxon motor control
EPOS2 Positioning Controller
EPOS2 24/2 Cable Starting Set
Document ID: rel5182
Edition: October 2014
© 2014 maxon motor. Subject to change without prior notice.
1-5
About this Document
2) WARNING
Indicates a potentially hazardous situation. If not avoided, the situation can result in death or serious injury.
3) CAUTION
Indicates a probable hazardous situation and is also used to alert against unsafe practices. If not
avoided, the situation may result in minor or moderate injury.
Example:
DANGER
High Voltage and/or Electrical Shock
Touching live wires causes death or serious injuries!
• Make sure that neither end of cable is connected to life 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 with your name!
1.4.2
Prohibited Actions and Mandatory Actions
The signs define prohibitive actions. So, you must not!
Examples:
Do not touch!
Do not operate!
The signs point out actions to avoid a hazard. So, you must!
Examples:
Unplug!
1.4.3
Tag before work!
Informatory Signs
Requirement / Note / Remark
Indicates an action you must perform prior continuing or refers to information on a particular item.
Best Practice
Gives advice on the easiest and best way to proceed.
Material Damage
Points out information particular to potential damage of equipment.
Reference
Refers to particular information provided by other parties.
1-6
Document ID: rel5182
Edition: October 2014
© 2014 maxon motor. Subject to change without prior notice.
maxon motor control
EPOS2 Positioning Controller
EPOS2 24/2 Cable Starting Set
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 below list is not necessarily concluding) are protected by copyright and/or other intellectual property rights even if their legal trademarks are
omitted in the later course of this document.
The brand name(s) …
… is/are a registered trademark(s) of …
Micro-Fit™
Mini-Fit Jr.™
© Molex, USA-Lisle, IL
Table 1-2
1.6
Brand Names and Trademark Owners
Copyright
© 2014 maxon motor. All rights reserved.
The present document – including all parts thereof – is protected by copyright. Any use (including reproduction, 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 subject to persecution under the applicable law.
maxon motor ag
Brünigstrasse 220
P.O.Box 263
CH-6072 Sachseln
Switzerland
Phone +41 41 666 15 00
Fax +41 41 666 16 50
www.maxonmotor.com
maxon motor control
EPOS2 Positioning Controller
EPOS2 24/2 Cable Starting Set
Document ID: rel5182
Edition: October 2014
© 2014 maxon motor. Subject to change without prior notice.
1-7
Introduction
Documentation Structure
2
Introduction
The present document provides you with information on the wiring details for each cable which will be
used with the EPOS2 24/2 hardware. It contains pictures, drawings, cable specification, pin assignment
and detailed connector information. The included «Cable Selector» will help you to choose the correct
cable for the setup you are using.
The EPOS2 24/2 Positioning Controller is available in different variants possessing an identical basic
setup, however, their individual configuration varies slightly. The present document covers the entire
scope on all variants, thus providing you with all relevant information regardless of the actual type of
controller you are using.
Find the latest edition of the present document, as well as additional documentation and software to the
EPOS2 24/2 Positioning Controller also on the internet: www.maxonmotor.com
2.1
Documentation Structure
The present document is part of a documentation set. Please find below an overview on the documentation hierarchy and the interrelationship of its individual parts:
Figure 2-1
2-8
Documentation Structure
Document ID: rel5182
Edition: October 2014
© 2014 maxon motor. Subject to change without prior notice.
maxon motor control
EPOS2 Positioning Controller
EPOS2 24/2 Cable Starting Set
2.2
Safety Precautions
Prior continuing …
•
make sure you have read and understood chapter “ PLEASE READ THIS FIRST” on page A-2,
•
do not engage with any work unless you possess the stated skills (chapter “1.2 Target Audience” on page 1-5),
•
refer to chapter “1.4 Symbols and Signs” on page 1-5 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,
•
take note of the subsequently used indicators and follow them at all times.
DANGER
High Voltage and/or Electrical Shock
Touching live wires causes death or serious injuries!
• Consider any power cable as connected to life power, unless having proven the opposite!
• Make sure that neither end of cable is connected to life 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 with your name!
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.
maxon motor control
EPOS2 Positioning Controller
EPOS2 24/2 Cable Starting Set
Document ID: rel5182
Edition: October 2014
© 2014 maxon motor. Subject to change without prior notice.
2-9
Cables
Important Notice: Prerequisites for Permission to commence Installation
3
Cables
3.1
Important Notice: Prerequisites for Permission to commence Installation
The EPOS2 24/2 is considered as partly completed machinery according to EU directive 2006/42/EC,
Article 2, Clause (g) and therefore is only intended to be incorporated into or assembled with other
machinery or other partly completed machinery or equipment.
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 sure that the other machinery fulfills the requirements stated in the EU directive!
• Do not operate the device, unless the surrounding system fulfills all relevant health and safety
aspects!
• Do not operate the device, unless all respective interfaces have been established and fulfill the
stated requirements!
3.2
Tools
If you should decide not to use the ready-made cable assemblies, we strongly recommenced to employ
the following hand tools.
Tools
Molex hand crimper (63819-0000)
Crimper
Molex hand crimper (63819-0900)
Table 3-3
3-10
Recommended Tools
Document ID: rel5182
Edition: October 2014
© 2014 maxon motor. Subject to change without prior notice.
maxon motor control
EPOS2 Positioning Controller
EPOS2 24/2 Cable Starting Set
3.3
Cable Selector
Use the following table to find the matching cables for the maxon motor variant and type of equipment
you will be using:
EPOS2 24/2
O
CAN
O
RS232
O
USB
EC motor with separated
Hall sensor & encoder cables
275934
DC motor with integrated
motor/encoder ribbon cable
Encoder Cable
390003
DC motor with separated
encoder cable
J3
380264
EC motor with integrated
motor/Hall sensor cable
Order #
390438
DC motor with integrated
motor/encoder ribbon cable
Designation
Communication
Connector
Cable
O
J9
O
J11
Motor/Hall Sensor Cable
302948
J10
X
DC Motor Cable
303490
J10
X
Signal Cable 16core
275932
J14
X
X
X
RS232-COM Cable
275900
J12
O
O
O
CAN-COM Cable
275908
J13
O
O
O
X
CAN-CAN Cable
275926
J13
O
O
O
O
CAN-Y Cable
319471
J13
O
O
O
O
USB Type A - mini B Cable
370513
J15
X
X
X
X
X
X
X
Legend:
X = required / O = optional
Table 3-4
Cable Selector
maxon motor control
EPOS2 Positioning Controller
EPOS2 24/2 Cable Starting Set
Document ID: rel5182
Edition: October 2014
© 2014 maxon motor. Subject to change without prior notice.
3-11
Cables
Cable Assemblies
3.4
Cable Assemblies
3.4.1
Encoder Cable (275934) – Connector J3
Head A
Figure 3-2
Head B
Encoder Cable
Technical Data
Cable cross-section
10 x AWG28, round-jacket, twisted pair flat cable, pitch 1.27 mm
Length
3.20 m
Head A
DIN 41651 female connector, pitch 2.54 mm, 10 poles, plug strain relief
Head B
DIN 41651 Plug, pitch 2.54 mm, 10 poles, plug strain relief
Table 3-5
3-12
Encoder Cable – Technical Data
Document ID: rel5182
Edition: October 2014
© 2014 maxon motor. Subject to change without prior notice.
maxon motor control
EPOS2 Positioning Controller
EPOS2 24/2 Cable Starting Set
Wire
Head A
Pin
Head B
Pin
brown
1
1
Twisted
Pair
Signal
Description
Motor+
Motor terminal “+”
+5 VDC / 100 mA
Encoder supply voltage
GND
Ground
Motor-
Motor terminal “-”
Channel A\
Channel A complement
Channel A
Channel A
Channel B\
Channel B complement
Channel B
Channel B
Channel I\
Index complement
Channel I
Index
1
white
2
2
red
3
3
2
white
4
4
orange
5
5
3
white
6
6
yellow
7
7
4
white
8
8
green
9
9
5
white
Table 3-6
10
10
Encoder Cable – Pin Assignment, J3
Note
Encoder Cable head B. The pin out suits, for example:
• maxon digital MR Encoder type M, S (all with Line Driver)
maxon motor control
EPOS2 Positioning Controller
EPOS2 24/2 Cable Starting Set
Document ID: rel5182
Edition: October 2014
© 2014 maxon motor. Subject to change without prior notice.
3-13
Cables
Cable Assemblies
3.4.2
Encoder Cable (275934) – Connector J9
Head A
Figure 3-3
Head B
Encoder Cable
Technical Data
Cable cross-section
10 x AWG28, round-jacket, twisted pair flat cable, pitch 1.27 mm
Length
3.20 m
Head A
DIN 41651 female connector, pitch 2.54 mm, 10 poles, plug strain relief
Head B
DIN 41651 Plug, pitch 2.54 mm, 10 poles, plug strain relief
Table 3-7
3-14
Encoder Cable – Technical Data
Document ID: rel5182
Edition: October 2014
© 2014 maxon motor. Subject to change without prior notice.
maxon motor control
EPOS2 Positioning Controller
EPOS2 24/2 Cable Starting Set
Wire
Head A
Pin
Head B
Pin
brown
1
1
Twisted
Pair
Signal
Description
not connected
–
+5 VDC / 100 mA
Encoder supply voltage
GND
Ground
not connected
–
Channel A\
Channel A complement
Channel A
Channel A
Channel B\
Channel B complement
Channel B
Channel B
Channel I\
Index complement
Channel I
Index
1
white
2
2
red
3
3
2
white
4
4
orange
5
5
3
white
6
6
yellow
7
7
4
white
8
8
green
9
9
5
white
Table 3-8
10
10
Encoder Cable – Pin Assignment, J9
Note
Encoder Cable head B. The pin out suits, for example:
• maxon digital MR-Encoder type L, M, ML (all with Line Driver)
• maxon digital encoder HEDL 55_ (with Line Driver RS422)
maxon motor control
EPOS2 Positioning Controller
EPOS2 24/2 Cable Starting Set
Document ID: rel5182
Edition: October 2014
© 2014 maxon motor. Subject to change without prior notice.
3-15
Cables
Cable Assemblies
3.4.3
Motor/Hall Sensor Cable (302948) – Connector J10
Head A
Head B
Figure 3-4
Motor/Hall Sensor Cable
Technical Data
Cable cross-section
Cable 1: 1 x 3 x 0.25 mm2, shielded
Cable 2: 1 x 5 x 0.14 mm2, shielded
Length
3m
Head A
Molex Micro-Fit 3.0 8 poles (430-25-0800)
Molex Micro-Fit 3.0 female crimp terminals (43030-xxxx)
Cable lug Ø3.2 mm (for M3 screws)
Head B
Cable end sleeves 0.25 mm2
Cable end sleeves 0.14 mm2
Table 3-9
Motor/Hall Sensor Cable – Technical Data
DC Motor
Wire
Head A
Pin
white2
1
–
not connected
–
brown2
2
–
not connected
–
green1
3
–
not connected
–
white1
4
–
Motor+
Motor terminal “+”
grey2
5
–
not connected
–
green2
6
–
not connected
–
yellow2
7
–
not connected
–
brown1
8
–
Motor-
Motor terminal “-”
Table 3-10
3-16
Head B
Pin
Twisted
Pair
Signal
Description
Motor/Hall Sensor Cable – Pin Assignment (DC Motor), J10
Document ID: rel5182
Edition: October 2014
© 2014 maxon motor. Subject to change without prior notice.
maxon motor control
EPOS2 Positioning Controller
EPOS2 24/2 Cable Starting Set
EC Motor
Wire
Head A
Pin
white2
1
–
Hall sensor 3
Hall sensor 3 input
brown2
2
–
Hall sensor 2
Hall sensor 2 input
green1
3
–
Motor winding 3
Winding 3
white1
4
–
Motor winding 1
Winding 1
grey2
5
–
+VHall
Hall sensor supply voltage
(+5 VDC / 30 mA)
green2
6
–
Hall sensor 1
Hall sensor 1 input
yellow2
7
–
GND
Ground
brown1
8
–
Motor winding 2
Winding 2
Table 3-11
maxon motor control
EPOS2 Positioning Controller
EPOS2 24/2 Cable Starting Set
Head B
Pin
Twisted
Pair
Signal
Description
Motor/Hall Sensor Cable – Pin Assignment (EC Motor), J10
Document ID: rel5182
Edition: October 2014
© 2014 maxon motor. Subject to change without prior notice.
3-17
Cables
Cable Assemblies
3.4.4
DC Motor Cable (303490) – Connector J10
Head A
Head B
Figure 3-5
Motor/Hall Sensor Cable
Technical Data
Cable cross-section
2 x 0.25 mm2, shielded
Length
3m
Head A
Molex Micro-Fit 3.0 8 poles (430-25-0800)
Molex Micro-Fit 3.0 female crimp terminals (43030-xxxx)
Cable lug Ø3.2 mm (for M3 screws)
Head B
Cable end sleeves 0.25 mm2
Table 3-12
Wire
Head A
Pin
white
1
–
not connected
–
brown
2
–
not connected
–
green
3
–
not connected
–
white
4
–
Motor+
Motor terminal “+”
grey
5
–
not connected
–
green
6
–
not connected
–
yellow
7
–
not connected
–
brown
8
–
Motor-
Motor terminal “-”
Table 3-13
3-18
Motor/Hall Sensor Cable – Technical Data
Head B
Pin
Twisted
Pair
Signal
Description
Motor/Hall Sensor Cable – Pin Assignment, J10
Document ID: rel5182
Edition: October 2014
© 2014 maxon motor. Subject to change without prior notice.
maxon motor control
EPOS2 Positioning Controller
EPOS2 24/2 Cable Starting Set
3.4.5
Encoder Cable (275934) – Connector J11
Head A
Figure 3-6
Head B
Encoder Cable
Technical Data
Cable cross-section
10 x AWG28, round-jacket, twisted pair flat cable, pitch 1.27 mm
Length
3.20 m
Head A
DIN 41651 female connector, pitch 2.54 mm, 10 poles, plug strain relief
Head B
DIN 41651 Plug, pitch 2.54 mm, 10 poles, plug strain relief
Table 3-14
maxon motor control
EPOS2 Positioning Controller
EPOS2 24/2 Cable Starting Set
Encoder Cable – Technical Data
Document ID: rel5182
Edition: October 2014
© 2014 maxon motor. Subject to change without prior notice.
3-19
Cables
Cable Assemblies
Wire
Head A
Pin
Head B
Pin
brown
1
1
Twisted
Pair
Signal
Description
Motor+
Motor terminal “+”
+5 VDC / 100 mA
Encoder supply voltage
GND
Ground
Motor-
Motor terminal “-”
Channel A\
Channel A complement
Channel A
Channel A
Channel B\
Channel B complement
Channel B
Channel B
Channel I\
Index complement
Channel I
Index
1
white
2
2
red
3
3
2
white
4
4
orange
5
5
3
white
6
6
yellow
7
7
4
white
8
8
green
9
9
5
white
Table 3-15
10
10
Encoder Cable – Pin Assignment, J11
Note
Encoder Cable head B. The pin out suits, for example:
• maxon digital MR Encoder type M, S (all with Line Driver)
3-20
Document ID: rel5182
Edition: October 2014
© 2014 maxon motor. Subject to change without prior notice.
maxon motor control
EPOS2 Positioning Controller
EPOS2 24/2 Cable Starting Set
3.4.6
RS232-COM Cable (275900) – Connector J12
Head A
Head B
Figure 3-7
RS232-COM Cable
Technical Data
Cable cross-section
2 x 2 x 0.14 mm2, twisted pair, shielded
Length
3m
Head A
Molex Micro-Fit 3.0 6 poles (430-25-0600)
Molex Micro-Fit 3.0 female crimp terminals (43030-xxxx)
Head B
Female D-Sub connector DIN 41652, 9 poles, with mounting screws
Table 3-16
RS232-COM Cable – Technical Data
Wire
Head A
Pin
Head B
Pin
Twisted
Pair
yellow
1
3
1
EPOS RxD
EPOS RS232 receive
white
2
2
2
EPOS TxD
EPOS RS232 transmit
green
4
5
1
GND
RS232 ground
brown
5
5
2
GND
RS232 ground
black
6
–
–
Shield
Cable shield
–
–
Housing
–
Shield
Cable shield, soldered to
connector housing
Signal
Description
Remark:
pin assignment according to RS232 Standard
Table 3-17
maxon motor control
EPOS2 Positioning Controller
EPOS2 24/2 Cable Starting Set
RS232-COM Cable – Pin Assignment, J12
Document ID: rel5182
Edition: October 2014
© 2014 maxon motor. Subject to change without prior notice.
3-21
Cables
Cable Assemblies
3.4.7
CAN-COM Cable (275908) – Connector J13
Head A
Head B
Figure 3-8
CAN-COM Cable
Technical Data
Cable cross-section
2 x 2 x 0.14 mm2, twisted pair, shielded
Length
3m
Head A
Molex Micro-Fit 3.0 4 poles (430-25-0400)
Molex Micro-Fit 3.0 female crimp terminals (43030-xxxx)
Head B
Female D-Sub connector DIN 41652, 9 poles, with mounting screws
Table 3-18
CAN-COM Cable – Technical Data
Wire
Head A
Pin
Head B
Pin
yellow
1
7
Twisted
Pair
Signal
Description
CAN high
CAN high bus line
CAN low
CAN low bus line
1
green
2
2
brown
3
3
–
CAN GND
CAN ground
black
4
5
–
CAN shield
Cable shield
Remark:
pin assignment according to CiA DS102-2
Table 3-19
3-22
CAN-COM Cable – Pin Assignment, J13
Document ID: rel5182
Edition: October 2014
© 2014 maxon motor. Subject to change without prior notice.
maxon motor control
EPOS2 Positioning Controller
EPOS2 24/2 Cable Starting Set
3.4.8
CAN-CAN Cable (275926) – Connector J13
Head A
Head B
Figure 3-9
CAN-CAN Cable
Technical Data
Cable cross-section
2 x 2 x 0.14 mm2, twisted pair, shielded
Length
3m
Head A / Head B
Molex Micro-Fit 3.0 4 poles (430-25-0400)
Molex Micro-Fit 3.0 female crimp terminals (43030-xxxx)
Table 3-20
CAN-CAN Cable – Technical Data
Wire
Head A
Pin
Head B
Pin
yellow
1
1
Twisted
Pair
Signal
Description
CAN high
CAN high bus line
CAN low
CAN low bus line
1
green
2
2
brown
3
3
–
CAN GND
CAN ground
black
4
4
–
CAN shield
Cable shield
Table 3-21
maxon motor control
EPOS2 Positioning Controller
EPOS2 24/2 Cable Starting Set
CAN-CAN Cable – Pin Assignment, J13
Document ID: rel5182
Edition: October 2014
© 2014 maxon motor. Subject to change without prior notice.
3-23
Cables
Cable Assemblies
3.4.9
CAN-Y Cable (319471) – Connector J13
Head A
Head B
Head C
Figure 3-10
CAN-Y Cable
Technical Data
Cable cross-section
2 x 4 x 0.14 mm2, single wires
Length
0.05 m
Head A / Head B
Molex Micro-Fit 3.0 4 poles (430-25-0401)
Molex Micro-Fit 3.0 male crimp terminals (43031-xxxx)
Head C
Molex Micro-Fit 3.0 4 poles (430-25-0400)
Molex Micro-Fit 3.0 female crimp terminals (43030-xxxx)
Table 3-22
CAN-Y Cable – Technical Data
Wire
Head A
Pin
Head B
Pin
Head C
Pin
Twisted
Pair
yellow
2
2
1
–
CAN high
CAN high bus line
green
1
1
2
–
CAN low
CAN low bus line
brown
4
4
3
–
CAN GND
CAN ground
black
3
3
4
–
CAN shield
Cable shield
Table 3-23
Signal
Description
CAN-Y Cable – Pin Assignment, J13
Note
The CAN-Y Cable fits the other CAN cables.
3-24
Document ID: rel5182
Edition: October 2014
© 2014 maxon motor. Subject to change without prior notice.
maxon motor control
EPOS2 Positioning Controller
EPOS2 24/2 Cable Starting Set
3.4.10
Signal Cable 16core (275932) – Connector J14
Head A
Figure 3-11
Head B
Signal Cable 16core
Technical Data
Cable cross-section
16 x 0.14 mm2
Length
3m
Head A
Molex Micro-Fit 3.0 16 poles (430-25-1600)
Molex Micro-Fit 3.0 female crimp terminals (43030-xxxx)
Head B
Cable end sleeves 0.14 mm2
Table 3-24
maxon motor control
EPOS2 Positioning Controller
EPOS2 24/2 Cable Starting Set
Signal Cable 16core – Technical Data
Document ID: rel5182
Edition: October 2014
© 2014 maxon motor. Subject to change without prior notice.
3-25
Cables
Cable Assemblies
Wire
Head A
Pin
white
1
–
D_Gnd
Digital signal ground
brown
2
–
D_Gnd
Digital signal ground
green
3
–
DigIN6
Digital input 6 “Negative Limit
Switch”
yellow
4
–
DigIN5
Digital input 5 “Positive Limit
Switch”
grey
5
–
DigIN4
Digital input 4 “Home Switch”
pink
6
–
DigIN3
Digital input 3 “General Purpose”
blue
7
–
DigIN2
Digital input 2 “General Purpose”
red
8
–
DigIN1
Digital input 1 “General Purpose”
black
9
–
+VOUT
Auxiliary supply voltage Output
(+5 VDC / 10 mA)
violet
10
–
DigOUT4
Digital output 4 “General
Purpose”
grey/
pink
11
–
DigOUT3
Digital output 3 “General
Purpose”
red/blue
12
–
+VCC
Power supply voltage
(+9…24 VDC)
white/
green
13
–
Power_Gnd
Power ground
brown/
green
14
–
A_Gnd
Analog signal ground
white/
yellow
15
–
AnIN2
Analog Input 2
yellow/
brown
16
–
AnIN1
Analog Input 1
Table 3-25
3-26
Head B
Pin
Twisted
Pair
Signal
Description
Signal Cable 16core – Pin Assignment, J14
Document ID: rel5182
Edition: October 2014
© 2014 maxon motor. Subject to change without prior notice.
maxon motor control
EPOS2 Positioning Controller
EPOS2 24/2 Cable Starting Set
3.4.11
USB Type A - mini B Cable (370513) – Connector J15
Head A
Head B
Figure 3-12
USB Type A - mini B Cable
Technical Data
Cable cross-section
1 x 28 AWG non-twisted power pair / 1 x 28 AWG twisted data pair,
aluminum-metallized polyester inner shield, 28 AWG stranded tinned
copper drain wire, > 65%, tinned copper wire interwoven (braided) outer
shield, PVC jacket
Length
3m
Head A
USB Type mini B, male
Head B
USB Type A, male
Table 3-26
USB Type A - mini B Cable – Technical Data
Wire
Head A
Pin
Head B
Pin
Twisted
Pair
red
1
1
–
white
2
2
Signal
Description
VBUS
USB BUS supply voltage input
+5 VDC
D-
USB Data-
D+
USB Data+
1
green
3
3
–
4
–
–
ID
not connected
black
5
4
–
GND
USB_Ground
Jacket
Shield
Shield
–
Cable shield
Cable shield, soldered to
connector housing
Remark:
pin assignment according to USB 2.0 standard
Table 3-27
maxon motor control
EPOS2 Positioning Controller
EPOS2 24/2 Cable Starting Set
USB Type A - mini B Cable – Pin Assignment, J15
Document ID: rel5182
Edition: October 2014
© 2014 maxon motor. Subject to change without prior notice.
3-27
Cables
EPOS2 24/2 Connector Set (303807)
3.5
EPOS2 24/2 Connector Set (303807)
If you decide not to use the ready-made cable assemblies, you can take advantage of a prepackaged
set containing all required connectors.The set contains following items:
Connector
Specification
Quantity
J10
Molex Micro-Fit 3.0 8 poles (430-25-0800)
1
J12
Molex Micro-Fit 3.0 6 poles (430-25-0600)
1
J13
Molex Micro-Fit 3.0 4 poles (430-25-0400)
1
J14
Molex Micro-Fit 3.0 16 poles (430-25-1600)
1
Molex Micro-Fit 3.0 female crimp terminal (43030-0010) AWG 30-26
40
Tyco C42334-A421-C42 (right), encoder clip right
1
Tyco C42334-A421-C52 (left), encoder clip left
1
Table 3-28
EPOS2 24/2 Connector Set – Content
Best Practice
For best results use original manufacturer’s tools (chapter “3.2 Tools” on page 3-10).
3-28
Document ID: rel5182
Edition: October 2014
© 2014 maxon motor. Subject to change without prior notice.
maxon motor control
EPOS2 Positioning Controller
EPOS2 24/2 Cable Starting Set
LIST OF FIGURES
Figure 2-1
Documentation Structure . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .8
Figure 3-2
Encoder Cable . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .12
Figure 3-3
Encoder Cable . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .14
Figure 3-4
Motor/Hall Sensor Cable . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .16
Figure 3-5
Motor/Hall Sensor Cable . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .18
Figure 3-6
Encoder Cable . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .19
Figure 3-7
RS232-COM Cable. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .21
Figure 3-8
CAN-COM Cable . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .22
Figure 3-9
CAN-CAN Cable . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .23
Figure 3-10
CAN-Y Cable . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .24
Figure 3-11
Signal Cable 16core . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .25
Figure 3-12
USB Type A - mini B Cable . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .27
maxon motor control
EPOS2 Positioning Controller
EPOS2 24/2 Cable Starting Set
Document ID: rel5182
Edition: October 2014
© 2014 maxon motor. Subject to change without prior notice.
Z-29
LIST OF TABLES
Z-30
Table 1-1
Notations used in this Document . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 5
Table 1-2
Brand Names and Trademark Owners. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 7
Table 3-3
Recommended Tools . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 10
Table 3-4
Cable Selector . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 11
Table 3-5
Encoder Cable – Technical Data . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 12
Table 3-6
Encoder Cable – Pin Assignment, J3. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 13
Table 3-7
Encoder Cable – Technical Data . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 14
Table 3-8
Encoder Cable – Pin Assignment, J9. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 15
Table 3-9
Motor/Hall Sensor Cable – Technical Data . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 16
Table 3-10
Motor/Hall Sensor Cable – Pin Assignment (DC Motor), J10. . . . . . . . . . . . . . . . . . . . 16
Table 3-11
Motor/Hall Sensor Cable – Pin Assignment (EC Motor), J10. . . . . . . . . . . . . . . . . . . . 17
Table 3-12
Motor/Hall Sensor Cable – Technical Data . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 18
Table 3-13
Motor/Hall Sensor Cable – Pin Assignment, J10 . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 18
Table 3-14
Encoder Cable – Technical Data . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 19
Table 3-15
Encoder Cable – Pin Assignment, J11. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 20
Table 3-16
RS232-COM Cable – Technical Data . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 21
Table 3-17
RS232-COM Cable – Pin Assignment, J12 . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 21
Table 3-18
CAN-COM Cable – Technical Data . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 22
Table 3-19
CAN-COM Cable – Pin Assignment, J13 . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 22
Table 3-20
CAN-CAN Cable – Technical Data. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 23
Table 3-21
CAN-CAN Cable – Pin Assignment, J13 . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 23
Table 3-22
CAN-Y Cable – Technical Data . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 24
Table 3-23
CAN-Y Cable – Pin Assignment, J13 . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 24
Table 3-24
Signal Cable 16core – Technical Data . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 25
Table 3-25
Signal Cable 16core – Pin Assignment, J14 . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 26
Table 3-26
USB Type A - mini B Cable – Technical Data . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 27
Table 3-27
USB Type A - mini B Cable – Pin Assignment, J15 . . . . . . . . . . . . . . . . . . . . . . . . . . . 27
Table 3-28
EPOS2 24/2 Connector Set – Content. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 28
Document ID: rel5182
Edition: October 2014
© 2014 maxon motor. Subject to change without prior notice.
maxon motor control
EPOS2 Positioning Controller
EPOS2 24/2 Cable Starting Set
••page intentionally left blank••
maxon motor control
EPOS2 Positioning Controller
EPOS2 24/2 Cable Starting Set
Document ID: rel5182
Edition: October 2014
© 2014 maxon motor. Subject to change without prior notice.
Z-31
© 2014 maxon motor. All rights reserved.
The present document – including all parts thereof – is protected by copyright. Any use (including reproduction, 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 subject to persecution under the applicable law.
maxon motor ag
Brünigstrasse 220
P.O.Box 263
CH-6072 Sachseln
Switzerland
Phone +41 41 666 15 00
Fax +41 41 666 16 50
www.maxonmotor.com
Z-32
Document ID: rel5182
Edition: October 2014
© 2014 maxon motor. Subject to change without prior notice.
maxon motor control
EPOS2 Positioning Controller
EPOS2 24/2 Cable Starting Set
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