maxon motor EPOS2 Module 36/2 Reference Manual

maxon motor control

EPOS2 Positioning Controller

Hardware Reference

Edition May 2017

Positioning Controller

Hardware Reference

Document ID: rel7050

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

These instructions are intended for qualified technical per sonnel. Prior commencing with any activities …

• 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 – the n go back and continue with the task!

PREREQUISITES FOR PERMISSION TO COMMENCE INSTALLATION

The EPOS2 Module 36/2 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!

maxon motor control

A-2 Document ID: rel7050 EPOS2 Positioning Controller

Edition: May 2017 EPOS2 Module 36/2 Hardware Reference

1 About this Document 5 2 Introduction 9

2.1 Documentation Structure . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 9

2.2 Safety Precautions. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 10

3 Technical Data 11

3.1 Electrical Data . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 11

3.2 Mechanical Data . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 12

3.3 Dimensional Drawings . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 13

3.4 Environmental Conditions . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 14

3.5 Order Details . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 14

3.6 Standards . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 15

4 Connections 17

4.1 Pin Assignment . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 17

4.2 Minimum external Wiring . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 19

4.3 Power Supply. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 20

4.3.1 Determination of Power Supply . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 20

4.3.2 Use of separate Logic Supply (optional) . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 21

4.3.3 Low Supply Voltage Operation (optional). . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 21

4.4 Motor Connection . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 22

4.4.1 maxon EC motor (brushless) . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 22

4.4.2 maxon DC motor (brushed) . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 22

4.5 Hall Sensor Connection . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 23

4.6 Encoder Connection . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 24

4.7 Digital Input Connection. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 25

4.7.1 Digital Inputs 1, 2, 3 and 4 . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 25

4.7.2 Digital Inputs 7 and 8 . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 27

4.8 Analog Input Connection . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 28

4.8.1 Analog Inputs 1 and 2 . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 28

4.9 Digital Output Connection . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 29

4.9.1 Digital Outputs 1 and 2 . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 29

4.9.2 Digital Output 5 . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 31

4.10 RS232 Connection. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 32

4.11 SCI Interface Connection. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 33

4.12 CAN Connection . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 33

4.13 CAN Configuration. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 34

4.13.1 CAN ID (Node Address). . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 34

4.13.2 CAN automatic Bit Rate Detection. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 35

4.14 Status LEDs. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 36

maxon motor control EPOS2 Positioning Controller Document ID: rel7050 EPOS2 Module 36/2 Hardware Reference Edition: May 2017

A-3

5 Motherboard Design Guide 37

5.1 Requirements for external Components. . . . . . . . . . . . . . . . . . . . . . . . . . . . . 37

5.1.1 Card Edge Connector . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 37

5.1.2 Power Supply Voltage . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 37

5.1.3 Logic Supply Voltage . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 38

5.1.4 Motor Phase . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 39

5.1.5 Supplier Reference . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 39

5.1.6 USB . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 40

5.2 Design Rules . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 41

5.2.1 Ground. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 41

5.2.2 Communication Interfaces. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 41

5.2.3 I/Os . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 41

5.2.4 Layout . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 42

5.3 Schematic Examples . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 42

5.3.1 Minimum External Wiring. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 42

5.3.2 Separate Logic Supply Voltage and CAN Communication . . . . . . . . . . . . . . . . . . . . . . 42

5.3.3 USB Interface . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 43

5.3.4 Wiring Example: Low Supply Voltage Operation . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 44

5.3.5 Wiring Example: Two Axes with RS232 to CAN Gateway. . . . . . . . . . . . . . . . . . . . . . . 45

maxon motor control

A-4 Document ID: rel7050 EPOS2 Positioning Controller

Edition: May 2017 EPOS2 Module 36/2 Hardware Reference

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 Notations used in this Document

maxon motor control EPOS2 Positioning Controller Document ID: rel7050 EPOS2 Module 36/2 Hardware Reference Edition: May 2017

1-5

About this Document

1.4 Symbols and Signs

In the course of the present document, the following symbols and sings will be used.

Type Symbol Meaning

Safety Alert

Prohibited Action

Mandatory Action

Information

(typical)

DANGER

WARNING

CAUTION

Indicates a dangerous action. Hence, you must not!

Indicates a mandatory action. Hence, you must!

Requirement / Note / Remark

Best Practice

Indicates an imminent hazardous situation. If not avoided, it will result in death or serious in jury.

Indicates a potential hazardous situation. If not avoided, it can result in death or serious injury.

Indicates a probable hazardous situation or calls

the attention to unsafe practices. If not avoided, it

may result in injury.

Indicates an activity you must perform prior continuing, or gives information on a particular item you need to observe.

Indicates an advice or recommendation on the easiest and best way to further proceed.

Table 1-2 Symbols & Signs

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 …

Adobe® Reader® © Adobe Systems Incorporated, USA-San Jose, CA

OMNI-BLOK® SMD NANO2®

Pentium® © Intel Corporation, USA-Santa Clara, CA

Windows® © Microsoft Corporation, USA-Redmond, WA

Table 1-3 Brand Names and Trademark Owners

Material Damage

Indicates information particular to possible damage of the equipment.

maxon motor control

1-6 Document ID: rel7050 EPOS2 Positioning Controller

Edition: May 2017 EPOS2 Module 36/2 Hardware Reference

1.6 Copyright

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 Document ID: rel7050 EPOS2 Module 36/2 Hardware Reference Edition: May 2017

1-7

About this Document

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maxon motor control

1-8 Document ID: rel7050 EPOS2 Positioning Controller

Edition: May 2017 EPOS2 Module 36/2 Hardware Reference

2Introduction

The present document provides you with information on the EPOS2 Module 36/2 Positioning Controller’s hardware. It contains…

• performance data and specifications,

• information on connections and pin assignment and

• wiring examples.

maxon motor control’s EPOS2 Module 36/2 is a small-sized, full digital, smart motion controller. It is designated for the use as plug-in module in customer-specific motherboards for single axis or multi axes motion control systems. Due to its flexible and high efficient power stage, the EPOS2 Module 36/2 drives brushed DC motors with digital encoder as well as brushless EC motors with digital Hall sensors and encoder.

The sinusoidal current commutation by space vector control offers the possibility to drive brushless EC motors with minimal torque ripple and low noise. The integrated position, velocity and current control functionality allows sophisticated positioning applications. The EPOS2 Module 36/2 is especially designed being commanded and controlled as a slave node in a CANopen network. In addition, the unit can be operated via any USB (external transceiver necessary) or RS232 interface.

Find the latest edition of the present document, as well as additional documentation and software to the EPOS2 Module 36/2 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 Documentation Structure

maxon motor control EPOS2 Positioning Controller Document ID: rel7050 EPOS2 Module 36/2 Hardware Reference Edition: May 2017

2-9

Introduction Safety Precautions

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 1-6 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 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 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.

Best Practice

• For initial operation, make sure that the motor is free running. If not the case, mechanically disconnect the motor from the load.

Maximal permitted Supply Voltage

• Make sure that supply power is between 11…36 VDC.

• Supply voltages above 40 VDC will destroy the unit.

• Wrong polarity will destroy the unit.

Electrostatic Sensitive Device (ESD)

• Make sure to wear working cloth in compliance with ESD.

• Handle device with extra care.

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 potential 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, balance them.

• Insert the USB connector first, then switch on the power supply of the controller.

maxon motor control

2-10 Document ID: rel7050 EPOS2 Positioning Controller

Edition: May 2017 EPOS2 Module 36/2 Hardware Reference

3Technical Data

3.1 Electrical Data

Rating

Nominal power supply voltage V

Nominal logic supply voltage VC (optional)

Absolute minimum supply voltage 10 VDC

Absolute max. supply voltage 40 VDC

Max. output voltage

Max. output current I

Continuous output current I

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

Max. speed @ sinusoidal commutation (motors with 1 pole pair) 25 000 rpm

Max. speed @ block commutation (motors with 1 pole pair) 100 000 rpm

Built-in motor choke per phase 10 μH / 2 A

Table 3-4 Electrical Data – Rating

max

(<1sec)

cont

11…36 VDC

0.9 • V

4 A

2 A

Inputs

Hall sensor 1, Hall sensor 2 and Hall sensor 3

Hall sensor signals

Encoder signals

Digital Input 1 (“General Purpose”) +3…+36 VDC (Ri = 12 kΩ)

Digital Input 2 (“General Purpose”) +3…+36 VDC (Ri = 12 kΩ)

Digital Input 3 (“General Purpose”) +3…+36 VDC (Ri = 12 kΩ)

Digital Input 4 (“General Purpose”) +3…+36 VDC (Ri = 12 kΩ)

Digital Input 7 (“High Speed Command”) internal line receiver EIA RS422 Standard

Digital Input 8 (“High Speed Command”) internal line receiver EIA RS422 Standard

Analog Input 1 resolution 11-bit 0…+5 V (Ri = 34 kΩ)

Analog Input 2 resolution 11-bit 0…+5 V (Ri = 34 kΩ)

CAN ID (CAN identification) ID 1…127 configurable by external wiring

for Hall effect sensor ICs (Schmitt trigger with open collector output)

A, A\, B, B\, I, I\ (max. 5 MHz) internal line receiver EIA RS422 Standard

Table 3-5 Electrical Data – Inputs

Outputs

Digital Output 1 (“General Purpose”), open collector

Digital Output 2 (“General Purpose”), open collector

Digital Output 5 (“High Speed Command”), push-pull

max. 36 VDC (IL <50 mA)

max. 3.3 VDC (IL <10 mA)

Table 3-6 Electrical Data – Outputs

maxon motor control EPOS2 Positioning Controller Document ID: rel7050 EPOS2 Module 36/2 Hardware Reference Edition: May 2017

3-11

Technical Data Mechanical Data

Voltage Outputs

Encoder supply voltage

Hall sensors supply voltage

+5 VDC (IL <100 mA)

+5 VDC (IL <30 mA)

Table 3-7 Electrical Data – Voltage Outputs

Motor Connections

maxon EC motor maxon DC motor

Motor winding 1 + Motor

Motor winding 2 − Motor

Motor winding 3

Table 3-8 Electrical Data – Motor Connections

Interfaces

RS232 RxD; TxD max. 115 200 bit/s

USB 2.0 / USB 3.0

CAN CAN_H (high); CAN_L (low) max.1 Mbit/s

external transceiver necessary

Table 3-9 Electrical Data – Interfaces

Status Indicators

Operation green LED

Error red LED

Table 3-10 Electrical Data – LEDs

Connections

On board: Suitable plug:

Suitable retainer:

Table 3-11 Electrical Data – Connections

3.2 Mechanical Data

Mechanical Data

Weight approx. 10 g

Dimensions (L x W x H) 54.5 x 28.2 x 9 mm

Mounting

Card edge connector PCI Express (PCIe) Connector 2x32 Pin vertical or horizontal, 1 mm pitch Tyco 2-1775801-1 (vertical) / Tyco 1761465-2 (horizontal) FCI 10018783-11111TLF (vertical) Meritec 983172-064-2MMF (horizontal) FCI PCI express retainer, blue, 10042618-002LF

pluggable card edge connector with optional PCB support brackets

Table 3-12 Mechanical Data

maxon motor control

3-12 Document ID: rel7050 EPOS2 Positioning Controller

Edition: May 2017 EPOS2 Module 36/2 Hardware Reference

3.3 Dimensional Drawings

VERTICAL CONNECTOR

Figure 3-2 Dimensional Drawing (with vertical Connector) [mm]

ORIZONTAL CONNECTOR

Figure 3-3 Dimensional Drawing (with horizontal connector Meritec 983172-064-2MMF) [mm]

ETAINER

Figure 3-4 Footprint of Retainer (Meritec 983172-064-2MMF connector) [mm]

maxon motor control EPOS2 Positioning Controller Document ID: rel7050 EPOS2 Module 36/2 Hardware Reference Edition: May 2017

3-13

Technical Data Environmental Conditions

3.4 Environmental Conditions

Environmental Condition

Temperature

*2)

Altitude

Humidity 5…90% (condensation not permitted)

*1) Operation within the extended range (temperature and altitude) is permitted. However, a respective derating

*2) Operating altitude in meters above Mean Sea Level, MSL.

Table 3-13 Environmental Conditions

(declination of output current I

Operation −10…+45 °C

Extended Range

Storage −40…+85 °C

Operation 0…6’000 m MSL

Extended Range

) as to the stated values will apply.

cont

*1)

+45…+75 °C / Derating: Figure 3-5

6’000…10’000 m MSL / Derating: Figure 3-5

Figure 3-5 Derating Output Current

3.5 Order Details

Order Details

EPOS2 Module 36/2 Order number 360665

Table 3-14 Order Details

Accessories

EPOS2 Module Evaluation Board Order number 361435

EPOS2 Module Starter Kit (including EPOS2 Module 36/2, EPOS2 Module Evaluation Board and necessary cables)

Table 3-15 Accessories

Note

Accessories are not part of the delivery. You will need to order them separately.

Order number 363407

maxon motor control

3-14 Document ID: rel7050 EPOS2 Positioning Controller

Edition: May 2017 EPOS2 Module 36/2 Hardware Reference

3.6 Standards

The described device has been successfully tested for compliance with the below listed standards. In practical 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.

Generic Standards

Electromagnetic Compatibility

IEC/EN 61000-6-2 Immunity for industrial environments

IEC/EN 61000-6-3

Emission standard for residential, commercial and lightindustrial environments

IEC/EN 61000-6-3 IEC/EN 55022

Radio disturbance characteristics / radio interference

(CISPR22)

IEC/EN 61000-4-3

Applied Standards

Radiated, radio-frequency, electromagnetic field immunity test >10 V/m

IEC/EN 61000-4-4 Electrical fast transient/burst immunity test ±1 kV/±2 kV

IEC/EN 61000-4-6

Immunity to conducted disturbances, induced by radiofrequency fields 10 Vrms

IEC/EN 61000-4-8 Power frequency magnetic field 30 A/m

Others

Environmental

IEC/EN 60068-2-6

Environmental testing – Test Fc: Vibration (sinusoidal,

10…500 Hz, 20 m/s

)

Standards

MIL-STD-810F

Random transport (10…500 Hz up to 1.05 g

rms

)

Safety Standards UL File Number E172472 or E92481; unassembled printed circuit board

Reliability prediction of electronic equipment Environment: Ground, benign

Reliability MIL-HDBK-217F

Ambient temperature: 298 K (25 °C) Component stress: In accordance with circuit diagram and nominal power Mean Time Between Failures (MTBF): 610'435 hours

Table 3-16 Standards

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Technical Data Standards

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maxon motor control

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+ 36 hidden pages

maxon motor EPOS2 Module 36/2 Reference Manual

Specifications and Main Features

Frequently Asked Questions

User Manual

PLEASE READ THIS FIRST

TABLE OF CONTENTS

1 About this Document

1.1 Intended Purpose

1.2 Target Audience

1.3 How to use

1.4 Symbols and Signs

1.5 Trademarks and Brand Names

1.6 Copyright

2Introduction

2.1 Documentation Structure

2.2 Safety Precautions

3Technical Data

3.1 Electrical Data

3.2 Mechanical Data

3.3 Dimensional Drawings

3.4 Environmental Conditions

3.5 Order Details

3.6 Standards