Specifications
| Product |
| Weight |
7 g |
| Motor |
| DC motors up to |
120 W |
| EC motors up to |
120 W |
| Sensor |
| Without sensor (DC motors) |
Yes |
| Digital incremental encoder (2-channel, single-ended) |
Yes |
| Digital incremental encoder (2-channel, differential) |
Yes |
| Digital incremental encoder (3-channel, differential) |
Yes |
| Digital Hall sensors (EC Motors) |
Yes |
| Absolute encoder (SSI) |
Yes |
| Operating modes |
| Current controller |
yes (Torque) |
| Speed controller (closed loop) |
Yes |
| Position controller |
Yes |
| Electrical data |
| Operating voltage Vcc (min.) |
10 V |
| Operating voltage Vcc (max.) |
24 V |
| Logic supply voltage Vc (min.) optional |
10 V |
| Logic supply voltage Vc (max.) optional |
24 V |
| Max. output voltage (factor * Vcc) |
0.9 |
| Max. output current Imax |
15 A |
| Max. time of peak output current Imax |
10 s |
| Continuous output current Icont |
5 A |
| PWM clock frequency of power stage |
50 kHz |
| Sampling rate PI current controller |
25 kHz |
| Sampling rate PI speed controller |
2.5 kHz |
| Sampling rate PID positioning controller |
2.5 kHz |
| Max. efficiency |
98 % |
| Max. speed (DC) |
100000 rpm |
| Max. speed (EC; 1 pole pair) block commutation |
100000 rpm |
| Max. speed (EC; 1 pole pair) sinusoidal commutation |
50000 rpm |
| Inputs |
| Hall sensor signals |
H1, H2, H3 |
| Encoder signals |
A, A\, B, B\, I, I\ |
| Max. encoder input frequency |
6.2 MHz |
| Sensor signals |
Clock, Data |
| Digital inputs |
5 |
| Functionality of digital inputs |
limit switch, reference switch, general purpose, touch probe |
| Analog inputs |
2 |
| Resolution, range, circuit |
12-bit, -10…+10V, differential |
| Functionality of analog inputs |
General Purpose, Set Value Current, Set Value Velocity |
| Outputs |
| Digital outputs |
3 |
| Functionality of digital outputs |
holding brake, general purpose |
| Analog outputs |
1 |
| Resolution, range |
12-bit, -4…+4V |
| Functionality of analog outputs |
General Purpose |
| Voltage outputs |
| Hall sensor supply voltage |
see "Sensor supply voltage |
| Encoder supply voltage |
see "Sensor supply voltage |
| Sensor supply voltage |
+5 VDC, max. 150 mA |
| Interface |
| USB 2.0 (full speed) |
yes |
| EtherCAT |
IEC 61158 Type 12 Slave |
| CoE (CAN application layer over EtherCAT) |
CiA 402 |
| FoE (File transfer over EtherCAT) |
yes |
| Distributed Clocks Support |
Yes |
| Variable PDO mapping |
Yes |
| Display |
| Status indicator "Ready" |
green LED |
| Status indicator "Error" |
red LED |
| Protective functions |
| Protective functions |
current limit, overcurrent, excess temperature, undervoltage, overvoltage, voltage transients, short-circuits in the motor cable, loss of feedback signal |
| Ambient conditions |
| Temperature – Operation (min.) |
-30 °C |
| Temperature – Operation (max.) |
40 °C |
| Temperature – Extended Range |
+40…+60 °C, Derating: -0.25 A/°C |
| Temperature – Storage (min.) |
-40 °C |
| Temperature – Storage (max.) |
85 °C |
| Humidity (non-condensing) (min.) |
5 % |
| Humidity (non-condensing) (max.) |
90 % |
| Mechanical data |
| Weight |
7 g |
| Dimension (length) |
36.5 mm |
| Dimension (width) |
27 mm |
| Mounting |
mounting holes for M2 screws |
| Software |
| Installation program |
EPOS Setup |
| Graphical User Interface |
EPOS Studio |
| Operating system |
Windows 10, 8, 7 |
| Windows DLL for PC |
32-/64-bit |
| Programming examples |
MS Visual C#, MS Visual C++, MS Visual Basic, MS Visual Basic.NET, Borland C++, Borland Delphi, NI LabView, NI LabWindows/CVI |
| Linux Shared Object Library |
X86 32-/64-bit, ARMv6/v7/v8 32-bit, ARMv8 64-bit |
| Programming example |
C++ |
| Functions |
| CANopen Profile Position Mode |
Yes |
| CANopen Profile Velocity Mode |
Yes |
| CANopen Homing Mode |
Yes |
| CANopen Cyclic Synchronuous Position |
Yes |
| CANopen Cyclic Synchronuous Velocity |
Yes |
| CANopen Cyclic Synchronuous Torque |
Yes |
| Analog set value |
Yes |
| Position Control Feed Forward |
Yes |
| Velocity Control (Feed Forward) |
Yes |
| Dual loop position and velocity control |
Yes |
| Position Marker / Touch Probe |
Yes |
| Quickstop |
Yes |
| Enable |
Yes |
| Control of holding brakes |
Yes |
| Advanced automatic control settings |
Yes |
Description
The EPOS4 Micro 24/5 EtherCAT is a miniaturized OEM positioning control module for integration into single- or multi-axes motion control systems. Suitable for controlling a brushed DC motor with encoder or a brushless EC motor (BLDC) with Hall sensors and encoder up to 120 W / 360 W.
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