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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