EPOS4 EtherCAT Card Hardware Reference

maxon motor control EPOS4 Positioning Controller
Hardware Reference Edition December 2017
Extension Card
P/N 581245
Hardware Reference
Document ID: rel7777
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
TABLE OF CONTENTS
1 About 3
1.1 About this Document . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 3
1.2 About the Device . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 5
1.3 About the Safety Precautions . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 6
2 Specifications 7
2.1 Technical Data . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 7
2.2 Dimensional Drawings . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 8
2.3 Standards . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 9
3 Setup 11
3.1 Generally applicable Rules. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 11
3.2 Connections . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 11
3.3 Installation . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 13
3.3.1 EPOS4 Controllers with encased Housing . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 13
3.3.2 EPOS4 Modules . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 15
4 Motherboard Design Guide 17

4.1 Schematic Overview. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 17
4.2 Requirements for Components of Third-party Suppliers . . . . . . . . . . . . . . . . 18
4.2.1 Card Edge Connector & Socket Headers . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 18
4.2.2 Supply Voltage. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 18
4.2.3 EtherCAT Status LEDs . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 19
4.2.4 EtherCAT Port LEDs . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 20
4.2.5 EtherCAT Connectors . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 21
4.2.6 Recommended Components and Manufacturers . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 23
4.3 THT Footprint . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 24
READ THIS FIRST

These instructions are intended for qualified technical personnel. Prior commencing with any activities…
• you must carefully read and understand this manual and
• you must follow the instructions given therein.
maxon motor control

A-2 Document ID: rel7777 EPOS4 Positioning Controller
Edition: December 2017 EPOS4 EtherCAT Card Hardware Reference
© 2017 maxon motor. Subject to change without prior notice.
About
About this Document
1 About
1.1 About this Document
1.1.1 Intended Purpose

Use the document The purpose of the present document is to familiarize you with the EPOS4 EtherCAT Card. It will high-
to… light the tasks for safe and adequate installation and/or commissioning. Follow the described instruc-
–stay safe, tions …
–be fast,
–end up with set • to avoid dangerous situations,
up and ready-to-go • to keep installation and/or commissioning time at a minimum,
equipment.
• to increase reliability and service life of the described equipment.
The present document is part of a documentation set and contains performance data and specifications,
information on fulfilled standards, details on connections and pin assignment, and wiring examples. The
below overview shows the documentation hierarchy and the interrelationship of its individual parts:
Figure 1-1 Documentation structure
1.1.2 Target Audience

The present document is intended for trained and skilled personnel. It conveys information on how to
understand and fulfill the respective work and duties.
maxon motor control

EPOS4 Positioning Controller Document ID: rel7777 1-3
EPOS4 EtherCAT Card Hardware Reference Edition: December 2017
About
About this Document
1.1.3 How to use

Throughout the document, the following notations and codes will be used.
Notation Meaning
refers to an EPOS4 Module (such as «EPOS4 Module 24/1.5», «EPOS4
Module
Module 50/15»,and others)
(n) refers to an item (such as part numbers, list items, etc.)
 denotes “see”, “see also”, “take note of” or “go to”
Table 1-1 Notation used
1.1.4 Symbols & Signs

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

Indicates an imminent hazardous situation. If not
DANGER
avoided, it will result in death or serious injury.
Indicates a potential hazardous situation. If not
WARNING
Safety alert avoided, it can result in death or serious injury.
(typical) Indicates a probable hazardous situation or calls
CAUTION the attention to unsafe practices. If not avoided, it
may result in injury.
Prohibited
Indicates a dangerous action. Hence, you must not!
action
(typical)
Mandatory
Indicates a mandatory action. Hence, you must!
action
(typical)
Indicates an activity you must perform prior
Requirement /
continuing, or gives information on a particular item
Note / Remark
you need to observe.
Indicates an advice or recommendation on the

Information Best practice
easiest and best way to further proceed.
Material Indicates information particular to possible damage

Damage of the equipment.
Table 1-2 Symbols and signs
maxon motor control

1-4 Document ID: rel7777 EPOS4 Positioning Controller
About
About the Device
1.1.5 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 list below is not necessarily conclud-
ing) are protected by copyright and/or other intellectual property rights even if their legal trademarks are
omitted in the later course of this document.
Brand Name Trademark Owner

Adobe® Reader® © Adobe Systems Incorporated, USA-San Jose, CA
© EtherCAT Technology Group, DE-Nuremberg, licensed by Beckhoff
EtherCAT®
Automation GmbH, DE-Verl
PCI Express®
© PCI-SIG, USA-Beaverton, OR
PCIe®
Windows® © Microsoft Corporation, USA-Redmond, WA
Table 1-3 Brand names and trademark owners
1.1.6 Copyright
© 2017 maxon motor. All rights reserved.
The present document – including all parts thereof – is protected by copyright. Any use (including repro-
duction, 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 sub-
ject to prosecution under the applicable law.
maxon motor ag
Brünigstrasse 220 Phone +41 41 666 15 00
P.O.Box 263 Fax +41 41 666 16 50
CH-6072 Sachseln Web www.maxonmotor.com
1.2 About the Device

Capabilities of the maxon motor control's «EPOS4 EtherCAT Card» is a plug-in extension card to provide complete Ether-
device, included fea- CAT communication capability for an EPOS4 positioning controller. It is optionally available to equip
tures, and supported either an EPOS4 encased housing variant or an EPOS4 Module with full EtherCAT functionality. For the
controllers. latter, development of an own motherboard as to particular guidelines is needed (for details chapter “4
Motherboard Design Guide” on page 4-17).
Find the latest edition of the present document as well as additional documentation and software for
EPOS4 positioning controllers also on the Internet: http://epos.maxonmotor.com
In addition, you may wish to browse the EPOS video library. It features video tutorials that provide easy
to follow instructions on how to get started with «EPOS Studio» and shows you tips and tricks on how to
setup communication interfaces, and so on. Explore on Vimeo: https://vimeo.com/album/4646388
maxon motor control

About
About the Safety Precautions
1.3 About the Safety Precautions

Keep in mind: • Make sure that you have read and understood the note “READ THIS FIRST” on page A-2!
Safety first! Always!
• Do not engage with any work unless you possess the stated skills (chapter “1.1.2 Target
Audience” on page 1-3)!
• Refer to chapter “1.1.4 Symbols & Signs” on page 1-4 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!
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 it 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 cannot 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)

• Wear working cloth and use equipment in compliance with ESD protective measures.
• Handle device with extra care.
Hot plugging/hot swapping the card may cause hardware damage

Switch off the controller’s power supply before removing or inserting an extension card.
maxon motor control

Specifications
Technical Data
2 Specifications
2.1 Technical Data
EPOS4 EtherCAT Card (581245)
Electrical Nominal power supply voltage +VCC 10…70 VDC

Rating Absolute supply voltage +Vmin / +Vmax 8 VDC / 76 VDC
EtherCAT input
As to IEEE 802.3 100 Base T
Interface EtherCAT output
Max. bit rate 100 Mbit/s (full duplex)
Weight approx. 7 g
Physical Dimensions (L x W x H) 41 x 25 x 9.2 mm
Mounting Card edge connector, PCIe; 2x18 position
Operation −30…+60 °C
For details consult Hardware Reference of
Temperature Extended range 1)
Environ- respective EPOS4 controller
mental
Storage −40…+85 °C
Conditions
Altitude 2) Operation 0…10’000 m MSL
Humidity 5…90% (condensation not permitted)
Legend
1) Operation within the extended range is permitted. However, a respective derating (declination
of output current Icont) as to the stated values will apply.
2) Operating altitude in meters above Mean Sea Level, MSL.
Table 2-4 Technical data
maxon motor control

Specifications
Dimensional Drawings
2.2 Dimensional Drawings
Figure 2-2 EPOS4 EtherCAT Card with card edge connector & retainer – Dimensional drawing [mm]
maxon motor control

Specifications
Standards
2.3 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 com-
ponents, 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.
Electromagnetic Compatibility
IEC/EN 61000-6-2 Immunity for industrial environments
Generic Emission standard for residential, commercial and light-
IEC/EN 61000-6-3
industrial environments
IEC/EN 55022
Radio disturbance characteristics / radio interference
(CISPR22)
Radiated, radio-frequency, electromagnetic field immunity test
IEC/EN 61000-4-3
Applied >10 V/m
IEC/EN 61000-4-4 Electrical fast transient/burst immunity test ±2 kV
Immunity to conducted disturbances, induced by radio-
IEC/EN 61000-4-6
frequency fields 10 Vrms
Others
Environmental testing – Test Fc: Vibration (sinusoidal,
IEC/EN 60068-2-6
Environment 10…500 Hz, 20 m/s2)
MIL-STD-810F Random transport (10…500 Hz up to 2.53 grms)
Safety UL File Number Unassembled printed circuit board: E207844
Reliability prediction of electronic equipment
Environment: Ground, benign (GB)
Ambient temperature: 298 K (25 °C)
Reliability MIL-HDBK-217F
Component stress: In accordance with circuit diagram and
nominal power
Mean Time Between Failures (MTBF) 544’021 hours
Table 2-5 Standards
maxon motor control

Specifications
Standards
••page intentionally left blank••
maxon motor control

Setup
Generally applicable Rules
3 Setup
3.1 Generally applicable Rules

Maximal permitted supply voltage
• Make sure that supply power is between 10…70 VDC.
• Supply voltages above 76 VDC, or wrong polarity will destroy the unit.

3.2 Connections
Figure 3-3 EPOS4 EtherCAT Card – PCB with connector arrays
maxon motor control

Setup
Connections
Array Array
A B
Pin Signal Description Pin Signal Description
Connect to EtherCAT OUT

A1 – B1 TX+_OUT
EtherCAT OUT X15 | 4 Transmission Data+

A2 – B2 TX−_OUT
EtherCAT OUT X15 | 5 Transmission Data−

A3 – B3 RX+_OUT
EtherCAT OUT X15 | 7 Receive Data+

A4 – B4 RX−_OUT
EtherCAT OUT X15 | 8 Receive Data−
Connect to EtherCAT IN
A5 – B5 TX+_IN
EtherCAT IN X14 | 4 Transmission Data+
A6 – B6 TX−_IN
EtherCAT IN X14 | 5 Transmission Data−
A7 – B7 RX+_IN
EtherCAT IN X14 | 7 Receive Data+
A8 – B8 RX−_IN
EtherCAT IN X14 | 8 Receive Data−
Link activity of port Link activity of port

A9 LED_EtherCAT_OUT B9 LED_EtherCAT_IN
EtherCAT OUT X15 EtherCAT IN X14
A10 – not connected B10 – not connected
A11 LED_Status_red EtherCAT status “Error” B11 LED_Status_green EtherCAT status “Run”
SPI Slave output/Master

A12 Shield Cable shield B12 SPI_SOMI
input
SPI Slave input/Master

A13 GND Ground B13 SPI_SIMO
output
A14 GND Ground B14 SPI_CLK SPI clock
A15 – not connected B15 SPI_CS2 SPI chip select 2
A16 – not connected B16 SPI_IRQ SPI interrupt request
A17 GND Ground B17 – not connected
Nominal power supply

A18 +VCC B18 – not connected
voltage (+10…+70 VDC)
Table 3-6 Connector arrays – Pin assignment
maxon motor control

Setup
Installation
3.3 Installation
The procedure varies depending on the type of controller you are using:
• EPOS4 controllers with encased housing feature two ready-to-use extension slots.
• EPOS4 Modules require a custom-made motherboard (for details on design and layout
chapter “4 Motherboard Design Guide” on page 4-17) with a PCIe card edge connector.

Electrostatic sensitive device (ESD)

• Wear working cloth and use equipment in compliance with ESD protective measures.
• Handle device with extra care.
3.3.1 EPOS4 Controllers with encased Housing

The controllers provide two extension slots (EXT1 & EXT2) located underneath the plastic lid at the
housing’s top face (Figure 3-4). The plastic lid will mechanically interlock the inserted extension card
in both horizontal and vertical direction.
• EXT1 hosts the «EPOS4 EtherCAT Card».
• EXT2 provides connectivity for advanced signal extension cards, such as for additional abso-
lute sensors or customized signal extensions.
Figure 3-4 Extension slots – as an example «EPOS4 50/5»
Continued on next page.
maxon motor control

Setup
Installation
Switch off the controller’s power supply.

Comply with ESD protective measures.
Open plastic lid

1) Unlock the two latches (A) on the plas-
tic lid.
2) Lift the plastic lid upward (B) and
remove.
Remove extension card, if necessary

3) Turn the plastic lid over and look for
the molded catch in one of its corners.
4) Insert the catch into the extension
card’s bore (C).
5) Pull both – the plastic lid together with
the extension card – straight upward
(D).
Make sure that the extension slots are

clean and free of any foreign objects.
Insert extension card

6) Align the extension card with the PCIe
card edge connector and keep it right-
angled (E).
7) Carefully insert the extension card in
the extension slot EXT1 while keeping
it right-angled and press down all the
way into the PCIe card edge connector
(F).
Close plastic lid

8) Engage the plastic lid at its rear edge
(G).
9) Fold down the plastic lid (H), press it
down firmly, and let the two latches
snap into place.
Figure 3-5 EPOS4 EtherCAT Card – Installation & removal
maxon motor control

Setup
Installation
3.3.2 EPOS4 Modules

The connection of the «EPOS4 EtherCAT Card» can be established via a custom-made motherboard
which defines the actual installation procedure.
Depending on the case of application (with possibly involved strong movements and high dynamic
accelerations) and to guarantee failsafe operation, you might wish to consider the use of a PCIe card
edge connector with retainer (Figure 3-6). The retainer will mechanically interlock the inserted exten-
sion card in both horizontal and vertical direction.
Figure 3-6 EPOS4 EtherCAT Card with PCIe card edge connector and retainer
maxon motor control

Setup
Installation
••page intentionally left blank••
maxon motor control

Motherboard Design Guide
Schematic Overview
4 Motherboard Design Guide

The «Motherboard Design Guide» provides helpful information on integrating the EPOS4 EtherCAT
Card on a printed circuit board. It contains recommendations for the motherboard layout and specifies
external components that may be required, pin assignments, and connection examples.
CAUTION
Dangerous action
Errors in implementing the design can result in serious Injury!
• Only proceed if you are skilled in electronics design!
• Designing a printed circuit board requires special skills and knowledge and may only be performed
by experienced electronic developers!
• This quick guide is only intended as an aid, does not make any claim to completeness, and will not
automatically result in a functional component!
Get help
If you are not trained in the design and development of printed circuit boards, you will need additional
support for this point.
maxon motor will be happy to provide you with a quote for designing and manufacturing a motherboard
for your specific application.
4.1 Schematic Overview
Figure 4-7 Schematic overview
maxon motor control

Requirements for Components of Third-party Suppliers
4.2 Requirements for Components of Third-party Suppliers

Best practice
For references and recommended components consult Table 4-11.
4.2.1 Card Edge Connector & Socket Headers

For implementation of the «EPOS4 EtherCAT Card», a PCIe 2x18 position connector is required.
EPOS4 modules are available with two different types of socket headers.
• EPOS4 Module 24/1.5 (536630) and EPOS4 Module 50/5 (534130) feature 1.27 mm box
headers.
• EPOS4 Module 50/8 (504384) and EPOS4 Module 50/15 (504383) have pin headers that per-
mit two ways of mounting. They can either be plugged in a socket header or be directly sol-
dered to a printed circuit board.
Find further details on the hardware in the separate document «Hardware Reference» of th e respec-
tive EPOS4 Module.
4.2.2 Supply Voltage

For voltage supply of the «EPOS4 EtherCAT Card», you may employ the EPOS4 Module’s power sup-
ply. For details separate document «Hardware Reference» of the respective EPOS4 Module.
If you intend to use another source as power supply, we recommend to connect a TVS (transient voltage
suppressor) diode (D1) to the voltage supply line to protect against overvoltage resulting from voltage
transients or brake energy feedback.
maxon motor control

4.2.3 EtherCAT Status LEDs

The «EPOS4 EtherCAT Card» provides two outputs to display the actual status and possible errors of
the EtherCAT network with LEDs (D2):
• Green LED shows the RUN state
• Red LED indicates errors
LED
Description
Green Red
OFF — EPOS4 is in state INIT
Blink — EPOS4 is in state PRE-OPERATIONAL
Single flash — EPOS4 is in state SAFE-OPERATIONAL
ON — EPOS4 is in state OPERATIONAL
— OFF EPOS4 is in operating condition
An application watchdog timeout has occurred
— Double flash
Example: Timeout of Sync Manager Watchdog
EPOS4 has changed the COM state due to an internal error
— Single flash
Example: Change of state “Op” to “SafeOpError” due to Sync Error
General Configuration Error
— Blink Example: State change commanded by master is not possible due to
actual settings (register, object, hardware configuration)
Blink = continuous blinking (≈2.5 Hz) Flash = Flashing (≈0.2 s), followed by pause of 1 s
Table 4-7 EtherCAT status LEDs
The outputs are designed as open-collector circuit with internal series resistor of 150 Ohm. An external
LED can be mounted as long as the current is limited to less than 20 mA with an matching series resis-
tor (Rs).
Red/green EtherCAT status LED “sinks”

Max. input voltage +30 VDC
Max. load current 20 mA
Figure 4-8 EtherCAT status LED “sinks” (analogously valid for B11)
maxon motor control

4.2.4 EtherCAT Port LEDs

The «EPOS4 EtherCAT Card» provides two outputs to display the EtherCAT port’s link activity (applies
for both ports, X14 “EtherCAT IN” and X15 “EtherCAT OUT”):
• Green LED indicates link activity
LED
Description
Green
OFF Port is closed
Flicker Port is open / activity is present
ON Port is open
— Data rate is 100 Mbit/s
Flicker = Continuous flickering (≈10 Hz)
Table 4-8 EtherCAT port LEDs
The outputs are designed to drive integrated LEDs of standard modular port jacks according the follow-
ing specification:
Green EtherCAT port activity LED “source”

Output voltage UOut = 3.3 V − (ILoad x 150 Ω)
Max. load current 10 mA
Figure 4-9 EtherCAT port activity LED “source”
maxon motor control

4.2.5 EtherCAT Connectors

The «EPOS4 EtherCAT Card» provides both transmission and receive signals for input as well as out-
put for an EtherCAT interface. Unused connections of the EtherCAT IN/OUT connectors (pins 4, 5, 7,
and 8) must be connected through to the PCIe plug-in contact.
In respect to short-term signal transmission and propagation times, sufficient short conducting paths and
isolation spacing must be provided.
Wrong plugging may cause hardware damage

Even though both sockets are prepared for identical external wiring, make sure to always connect them
as follows.
• Use only standard Cat5 cables with RJ45 plug, such as maxon’s «Ethernet Cable» (422827).
• Use EtherCAT IN as «Input».
• Use EtherCAT OUT as «Output».
For detailed information separate document «EPOS4 Communication Guide».
For detailed information separate document «EPOS4 Communication Guide».
Figure 4-10 EtherCAT connector
EtherCAT
EtherCAT Standard IEEE 802.3 100 Base Tx
Max. bit rate 100 Mbit/s (full duplex)
Pin Signal Description

1 TX+ Transmission Data+
2 TX− Transmission Data−
3 RX+ Receive Data+
4 TXCT not applicable
5 TXCT not applicable
6 RX− Receive Data−
7 RXCT not applicable
8 RXCT not applicable
Table 4-9 EtherCAT connectors – Pin assignment
Continued on next page.
maxon motor control

Ethernet Cable (422827)
Cross-section Cat. 5e SF/UTP (ISO/IEC 11801), 1:1 patch cable, green

Length 2m
Head A RJ45 (8P8CS) EIA/TIA-568B
Head B RJ45 (8P8CS) EIA/TIA-568B
Table 4-10 Ethernet Cable
maxon motor control

4.2.6 Recommended Components and Manufacturers
Recommended components
PCIe 2x18 Position, THT
Card Edge
• Amphenol FCI (10018784-10200TLF)
Connector
• Sullins Connector Solutions (NWE18DHHN-T911)
(EXT1)
• TE Connectivity (7-1734774-6)
Retainer for Card
PCI express retainer
Edge Connector
• Amphenol FCI (10042618-002LF)
(optional)
EtherCAT Two Port
• Amphenol (RJHSE-5381-02)
Modular Jack
• Würth (615016137721)
(X14/X15)
• Vishay (SMBJ54A)
UR = 54 V, UBR = 60.0…66.3 V @ 1 mA, UC = 87.1 V @ 6.9 A
TVS Diode • Fairchild (SMBJ54A)
(D1) UR = 54 V, UBR = 60.0…66.3 V @ 1 mA, UC = 87.1 V @ 6.9 A
• Littelfuse (SMBJ54A)
UR = 54 V, UBR = 60.0…66.3 V @ 1 mA, UC = 87.1 V @ 6.9 A
Dual-sided SMT LED green/red

LED • Lite-On (LTST-S326KGJRKT)
(D2) • Dialight (597-2751-607F)
• Avago (HSMF-C144)
R/C chip combination
Decoupling
• Chip resistor 1 M Ω, 0.25 W, 500 V
(Rp/Cp)
• Chip capacitor 10 nF, 500 V
Table 4-11 Motherboard Design Guide – Recommended components
maxon motor control

THT Footprint
4.3 THT Footprint

Depending on your case of application and type of operation, considerable strong movements and high
dynamic accelerations may occur. If the case, you might wish to consider using a PCIe card edge con-
nector with retainer which will then mechanically interlock the inserted extension card in both horizontal
and vertical direction.
Possible strong mechanical loads during operation may cause hardware damage
Operation involving strong movements and high dynamic accelerations can cause an unsecured exten-
sion card to shake loose. This can lead to serious damage of hardware or equipment and to complete
failure of the system. To avoid, use a PCIe card edge connector with retainer (Figure 4-11).
PCIe Card Edge Connector with Retainer
Figure 4-11 PCIe card edge connector with retainer – THT footprint [mm] – Top view
PCIe Card Edge Connector without Retainer
Figure 4-12 PCIe card edge connector – THT footprint [mm] – Top view
maxon motor control

LIST OF FIGURES
Figure 1-1 Documentation structure. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .3

Figure 2-2 EPOS4 EtherCAT Card with card edge connector & retainer – Dimensional drawing [mm] . . . . . . . . . . . . . .8
Figure 3-3 EPOS4 EtherCAT Card – PCB with connector arrays . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .11
Figure 3-4 Extension slots – as an example «EPOS4 50/5» . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .13
Figure 3-5 EPOS4 EtherCAT Card – Installation & removal . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .14
Figure 3-6 EPOS4 EtherCAT Card with PCIe card edge connector and retainer . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .15
Figure 4-7 Schematic overview . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .17
Figure 4-8 EtherCAT status LED “sinks” (analogously valid for B11) . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .19
Figure 4-9 EtherCAT port activity LED “source”. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .20
Figure 4-10 EtherCAT connector . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .21
Figure 4-11 PCIe card edge connector with retainer – THT footprint [mm] – Top view . . . . . . . . . . . . . . . . . . . . . . . . . . .24
Figure 4-12 PCIe card edge connector – THT footprint [mm] – Top view . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .24
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EPOS4 Positioning Controller Document ID: rel7777 Z-25
LIST OF TABLES
Table 1-1 Notation used . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 4

Table 1-2 Symbols and signs . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 4
Table 1-3 Brand names and trademark owners . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 5
Table 2-4 Technical data . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 7
Table 2-5 Standards . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 9
Table 3-6 Connector arrays – Pin assignment . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 12
Table 4-7 EtherCAT status LEDs . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 19
Table 4-8 EtherCAT port LEDs. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 20
Table 4-9 EtherCAT connectors – Pin assignment . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 21
Table 4-10 Ethernet Cable . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 22
Table 4-11 Motherboard Design Guide – Recommended components . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 23
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Z-26 Document ID: rel7777 EPOS4 Positioning Controller
INDEX
A N
alerts 4 notations used 4
applicable regulations 6
P
C part numbers
cables (prefab) 422827 22
Ethernet Cable 22 504383 18
connectors 504384 18
EtherCAT IN 21 534130 18
EtherCAT OUT 21 536630 18
EXT1 13 581245 7
EXT2 13 performance data 7
PCB connector arrays 11 pin assignment 12
PCIe card edge connector 15 precautions 6
country-specific regulations 6 prohibitive signs 4
protective measures (ESD) 6, 13
E purpose
ESD 6, 13 of the device 5
of the document 3
H
how to
R
get help in designing the motherboard 17 regulations, applicable 6
interpret icons (and signs) used in this document 4
S
I safety alerts 4
informatory signs 4 safety first! 6
signs used 4
L standards, fulfilled 9
symbols used 4
LEDs
EtherCAT port activity 20
EtherCAT status 19 T
technical data 7
M
mandatory action signs 4
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EPOS4 Positioning Controller Document ID: rel7777 Z-27
EtherCAT® is a registered trademark and patented technology, licensed by Beckhoff Automation GmbH, Germany
© 2017 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 prosecution 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

Z-28 Document ID: rel7777 EPOS4 Positioning Controller

EPOS4 EtherCAT Card Hardware Reference

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maxon motor control EPOS4 Positioning Controller

Hardware Reference Edition December 2017

Document ID: rel7777

4 Motherboard Design Guide 17

READ THIS FIRST

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1.1 About this Document

1.1.1 Intended Purpose

Figure 1-1 Documentation structure

1.1.2 Target Audience

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1.1.3 How to use

Table 1-1 Notation used

1.1.4 Symbols & Signs

Type Symbol Meaning

Indicates an advice or recommendation on the

Material Indicates information particular to possible damage

Table 1-2 Symbols and signs

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1.1.5 Trademarks and Brand Names

Brand Name Trademark Owner

Table 1-3 Brand names and trademark owners

1.2 About the Device

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1.3 About the Safety Precautions

High voltage and/or electrical shock

Electrostatic sensitive device (ESD)

Hot plugging/hot swapping the card may cause hardware damage

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2.1 Technical Data

EPOS4 EtherCAT Card (581245)

Electrical Nominal power supply voltage +VCC 10…70 VDC

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2.2 Dimensional Drawings

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Table 2-5 Standards

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••page intentionally left blank••

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3.1 Generally applicable Rules

Hot plugging/hot swapping the card may cause hardware damage

Figure 3-3 EPOS4 EtherCAT Card – PCB with connector arrays

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Connect to EtherCAT OUT

Connect to EtherCAT OUT

Connect to EtherCAT OUT

Connect to EtherCAT OUT

Link activity of port Link activity of port

A10 – not connected B10 – not connected

SPI Slave output/Master

SPI Slave input/Master

A14 GND Ground B14 SPI_CLK SPI clock

A15 – not connected B15 SPI_CS2 SPI chip select 2

A16 – not connected B16 SPI_IRQ SPI interrupt request

A17 GND Ground B17 – not connected

Nominal power supply

Table 3-6 Connector arrays – Pin assignment

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Hot plugging/hot swapping the card may cause hardware damage

Electrostatic sensitive device (ESD)