Specifications
| Product |
| Weight |
372 g |
| Motor |
| DC motors up to |
1050 W |
| EC motors up to |
1050 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 |
| Analog incremental encoder (2-channel, differential) |
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.) |
70 V |
| Logic supply voltage Vc (min.) |
10 V |
| Logic supply voltage Vc (max.) |
70 V |
| Max. output voltage (factor * Vcc) |
0.9 |
| Max. output current Imax |
30 A |
| Max. time of peak output current Imax |
60 s |
| Continuous output current Icont |
15 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 |
| Built-in motor choke per phase |
15 µH |
| Inputs |
| Hall sensor signals |
H1, H2, H3 |
| Encoder signals |
A, A\, B, B\, I, I\ |
| Max. encoder input frequency |
6.2 MHz |
| Sensor signals |
A, A\, B, B\, I, I\, Clock, Clock\, Data, Data\ |
| Digital inputs |
8 |
| 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 |
| Functionality of the DIP switch |
CAN Node-ID, Autobitrate, CAN-Bus Termination, I/O-level (TTL, PLC) |
| Outputs |
| Digital outputs |
3 |
| Functionality of digital outputs |
holding brake, general purpose |
| Analog outputs |
2 |
| 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. 100 mA |
| Auxiliary output voltage |
+5 VDC, max. 145 mA |
| Interface |
| RS232 |
Yes |
| USB (full speed) |
Yes |
| CAN |
Yes |
| CANopen |
Slave |
| CANopen application layer |
CiA 301 |
| CANopen frameworks |
CiA 305 |
| CANopen profiles motion control |
CiA 402 |
| Gateway function RS232-to-CAN |
Yes |
| Gateway function USB-to-CAN |
Yes |
| EtherCAT |
IEC 61158 Type 12 Slave (optional) |
| 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 |
| Status indicator of communication interface |
green 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.) |
50 °C |
| Temperature – Extended Range |
+50…+85 °C, Derating: -0.429 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 |
372 g |
| Dimension (length) |
125 mm |
| Dimension (width) |
94.5 mm |
| Dimension (height) |
38.7 mm |
| Mounting |
Flange for M4 screws |
| Software |
| Installation program |
EPOS Setup |
| Graphical User Interface |
EPOS Studio |
| Operating system |
Windows 11, 10 |
| Windows DLL for PC |
32-/64-bit |
| PC master |
IXXAT, Vector, National Instruments, Kvaser |
| 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 |
| CAN Interfaces |
IXXAT, Kvaser |
| 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 |
| STO (Safe Torque Off) |
yes (not certified) |
| Advanced automatic control settings |
Yes |
Description
The EPOS4 70/15 is a dynamic, ready-to-connect positioning controller in a robust housing. Designed for use with brushed DC motors with encoders and brushless EC motors (BLDC) with Hall sensors and encoders up to 1050 W / 2100 W.
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