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JVL MAC050 User Manual

Integrated servo motors
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MAC050 - MAC141
&
MAC400 - MAC800
Integrated Servo Motors
User Manual
Including expansion modules
JVL Industri Elektronik A/S
LB0047-24GB
Revised 17.9.2009

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Summary of Contents for JVL MAC050

  • Page 1 MAC050 - MAC141 & MAC400 - MAC800 Integrated Servo Motors User Manual Including expansion modules JVL Industri Elektronik A/S LB0047-24GB Revised 17.9.2009...
  • Page 3 Please contact your nearest JVL representative in case of technical assist- ance. Your nearest contact can be found on our web site www.jvl.dk Copyright 1998-2009, JVL Industri Elektronik A/S. All rights reserved. This user manual must not be reproduced in any form without prior written permission of JVL Industri Elektronik A/S.

  • Page 5: Table Of Contents

    MacTalk communication ..........................283 5.12 Connecting to other equipment ........................288 5.13 Accessories ..............................291 5.14 CE Declaration of Conformity ........................293 5.15 UL Certificate of Compliance ......................... 295 JVL Industri Elektronik A/S - User Manual - Integrated Servo Motors MAC050 - 800...
  • Page 6 JVL Industri Elektronik A/S - User Manual - Integrated Servo Motors MAC050 - 800...

  • Page 7: Introduction

    Introduction JVL Industri Elektronik A/S - User Manual - Integrated Servo Motors MAC050 - 800...

  • Page 8: Features

    • Easy and simple Windows program - Mac- Talk available for installation/setup. • High-efficiency power stage keeps temper- ature at a low level. • CE approved. UL recognized (MAC800) JVL Industri Elektronik A/S - User Manual - Integrated Servo Motors MAC050 - 800...

  • Page 9: Overall Description

    I/O blocks such as the serial interface, differential transceiver (Multifunction I/O) and the motor driver sections. Please notice that the MAC400 and MAC800 have 2 supply voltages. JVL Industri Elektronik A/S - User Manual - Integrated Servo Motors MAC050 - 800...
  • Page 10 (continued next page) JVL Industri Elektronik A/S - User Manual - Integrated Servo Motors MAC050 - 800...
  • Page 11 A typical apllication could be controlling a valve position using a voltage or a current control signal. JVL Industri Elektronik A/S - User Manual - Integrated Servo Motors MAC050 - 800...

  • Page 12: Expansion Modules Overview

    Expansion modules overview JVL offers a wide variety of expansion modules to adapt the MAC motor to almost any kind of application. The expansion module is easily mounted inside the motor. Only one expansion module can be mounted. The table below gives a brief overview of the features offered by the basic MAC motor and the features that are available in each expansion module.
  • Page 13 Process module 4-20mA input and output galvanic isolated. Harting and M12 Connectors Rear plates MAC00-00 MAC00-01 MAC00-02 MAC00-CSxx MAC00-00/01/02 and MAC00-CS Rearplates with or without cable glandsConn. No electronic features included JVL Industri Elektronik A/S - User Manual - Integrated Servo Motors MAC050 - 800...
  • Page 14 3) Either pulse input, pulse output or serial must be chosen. Not all of them at the same time. 4) Only a total of 4 I/O terminals are available. Continued next page. JVL Industri Elektronik A/S - User Manual - Integrated Servo Motors MAC050 - 800...
  • Page 15 3) Either pulse input, pulse output or serial must be chosen. Not all of them at the same time. 4) Only a total of 4 I/O terminals are available. JVL Industri Elektronik A/S - User Manual - Integrated Servo Motors MAC050 - 800...

  • Page 16: Setting Up The Mac Motor

    The following pages describe the actual window for each mode and how the parameters affect the MAC motor operation. JVL Industri Elektronik A/S - User Manual - Integrated Servo Motors MAC050 - 800...
  • Page 17 Only if more than one motor is connected to the same interface. The address specified in this field determines with which motor line communication is made. JVL Industri Elektronik A/S - User Manual - Integrated Servo Motors MAC050 - 800...
  • Page 18 MacTalk afterwards. Going off/line and displays the data in MacTalk. TT1153GB If the user decides to go offline the following textbox is presented. TT1151GB JVL Industri Elektronik A/S - User Manual - Integrated Servo Motors MAC050 - 800...
  • Page 19 The following warning message box appears. TT1154GB Choosing “No” will immediately upload all motor data, presing “Yes” will save all data in the open file. JVL Industri Elektronik A/S - User Manual - Integrated Servo Motors MAC050 - 800...
  • Page 20 JVL Industri Elektronik A/S - User Manual - Integrated Servo Motors MAC050 - 800...

  • Page 21: Function Description

    Function description JVL Industri Elektronik A/S - User Manual - Integrated Servo Motors MAC050 - 800...

  • Page 22: Using Position Mode

    The actual mode, speed, position, position error, load torque, load current, regenerative energy (returned energy from the motor) can be monitored here. Inputs The supply voltage can be measured here. JVL Industri Elektronik A/S - User Manual - Integrated Servo Motors MAC050 - 800...

  • Page 23: Gear Mode

    Also the “Input type” must be selected. Choose “Quadrature” if an incremental encoder is connected or “pulse-direction” if it is a step motor signal. See also Hardware description, page 57. (Continued next page) JVL Industri Elektronik A/S - User Manual - Integrated Servo Motors MAC050 - 800...
  • Page 24 MAC motor can be used. Please consult the chapter Mechanical zero search, page 26. JVL Industri Elektronik A/S - User Manual - Integrated Servo Motors MAC050 - 800...
  • Page 25 4096 8000 4096 8000 1000 4096 8000 1600 4096 8000 1000 2000 4096 8000 2000 4000 4096 8000 4096 (Same as motor resolution) 8192 4096 8000 JVL Industri Elektronik A/S - User Manual - Integrated Servo Motors MAC050 - 800...

  • Page 26: Coil Mode

    Positioning at the start position is initiated by setting the analogue input, (AIN), high. When setting this input low, the MacMotor will resume normal coiling function. JVL Industri Elektronik A/S - User Manual - Integrated Servo Motors MAC050 - 800...
  • Page 27 Max velocity: Set limit higher than the normal speed used Acceleration: Set high value (example 300000 RPM/sec) Torque: 300% Gear factor: Set value Follow error: 0 Function error: 0 JVL Industri Elektronik A/S - User Manual - Integrated Servo Motors MAC050 - 800...
  • Page 28 Gear Mode. Only the Coil Mode parameters differ from Gear Mode. For details of the overall setup, please See Gear Mode, page 19. JVL Industri Elektronik A/S - User Manual - Integrated Servo Motors MAC050 - 800...

  • Page 29: Analogue Bi Position Mode

    The voltage at the analogue input will be seen as a digital signal meaning either logic low or logic high. The distance or positions can be setup in 2 internal registers and saved permanently in the motor. JVL Industri Elektronik A/S - User Manual - Integrated Servo Motors MAC050 - 800...

  • Page 30: Mechanical Zero Search

    The Zero search can also be initiated by sending a specific command via one of the serial interfaces — please consult the technical manual (LB0048-xx) for more details. JVL Industri Elektronik A/S - User Manual - Integrated Servo Motors MAC050 - 800...
  • Page 31 To improve the repeatability precision of the zero point, make sure that the mechan- ical “collision” point is as stiff and well-defined as possible. JVL Industri Elektronik A/S - User Manual - Integrated Servo Motors MAC050 - 800...
  • Page 32 The Zero sensor must be connected to the analogue input (AIN), which during Zero search functions as a digital input. For connection information, see Analogue input, page 70. JVL Industri Elektronik A/S - User Manual - Integrated Servo Motors MAC050 - 800...
  • Page 33 (position 0). is set to the value specified in the Zero search complete. “Zero search position” register TT0951GB JVL Industri Elektronik A/S - User Manual - Integrated Servo Motors MAC050 - 800...
  • Page 34 TT0975GB Ensure that the zero point test is made several times to ensure that the white dot is lo- cated in the acceptable interval each time. JVL Industri Elektronik A/S - User Manual - Integrated Servo Motors MAC050 - 800...

  • Page 35: Error Handling

    Use this parameter to define the deceleration during an unrecoverable error. Default is 0, meaning that the feature is disabled. JVL Industri Elektronik A/S - User Manual - Integrated Servo Motors MAC050 - 800...
  • Page 36 How to return to normal - Reset the motor, clear the error bit(s) in register 35 or cycle the operation power. Error bit / Firmware name Bit 0 / ’I2T_ERR’ JVL Industri Elektronik A/S - User Manual - Integrated Servo Motors MAC050 - 800...
  • Page 37 How to return to normal - Reset the motor, clear the error bit(s) in register 35 or cycle the operation power. Error bit / Firmware name Bit 2 / ’FNC_ERR’ JVL Industri Elektronik A/S - User Manual - Integrated Servo Motors MAC050 - 800...
  • Page 38 How to return to normal - Reset the motor, clear the error bit(s) in register 35 or cycle the operation power. Error bit / Firmware name Bit 7 / ’PLIM_ERR’ JVL Industri Elektronik A/S - User Manual - Integrated Servo Motors MAC050 - 800...
  • Page 39 See also the chapter Under Voltage Handling, page 42. Error bit / Firmware name Bit 9 / ’UV_ERR’ Error message 11 do not exist since bits are used for other status purposes. JVL Industri Elektronik A/S - User Manual - Integrated Servo Motors MAC050 - 800...
  • Page 40 How to return to normal - Reset the motor, clear the error bit(s) in register 35 or cycle the operation power. Error bit / Firmware name Bit 11 / ’OV_ERR’ JVL Industri Elektronik A/S - User Manual - Integrated Servo Motors MAC050 - 800...
  • Page 41 How to return to normal - This error type is not software resetable. Cycle the control volt- operation age (24VDC). Error bit / Firmware name Bit 12 / ’IPEAK_ERR’ JVL Industri Elektronik A/S - User Manual - Integrated Servo Motors MAC050 - 800...
  • Page 42 How to return to normal - Reset the motor, clear the error bit(s) in register 35 or cycle the operation power. Error bit / Firmware name Bit 15 / ’SSI_ERR’ JVL Industri Elektronik A/S - User Manual - Integrated Servo Motors MAC050 - 800...
  • Page 43 How to return to normal - Cycle the 24VDC power. A reset will not clear the error. operation Error bit / Firmware name Bit 17 / ’U24V ’ JVL Industri Elektronik A/S - User Manual - Integrated Servo Motors MAC050 - 800...
  • Page 44 - Try to save actual settings and restart the motor by a reset or cycle the power (24VDC). Error bit / Firmware name Bit 21 / ’COM_ERR’ JVL Industri Elektronik A/S - User Manual - Integrated Servo Motors MAC050 - 800...
  • Page 45 - Reset the motor, clear the error bit(s) in register 35 or cycle the operation 24VDC power. Error bit / Firmware name Bit 23 / ’SLAVE_ERR’ JVL Industri Elektronik A/S - User Manual - Integrated Servo Motors MAC050 - 800...

  • Page 46: Under Voltage Handling

    0 also after the main power is re-applied. A velocity value (>0RPM) must be written into the velocity register to get the motor moving again. JVL Industri Elektronik A/S - User Manual - Integrated Servo Motors MAC050 - 800...

  • Page 47: Servo Filter Adjustment

    It is therefore not a linear system and the LOAD cannot be increased as much as in theory. JVL Industri Elektronik A/S - User Manual - Integrated Servo Motors MAC050 - 800...
  • Page 48 MAC50 to MAC141 also include the possibility to adjust the current filter. MAC050, 95, 140 and 141 MAC400 and 800 Filter selector: Filter selector: TT1024GB JVL Industri Elektronik A/S - User Manual - Integrated Servo Motors MAC050 - 800...
  • Page 49 2.8.5 Adjusting the current filter (only MAC050 to 141) The current filter is adjustable in the MAC050 to MAC141 models. This feature is useful if the audible noise from the motor needs to be decreased. Please note that the band- width of the current filter will also be lowered which can cause efficiency at higher speeds also to be lowered.
  • Page 50 This is a combination of High and Low frequency settings. Low+Low frequency (only available on MAC400-800) This setting is similar to Low frequency but adds extra tolerance to variations in the inertia. Damping selector: TT1027GB JVL Industri Elektronik A/S - User Manual - Integrated Servo Motors MAC050 - 800...
  • Page 51 Please note that the dynamic compensation level Dyn 3 is only available on the MAC400- 800 but for all motor sizes the available dynamic compensation is limited to Dyn 1 or 2 if a slow main filter is selected. JVL Industri Elektronik A/S - User Manual - Integrated Servo Motors MAC050 - 800...
  • Page 52 Please note that the LOAD parameter must still be used to adjust the inertia ratio be- tween the motor and load. See also Adjusting the LOAD parameter, page 43. JVL Industri Elektronik A/S - User Manual - Integrated Servo Motors MAC050 - 800...

  • Page 53: Using External Ssi Encoder

    In the MAC-motor several registers are available for storing values for different purposes. Position registers P1-P8 (available from MacTalk etc.) are used to hold SSI positions. JVL Industri Elektronik A/S - User Manual - Integrated Servo Motors MAC050 - 800...
  • Page 54 Let's say that we need to define a fixed position as position = 100 because we want our motor to be 100 counts from the actual 0-position at exactly this physical position. JVL Industri Elektronik A/S - User Manual - Integrated Servo Motors MAC050 - 800...
  • Page 55 Register 63 P8 32-bit signed Holds the calculated position, that is transferred to P_IST and P_SOLL if the synchronization bit is set up in the setup register 178. JVL Industri Elektronik A/S - User Manual - Integrated Servo Motors MAC050 - 800...
  • Page 56 When IO2 is on (O+), the red LED inside the motor is lit. This is normally used for error indication when the IO2 isn't setup for user control. JVL Industri Elektronik A/S - User Manual - Integrated Servo Motors MAC050 - 800...
  • Page 57 To do a software reset simply write register 211 = 1 and let the motor startup. The reading and the startup will take approximately 1-2 seconds. JVL Industri Elektronik A/S - User Manual - Integrated Servo Motors MAC050 - 800...
  • Page 58 If an encoder is available on the motor, the actual position value is read as soon as the motor start-up after a reset. JVL Industri Elektronik A/S - User Manual - Integrated Servo Motors MAC050 - 800...

  • Page 59: Power Save

    In Position window long enough to resume the original active mode. This issue can be reduced by selecting a better value for the In Position window register. JVL Industri Elektronik A/S - User Manual - Integrated Servo Motors MAC050 - 800...

  • Page 60: Scope Function

    MAC motors can be chosen for viewing, different trigger functions can be selected, saving and loading scope pictures are possible etc. TT1110GB TT1106GB JVL Industri Elektronik A/S - User Manual - Integrated Servo Motors MAC050 - 800...

  • Page 61: Hardware Description

    Hardware description JVL Industri Elektronik A/S - User Manual - Integrated Servo Motors MAC050 - 800...

  • Page 62: Connector Overview

    See How to connect power supply (only MAC400), page 62 and How to connect the pow- er supply (only MAC800), page 66. A connector kit is available “MAC00-CONKIT1”. See Accessories, page 291. JVL Industri Elektronik A/S - User Manual - Integrated Servo Motors MAC050 - 800...

  • Page 63: Power Supply

    2 of the Power Supply connector. The overall earthing of the system must be done at a central point close to the power supply. JVL Industri Elektronik A/S - User Manual - Integrated Servo Motors MAC050 - 800...
  • Page 64 See also Power Supplies, page 292 in the appendix which shows the standard power sup- plies that JVL can offer. 3.2.4 Emergency stop Please consult the chapter: Emergency stop considerations, page 265 JVL Industri Elektronik A/S - User Manual - Integrated Servo Motors MAC050 - 800...
  • Page 65 “overvoltage” is monitored, an external power dump resistor must be connect- ed between the terminals PD and BO. 3.2.6 Emergency stop Please consult the chapter: Emergency stop considerations, page 265 JVL Industri Elektronik A/S - User Manual - Integrated Servo Motors MAC050 - 800...
  • Page 66 (body) of the machine in order to avoid major ground/earth current to flow through the motor and cause interference to other signal groups such as interface cables. JVL Industri Elektronik A/S - User Manual - Integrated Servo Motors MAC050 - 800...
  • Page 67 Also avoid short-circuit of the output. C A U TIO N - R isk of electric shock. D isconnect all pow er and w ait 5 m in. before servicing JVL Industri Elektronik A/S - User Manual - Integrated Servo Motors MAC050 - 800...
  • Page 68 230V power cable with earth 5m. Straight M16 conn and free end. Female WP0420 MAC400 230V power cable with earth 20m. Straight M16 conn and free end. Female JVL Industri Elektronik A/S - User Manual - Integrated Servo Motors MAC050 - 800...
  • Page 69 To met UL requirements, the prefuse must be a class RK5 such as the type FRN-R-15 (15Amp.) from manufacturer: Cooper Bussmann INC. When using 230V supply voltage: Prefuse T10A@230VAC type gG, Do or Dz in the phase line Rated for600V/150kA. JVL Industri Elektronik A/S - User Manual - Integrated Servo Motors MAC050 - 800...
  • Page 70 (body) of the machine in order to avoid major ground/earth current to flow through the motor and cause interference to other signal groups such as interface cables. JVL Industri Elektronik A/S - User Manual - Integrated Servo Motors MAC050 - 800...
  • Page 71 To fulfil UL requirements, the prefuse must be a class RK5 such as the type FRN-R-15 (15Amp.) from manufacturer: Cooper Bussmann INC. See also Power supply circuitry (only MAC800), page 65 JVL Industri Elektronik A/S - User Manual - Integrated Servo Motors MAC050 - 800...
  • Page 72 Also avoid short-circuit of the output. C A U TIO N - R isk of electric shock. D isconnect all pow er and w ait 5 m in. before servicing JVL Industri Elektronik A/S - User Manual - Integrated Servo Motors MAC050 - 800...

  • Page 73: Serial Interface

    If the Basic MAC motor is implemented in an OEM application where an internal proc- essor communicates with the MAC motor, the TX and RX terminals can normally inter- face directly. JVL Industri Elektronik A/S - User Manual - Integrated Servo Motors MAC050 - 800...

  • Page 74: User I/O

    7 modes such as Analogue Torque, Velocity or Velocity/Gear as shown in the accompanying illustration. These 7 modes uses the analogue input as reference. TT0915GB JVL Industri Elektronik A/S - User Manual - Integrated Servo Motors MAC050 - 800...
  • Page 75 Please note that when mounting an expansion module in the motor the output type and performance may change. Please check the description of the actual module to make sure how the outputs are configured. JVL Industri Elektronik A/S - User Manual - Integrated Servo Motors MAC050 - 800...
  • Page 76 The internal encoder-pulses are output as a quadrature signal. • RS422 communication A master controller can send commands, for example velocity or position com- mands. This interface is intended for permanent connection. JVL Industri Elektronik A/S - User Manual - Integrated Servo Motors MAC050 - 800...
  • Page 77 TT0928GB See also the descriptions of Gear and Analog Velocity/Gear modes for further details about functionality. JVL Industri Elektronik A/S - User Manual - Integrated Servo Motors MAC050 - 800...
  • Page 78 4 modes. The Multifunction I/O's are setup as outputs in this field TT0929GB See also the respective mode descriptions for further details about functionality. JVL Industri Elektronik A/S - User Manual - Integrated Servo Motors MAC050 - 800...
  • Page 79 The serial com- munication can be used in all modes The Multifunction I/O's are setup as a serial data communication interface in this field TT0931GB JVL Industri Elektronik A/S - User Manual - Integrated Servo Motors MAC050 - 800...
  • Page 80 JVL Industri Elektronik A/S - User Manual - Integrated Servo Motors MAC050 - 800...

  • Page 81: Expansion Modules

    Expansion Modules JVL Industri Elektronik A/S - User Manual - Integrated Servo Motors MAC050 - 800...

  • Page 82: Expansion Modules Mac00-Cs

    For details of the description of each signal and how to connect and use these, please re- fer to the description of the basic motor: section 3 JVL Industri Elektronik A/S - User Manual - Integrated Servo Motors MAC050 - 800...

  • Page 83: Expansion Modules Mac00-B1/B2/B4

    I/O and interface Power supply LEDs at I/O MAC00-B1 IP42 DSUB 9 pole 3 pole Phoenix MAC00-B2 IP67/IP65* Cable glands Cable glands MAC00-B4 IP67/IP65* Note*: IP65 on MAC400-800 JVL Industri Elektronik A/S - User Manual - Integrated Servo Motors MAC050 - 800...
  • Page 84 For a functional description, please refer to General Analogue input (AIN) description when using MAC00-Bx, page 83. (continued) JVL Industri Elektronik A/S - User Manual - Integrated Servo Motors MAC050 - 800...
  • Page 85 The MAC motor uses “binary” communication protocol which makes it possible to ac- cess all the internal registers. Please consult MacTalk communication, page 283 for further details. JVL Industri Elektronik A/S - User Manual - Integrated Servo Motors MAC050 - 800...
  • Page 86 Optionally, the MAC00-B2 and B4 modules also offer a control voltage input (O+) which means that the internal control circuitry will be kept powered when the main supply (P+) is removed. See also the description: Power supply (only MAC050 to 141), page 59. MAC400 or 800 For the MAC400-800, the main supply is 115/230VAC connected at separate terminals.
  • Page 87 For further information concerning physical connections, see the individual chapters for each module type: General description MAC00-B1, page 88, General description MAC00- B2, page 89, or General description MAC00-B4, page 91. JVL Industri Elektronik A/S - User Manual - Integrated Servo Motors MAC050 - 800...
  • Page 88 *** Each unit connected must be setup with an address via The MacTalk program. B2 or B4 to see the RS232 If only one unit is connected no address is needed. connector layout. JVL Industri Elektronik A/S - User Manual - Integrated Servo Motors MAC050 - 800...
  • Page 89 B4 contain this feature. See the individual module descriptions. *** Each unit connected must be setup with an address via The MacTalk program. If only one unit is connected no address is needed. JVL Industri Elektronik A/S - User Manual - Integrated Servo Motors MAC050 - 800...
  • Page 90 A or B terminals since this can damage the inputs. If used, the B+ terminal must be connected in the same manner as the A+ terminal. TT0942GB JVL Industri Elektronik A/S - User Manual - Integrated Servo Motors MAC050 - 800...
  • Page 91 Never connect voltages higher than 5V directly to RS422 outputs (balanced) the A or B terminals since this can damage the inputs. Twisted pair cable is recommended TT0943GB JVL Industri Elektronik A/S - User Manual - Integrated Servo Motors MAC050 - 800...
  • Page 92 RS232 Interface between MAC motor and a PC. MAC00-B1 Do not apply higher voltages than 32VDC to the AIN terminal. Use JVL programming cable type RS232-9-1 for connecting to PC. TT0900GB JVL Industri Elektronik A/S - User Manual - Integrated Servo Motors MAC050 - 800...
  • Page 93 The MAC00-B2 expansion module is an industrial interface that mates with the standard MAC motors and offers a number of feature enhancements, including: • IP67 protection if mounted on basic MAC050-141 motor with the IP67 option, and IP65 on MAC400-600 •...
  • Page 94 If this is required, use a special robot cable (2D or 3D cable). JVL Industri Elektronik A/S - User Manual - Integrated Servo Motors MAC050 - 800...
  • Page 95 * Note: P+ and P- are each available at 2 terminals. Make sure that both terminals are connected in order to split the supply current in 2 terminals and thereby avoid an overload of the connector. (Continued next page) JVL Industri Elektronik A/S - User Manual - Integrated Servo Motors MAC050 - 800...
  • Page 96 Leave open if unused RS485 A- RS485 interface. Leave open if unused Blue RS485 B+ RS485 interface. Leave open if unused Black Interface ground (same as main ground). Grey JVL Industri Elektronik A/S - User Manual - Integrated Servo Motors MAC050 - 800...
  • Page 97 RS485 Term. setup (only switch 6) The last motors connected to an RS485 line must have this switch set to “ON” but only at one !. ON/OFF JVL Industri Elektronik A/S - User Manual - Integrated Servo Motors MAC050 - 800...
  • Page 98 Important: Please note that the cables are a standard type. They are not recommended for use in ca- ble chains or where the cable is repeatedly bent. If this is required, use a special robot cable (2D or 3D cable). JVL Industri Elektronik A/S - User Manual - Integrated Servo Motors MAC050 - 800...

  • Page 99: Expansion Module Mac00-B41

    • Replacement for pneumatic cylinders using the “Air Cylinder mode” • Dispenser systems. • Machine adjustment/setup by sending RS232 or RS485 commands. • Standalone PLC with userprogram stored in the basic motor. JVL Industri Elektronik A/S - User Manual - Integrated Servo Motors MAC050 - 800...
  • Page 100 Also in “Air Cylinder Mode” the analogue input is used as a trigger input. For a functional description, please refer to Analogue input, page 70. (continued) JVL Industri Elektronik A/S - User Manual - Integrated Servo Motors MAC050 - 800...
  • Page 101 Default switch setting: Dip1-10 = OFF,ON,OFF,ON,OFF,ON,OFF,ON,OFF,OFF - Input Ax and Bx for both MF I/O’s are setup for PNP outputs. - RS485 Termination is disabled. TT1146GB JVL Industri Elektronik A/S - User Manual - Integrated Servo Motors MAC050 - 800...
  • Page 102 Control voltage Only MAC50-141 with B2 or B4 (Optional) MAC400 Motor with MAC00-B41 Power Max. 32VDC ! Supply Control Volt. Mains 115 or 230VAC Main supply TT1137GB JVL Industri Elektronik A/S - User Manual - Integrated Servo Motors MAC050 - 800...
  • Page 103 For further information concerning physical connections, see the Expansion MAC00-B41 connector description, page 105. JVL Industri Elektronik A/S - User Manual - Integrated Servo Motors MAC050 - 800...
  • Page 104 To see the specific connector pin-out please see the chapter Expansion MAC00-B41 con- nector description, page 105. A finished RS232 cable also exist. Please see Cables for the MAC00-B41, page 107 JVL Industri Elektronik A/S - User Manual - Integrated Servo Motors MAC050 - 800...
  • Page 105 *** Each unit connected must be setup with an address via The MacTalk program. If only one unit is connected no address is needed. MAC00-B41, page 107 JVL Industri Elektronik A/S - User Manual - Integrated Servo Motors MAC050 - 800...
  • Page 106 The illustration above shows how to set up the Multifunction I/O terminals as balanced/ push pull, NPN or PNP input. The illustrations below show examples of connections for each of these signal types. JVL Industri Elektronik A/S - User Manual - Integrated Servo Motors MAC050 - 800...
  • Page 107 If used, the B+ terminal must be connected in the same manner as the A+ terminal. TT1141GB The negative input terminals ( Bx-) must be left unconnected. JVL Industri Elektronik A/S - User Manual - Integrated Servo Motors MAC050 - 800...
  • Page 108 B 1 - o r B 2 - Dipswitch 9+10 : RS485 termination Signal GND - see communication chapter RS422 outputs (balanced) Twisted pair cable is recommended TT1142GB JVL Industri Elektronik A/S - User Manual - Integrated Servo Motors MAC050 - 800...
  • Page 109 * Note: P+ and P- are each available at 2 terminals. Make sure that both terminals are connected in order to split the supply current in 2 terminals and thereby avoid an overload of the connector. (Continued next page) JVL Industri Elektronik A/S - User Manual - Integrated Servo Motors MAC050 - 800...
  • Page 110 Grey 5V out - max 100mA Multifunction I/O2 terminal B2- Violet AIN1 Analogue input1 ±10V or used for zero search Grey/pink AIN2 Analogue input2 ±10V Red/blue JVL Industri Elektronik A/S - User Manual - Integrated Servo Motors MAC050 - 800...
  • Page 111 Important: Please note that the cables are a standard type. They are not recommended for use in ca- ble chains or where the cable is repeatedly bent. If this is required, use a special robot cable (2D or 3D cable). JVL Industri Elektronik A/S - User Manual - Integrated Servo Motors MAC050 - 800...
  • Page 112 JVL Industri Elektronik A/S - User Manual - Integrated Servo Motors MAC050 - 800...

  • Page 113: Expansion Modules Mac00-Fc2/Fc4

    4.3.38 to section 4.3.45. Cables for the MAC00-FC4 section 4.3.46 Section with more detail explanations to the CANopen® theory, particularly DS- 301. From section 4.3.47 to section 4.3.53. JVL Industri Elektronik A/S - User Manual - Integrated Servo Motors MAC050 - 800...
  • Page 114 When you have received you license from CiA®, you have to be aware that the stand- ards will be sent on a CD. All of the CiA specifications can be ordered on this web-page: http://www.can-cia.org/index.php?id=6 JVL Industri Elektronik A/S - User Manual - Integrated Servo Motors MAC050 - 800...
  • Page 115 This characteristic mean that especially important messages are transmitted with priority even in exceptional situations, thereby ensuring proper functioning of a system even dur- ing phases of restricted transmission capacity. JVL Industri Elektronik A/S - User Manual - Integrated Servo Motors MAC050 - 800...
  • Page 116 The COB-ID comprising two sections: - Function code, 4 bit in size (0..15) - Node address (Node ID), 7 bit in size (0..127). See section 4.3.12. JVL Industri Elektronik A/S - User Manual - Integrated Servo Motors MAC050 - 800...
  • Page 117 The MAC00-FC2 and FC4 modules the gal- vanic isolation is integrated to obtain best possible immunity against noise and differences in the voltage potential between the nodes. JVL Industri Elektronik A/S - User Manual - Integrated Servo Motors MAC050 - 800...
  • Page 118 For getting support to the PLC master, it is more rewarding to use the PLC vendor. If you are using a PC as master JVL have some tools that can help you when you are in- stalling and using the MAC00-FC2/FC4.
  • Page 119 Dip 1-7 - Node-id setting (address range 0-127) Dip 8-10 - Baud rate (Baud rate setting 10k to 1000k) SW1 Default: Switch1-8 “ON” and Switch 9+10 “OFF” TT1070GB JVL Industri Elektronik A/S - User Manual - Integrated Servo Motors MAC050 - 800...
  • Page 120 OFF OFF OFF OFF OFF OFF OFF OFF OFF OFF OFF OFF OFF OFF OFF OFF OFF OFF OFF OFF OFF Table continued on next page JVL Industri Elektronik A/S - User Manual - Integrated Servo Motors MAC050 - 800...
  • Page 121 OFF OFF OFF OFF OFF OFF OFF OFF OFF OFF OFF OFF OFF OFF OFF OFF Node id will be the same as for the motor JVL Industri Elektronik A/S - User Manual - Integrated Servo Motors MAC050 - 800...
  • Page 122 Pin 8 CAN_V+ Optional CAN ext. + supply Pin 9 On the next page are there drawings off the 9-pin D-sub and the 5-pin style connector. JVL Industri Elektronik A/S - User Manual - Integrated Servo Motors MAC050 - 800...
  • Page 123 Cable glands Internal circuit boards Dip Switches placed CAN-open and I/O on the rear side of the connectors. TT1069GB module JVL Industri Elektronik A/S - User Manual - Integrated Servo Motors MAC050 - 800...
  • Page 124 CANopen signal line - low CAN_H (none) 5VDC Optional : External termination network. CAN_L (none) The MAC00-FC2 type number only covers the basic module, i.e. without any cables. JVL Industri Elektronik A/S - User Manual - Integrated Servo Motors MAC050 - 800...
  • Page 125 Orange/Black - is not used internally. It must be left unconnected. ** : The light green wire (CV) can be difficult to distinguish from the green wire (TX) on some cables. JVL Industri Elektronik A/S - User Manual - Integrated Servo Motors MAC050 - 800...
  • Page 126 PD should only be connected at one of the motors. If one of JVL’s standard RS232 cables (RS232-9-1 or -n) is used between the DSUB con- nector shown and the PC com port, the RX and TX pins must be swapped since they cross in these standard cables.
  • Page 127 CAN_V+ Reserved for future purpose - do not connect CAN_GND CAN interface ground CAN_H CAN interface. Positive signal line CAN_L CAN interface. Negative signal line JVL Industri Elektronik A/S - User Manual - Integrated Servo Motors MAC050 - 800...
  • Page 128 Isolation group 2 means that the terminal refers to the CAN interface ground (CAN_GND). Isolation group 3 means that the terminal refers to the I/O ground (IO-) Regarding the setting of SW3, see on next page. JVL Industri Elektronik A/S - User Manual - Integrated Servo Motors MAC050 - 800...
  • Page 129 Function Dip 1 RS232 interface Enable Dip 2 O2 (output 2) Dip 3 Dip 4 Input 1 Dip 5 O1 output Dip 6 O+ (output supply) JVL Industri Elektronik A/S - User Manual - Integrated Servo Motors MAC050 - 800...
  • Page 130 1: Select the correct node ID, in the slave. 2: Select the EDS file, for all the MAC motors it is MAC00-fc.eds. 3: Load the EDS file by pressing load. TT1073GB JVL Industri Elektronik A/S - User Manual - Integrated Servo Motors MAC050 - 800...
  • Page 131 5: Select thereafter the object 0x2012. Object 0x2012 contains the motor parameters. TT1074GB 6: Point to the sub register 0x02, which is the register which determines in which mode the motor will operate. TT1075GB JVL Industri Elektronik A/S - User Manual - Integrated Servo Motors MAC050 - 800...
  • Page 132 Sets up the desired velocity 200h The motor rotates the Encoder P_SOLL 32 bit desired numbers of -20000 count encoder pulses Sets the motor Mode_Reg 16 bit in passive mode JVL Industri Elektronik A/S - User Manual - Integrated Servo Motors MAC050 - 800...
  • Page 133 The Guard Time field below the Sync Time field works like SYNC-just for the Guarding message. The close button exits the program after saving the list of user SDOs, which will be au- tomatically reloaded on the next program start. JVL Industri Elektronik A/S - User Manual - Integrated Servo Motors MAC050 - 800...
  • Page 134 The CPU may use this code as an indication, that the bus is not continuously disturbed CRC error The CRC check sum of the received message was incorrect Reserved JVL Industri Elektronik A/S - User Manual - Integrated Servo Motors MAC050 - 800...
  • Page 135 On this error message is there a “Bit0 error” condition on the CAN bus, and the CAN bus is in the bus-off-state, and a error counter in EWRN has reached the error limits. To get this information convert 67h to binary 1100111. JVL Industri Elektronik A/S - User Manual - Integrated Servo Motors MAC050 - 800...
  • Page 136 JVLs vendor ID. Mandatory. Product Code, identifies a specific UNSIGNED32 0x0100 device version. The MAC00-FC2 /FC4 has the product code 100h UNSIGNED32 0x20020 Revision number. UNSIGNED32 Serial number JVL Industri Elektronik A/S - User Manual - Integrated Servo Motors MAC050 - 800...
  • Page 137 35 from the motor. When the error is no longer present, the module will send a NoError EMCY object once. JVL Industri Elektronik A/S - User Manual - Integrated Servo Motors MAC050 - 800...
  • Page 138 After the module has started up and there is communication between the mas- ter and the slave, then turn on the wanted error control mechanism in the object Dic- tionary, see section 4.3.20. JVL Industri Elektronik A/S - User Manual - Integrated Servo Motors MAC050 - 800...
  • Page 139 When writing to this object (sub index 0), it is possible to execute some special com- mands for the MAC00-FCx module. The following commands are available: Number Function No operation Reset limit error Reset communication error 3-255 Reserved JVL Industri Elektronik A/S - User Manual - Integrated Servo Motors MAC050 - 800...
  • Page 140 This could occur if the motor has been reset due to a voltage drop. Bit 0: Equals 1, if there is a fatal motor error. Read subindex 4 to get extended informa- tion. JVL Industri Elektronik A/S - User Manual - Integrated Servo Motors MAC050 - 800...
  • Page 141 The error action is defined in object 2011h subindex 8. Input Reserved Reserved JVL Industri Elektronik A/S - User Manual - Integrated Servo Motors MAC050 - 800...
  • Page 142 DSP-402. When using this mode, absolute positioning can no long- er be used. Error action: 0= set motor in passive mode, 1 = stop motor by setting velocity to zero. JVL Industri Elektronik A/S - User Manual - Integrated Servo Motors MAC050 - 800...
  • Page 143 Motor temperature Word Read calculated Error trip level used I2tLIM Word Read for I2T register Encoder Software position MIN_P_IST Long int Read counts limit-positive Continued next page JVL Industri Elektronik A/S - User Manual - Integrated Servo Motors MAC050 - 800...
  • Page 144 1h, and the value range of this register is UNSIGNED32. The PDOs are enabled when bit 31 is 0, and is disabled when bit 31 is 1. JVL Industri Elektronik A/S - User Manual - Integrated Servo Motors MAC050 - 800...
  • Page 145 Receive PDO 23: This PDO sets a new operating mode for the motor. Byte FastMac Data Reserved Reserved Reserved Reserved Reserved Reserved Reserved Command 2013h, Object sub 0 JVL Industri Elektronik A/S - User Manual - Integrated Servo Motors MAC050 - 800...
  • Page 146 Transmit PDO 24: With this PDO the value of the analog input can be read. Byte Data ANINP Reserved Reserved Reserved Reserved Reserved Reserved Object 2012h, sub 122 JVL Industri Elektronik A/S - User Manual - Integrated Servo Motors MAC050 - 800...
  • Page 147 (See emergency object). If the SYNC object interval is smaller that the processing time of the active transmit PDOs, an internal queue overflow error occurs. JVL Industri Elektronik A/S - User Manual - Integrated Servo Motors MAC050 - 800...
  • Page 148 When using DSP-402 mode, manipulating parameters with object 2012h or 2013h can corrupt the behaviour of the DSP-402 functions. Also be aware that manipulating param- eters in MacTalk should be avoided when using DSP-402. JVL Industri Elektronik A/S - User Manual - Integrated Servo Motors MAC050 - 800...
  • Page 149 INPOSCNT SamleFreq/1000 Max_motor_speed 6080 5000 or 4000 Profile_velocity 6081 Velocity_factor Acceleration_ Profile_acceleration 6083 15000 factor Acceleration_ Quick_stop_deceleration 6085 50000 factor Motion_profile_type 6086 Continued on next page JVL Industri Elektronik A/S - User Manual - Integrated Servo Motors MAC050 - 800...
  • Page 150 >PFactorNumerator Position_factor_number_ See formula (1) in 6093 of_entries section 4.3.40 In CF_Upd Position_factor_Numerator 6093 See formula (5) in section 4.3.40 Position_factor_Feed_constant 6093 Continued on next page JVL Industri Elektronik A/S - User Manual - Integrated Servo Motors MAC050 - 800...
  • Page 151 2011 See section 4.3.30 Setup bits 2011 See section 4.3.31 Data (256 motor registers) 2012 See section 4.3.32 Fastcommand (Send FastMac 2013 See section 4.3.33 command) JVL Industri Elektronik A/S - User Manual - Integrated Servo Motors MAC050 - 800...
  • Page 152 We have a MAC800 motor with 8000 counts/revolution. We want the user unit of the velocity to be in RPM. The parameters should be set as follows: Object Name Value 6094h subindex 1 Velocity_encoder_factor_Numerator 8000 6094h subindex 2 Velocity_encoder_factor_Divisor JVL Industri Elektronik A/S - User Manual - Integrated Servo Motors MAC050 - 800...
  • Page 153 RPM/s. The parameters should be set as follows: Object Name Value 6097h subindex 1 Acceleration_factor_Numerator 8000 6097h subindex 2 Acceleration_factor_Divisor Acceleration_factor formula: Acceleration_factor_Numerator Acceleration_factor= Acceleration_factor_Divisor SampleFreq*SampleFreq JVL Industri Elektronik A/S - User Manual - Integrated Servo Motors MAC050 - 800...
  • Page 154 Object 6092sub1 Feed_constant_factor= Object 6092sub2 Position_factor_Numerator (5) in section 4.3.39. Position_factor_Numerator formula Feed_constant_Feed*Position_factor Position_factor_Numerator= Feed_constant_Shaft_revolutions or as and object: Object 6092sub1*Position_factor Position_factor_Numerator= Object 6092sub2 JVL Industri Elektronik A/S - User Manual - Integrated Servo Motors MAC050 - 800...
  • Page 155 The register L1 (object 2012 subindex 81) is used to select the load factor when the profile is started. If a different load factor is required, this register must be set cor- rectly. JVL Industri Elektronik A/S - User Manual - Integrated Servo Motors MAC050 - 800...
  • Page 156 This is to ensure that the motor moves away from the end limit. The sign of the home offset should be the opposite of the homing direction. For example, when using a negative homing direction, the home offset could be 5000. JVL Industri Elektronik A/S - User Manual - Integrated Servo Motors MAC050 - 800...
  • Page 157 6041h Statusword Shows status and the current velocity (pv) 606Ch Velocity actual value 6041h Statusword Controls the state machine and the digital 60FDh Digital inputs inputs JVL Industri Elektronik A/S - User Manual - Integrated Servo Motors MAC050 - 800...
  • Page 158 If this is required, use a special robot cable (2D or 3D cable). See also Accessories, page 291 where additional M12 connectors are shown. JVL Industri Elektronik A/S - User Manual - Integrated Servo Motors MAC050 - 800...
  • Page 159 The communication Profile area contains the parameters for the communication profile on the CAN network. These entries are common to all devices. Index 2000-5FFF: The manufacturer specific profile area, for truly manufacturer specific functionally. JVL Industri Elektronik A/S - User Manual - Integrated Servo Motors MAC050 - 800...
  • Page 160 NMT Slave NMT Master COB-ID = 700h + Node-ID Indication Request TT1085GB One data byte is transmitted with value 0. JVL Industri Elektronik A/S - User Manual - Integrated Servo Motors MAC050 - 800...
  • Page 161 The fol- lowing figure show a read PDO service: PDO Producer PDO Consumers Request Indication L = 0..8 Response Confirmation Proces data TT1087GB JVL Industri Elektronik A/S - User Manual - Integrated Servo Motors MAC050 - 800...
  • Page 162 The download SDO protocol is used to write the values of the object directory into the drive Client Server 3...2 7...5 Indication Request CCS=1 reserved 7...5 4...0 Response Confirm SCS=3 TT1088GB JVL Industri Elektronik A/S - User Manual - Integrated Servo Motors MAC050 - 800...
  • Page 163 [8-n,7] do not contain expedited set size is data to be data transfer indicated transfer by the SDO CCS:Client command specified. SCS:Server commander specified. JVL Industri Elektronik A/S - User Manual - Integrated Servo Motors MAC050 - 800...
  • Page 164 0602 0000h Object does not exit in the object dictionary 0604 0041h Object cannot be mapped to the PDO Table continued on next page. JVL Industri Elektronik A/S - User Manual - Integrated Servo Motors MAC050 - 800...
  • Page 165 SYNC Producer SYNC Consumers Request Indication TT1091GB The SYNC does not carry any data (L=0). The identifier of the SYNC object is located at object 1005h. JVL Industri Elektronik A/S - User Manual - Integrated Servo Motors MAC050 - 800...
  • Page 166 Pre-Operational state, the node cannot process any PDOs. However, it can be pa- rameterized or operated via SDO. This means setpoint can also be entered. JVL Industri Elektronik A/S - User Manual - Integrated Servo Motors MAC050 - 800...
  • Page 167 The Node Life Time is calculated from the product of the Guard Time and Life Time Fac- tor. This is the maximum time which the slave waits for an RTR telegram. JVL Industri Elektronik A/S - User Manual - Integrated Servo Motors MAC050 - 800...
  • Page 168 Heartbeat producer Heartbeat consumer COB-ID = 700h + Node-ID Request Indication 6..0 Heartbeat Heartbeat producer time consumer time 6..0 Request Indication Heartbeat consumer time Heartbeat Event TT1084GB JVL Industri Elektronik A/S - User Manual - Integrated Servo Motors MAC050 - 800...
  • Page 169 After the module has started up and there is communication between the mas- ter and the slave, then turn on the wanted error control mechanism in the object Dic- tionary, see section 4.4.20. JVL Industri Elektronik A/S - User Manual - Integrated Servo Motors MAC050 - 800...

  • Page 170: Expansion Module Mac00-Fd4

    The first part of this section deals with the software features of the module. Please see the latter pages of this section for specific information about the hardware such as con- nection schemes etc. JVL Industri Elektronik A/S - User Manual - Integrated Servo Motors MAC050 - 800...
  • Page 171 Dip switch location on the MAC00-FD4 Expansion module M12 external connectors Basic MAC motor housing Internal circuit boards Dip Switches placed on the rear side of the module TT1017GB JVL Industri Elektronik A/S - User Manual - Integrated Servo Motors MAC050 - 800...
  • Page 172 OFF OFF OFF OFF OFF OFF OFF OFF OFF OFF OFF OFF OFF OFF OFF OFF OFF OFF OFF OFF OFF OFF OFF OFF OFF OFF JVL Industri Elektronik A/S - User Manual - Integrated Servo Motors MAC050 - 800...
  • Page 173 250 kbit See table above 500 kbit See table above Reserved See table above X = Not used. For future purposes - set in position off JVL Industri Elektronik A/S - User Manual - Integrated Servo Motors MAC050 - 800...
  • Page 174 With this class, all parameters in the motor can be written and read. The Instance number refers to the parameter number in the motor. Attribute 1 = Value Attribute 2 = Parameter size in bytes JVL Industri Elektronik A/S - User Manual - Integrated Servo Motors MAC050 - 800...
  • Page 175 The total number of supported USINT attributes Reserved Get/Set BYTE Module setup 246 (F6 H) USINT Execute FastMac Command 247 (F7 H) USINT MAC00-FDx command 248 (F8 H) JVL Industri Elektronik A/S - User Manual - Integrated Servo Motors MAC050 - 800...
  • Page 176 When bit x = 1, the output is controlled by the default function. The default function for O1 is ’In position’ and for O2 ’Error’. Output Reserved JVL Industri Elektronik A/S - User Manual - Integrated Servo Motors MAC050 - 800...
  • Page 177 When writing to this attribute, it is possible to execute some special commands on the MAC00-FDx module. The following commands are available: Number Function No operation Reset limit error Reset communication error 3-255 Reserved JVL Industri Elektronik A/S - User Manual - Integrated Servo Motors MAC050 - 800...
  • Page 178 Use Index. If this is enabled, the zero point will be cor- Get/Set BOOL rected with reference to the motors index mark. JVL Industri Elektronik A/S - User Manual - Integrated Servo Motors MAC050 - 800...
  • Page 179 The schematic below shows the MAC00-FD4 module mounted inside the basic MAC motor. For further details regarding the external connectors, please see Expansion MAC00-FD4 hardware description, page 176 JVL Industri Elektronik A/S - User Manual - Integrated Servo Motors MAC050 - 800...
  • Page 180 The MAC00-FP4 contains its own power supply DeviceNet ground CAN_H DeviceNet interface. Positive signal line CAN_L DeviceNet interface. Negative signal line (Continued next page) JVL Industri Elektronik A/S - User Manual - Integrated Servo Motors MAC050 - 800...
  • Page 181 Isolation group 3 means that the terminal refers to the I/O ground (IO-) Defaults: Dip1-6 : ON, ON, OFF, OFF, ON, ON = TXPD:ON / IOA:AIN / IOB:IN1 / O1 / O+ JVL Industri Elektronik A/S - User Manual - Integrated Servo Motors MAC050 - 800...
  • Page 182 Function Dip 1 RS232 interface Enable Dip 2 O2 (output 2) Dip 3 Dip 4 Input 1 Dip 5 O1 output Dip 6 0+ (output supply) JVL Industri Elektronik A/S - User Manual - Integrated Servo Motors MAC050 - 800...
  • Page 183 If this is required, use a special robot cable (2D or 3D cable). See also Accessories, page 291 where additional M12 connectors are shown. JVL Industri Elektronik A/S - User Manual - Integrated Servo Motors MAC050 - 800...

  • Page 184: Expansion Module Mac00-Fp2/Fp4

    A list of the typically used registers can be found in Serial Quick Guide (MacTalk proto- col), page 284. The FlexMac commands are described in FastMac commands, page 187. JVL Industri Elektronik A/S - User Manual - Integrated Servo Motors MAC050 - 800...
  • Page 185 MAC00-FP2 Expansion module Cable glands Basic MAC motor housing Internal circuit boards Dip Switch placed Profibus and I/O on the rear side of the TT0946GB connectors. module JVL Industri Elektronik A/S - User Manual - Integrated Servo Motors MAC050 - 800...
  • Page 186 7 is not used. If the same command is to be executed twice, bit 7 can be toggled. The command is accepted when the “Last direct register”, in the input data, has the same value as this register. JVL Industri Elektronik A/S - User Manual - Integrated Servo Motors MAC050 - 800...
  • Page 187 (NL Enable) When this bit is 1, the negative end-limit is enabled. Bit 3-0 (Input mode) these bits select the current input mode. See section Input modes, page 185 for details. JVL Industri Elektronik A/S - User Manual - Integrated Servo Motors MAC050 - 800...
  • Page 188 Bit 5 (PL) Positive limit input. Bit 4 (NL) Negative limit input. Bit 3-0 (INx) user inputs. Last direct register See Direct register, page 182 for details. JVL Industri Elektronik A/S - User Manual - Integrated Servo Motors MAC050 - 800...
  • Page 189 Custom mode (15) When this mode is selected, the action of each input can be selected with the slave pa- rameters. See Slave parameters, page 186. JVL Industri Elektronik A/S - User Manual - Integrated Servo Motors MAC050 - 800...
  • Page 190 These actions are used when the custom input mode is selected. See Input modes, page 185. The action is defined by a FlexMac command. See FastMac commands, page 187. Possible values are 0-127, where 0 represents no action. JVL Industri Elektronik A/S - User Manual - Integrated Servo Motors MAC050 - 800...
  • Page 191 P_FNC = ( FLWERR - P8 ) * 16 No operation Reserved No operation Reserved No operation Activate P0,V0,A0,T0,L0,Z0 No operation Activate P1,V1,A1,T1,L1,Z1 No operation Activate P2,V2,A2,T2,L2,Z2 Reserved Activate P3,V3,A3,T3,L3,Z3 Reserved JVL Industri Elektronik A/S - User Manual - Integrated Servo Motors MAC050 - 800...
  • Page 192 Activate register T3 and change to position mode 64 + 22 = FastMac command 86 Activate P0,V0,A0,T0,L0 and Z0 without changing the mode: 96 + 12 = FastMac command 108 JVL Industri Elektronik A/S - User Manual - Integrated Servo Motors MAC050 - 800...
  • Page 193 Signal ground can optionally be used for the cable screen Negative profibus signal line (Green) xA/xP Positive profibus signal line (Red) Green xB/xN 5VDC +5VDC output to be used for external termination (optional) JVL Industri Elektronik A/S - User Manual - Integrated Servo Motors MAC050 - 800...
  • Page 194 If this is re- quired, use a special robot cable (2D or 3D cable). JVL Industri Elektronik A/S - User Manual - Integrated Servo Motors MAC050 - 800...
  • Page 195 The table below shows the difference between Siemens IMPORTANT: naming conventions and the naming on the MAC00-FPx. use spring washer MAC00-FPx Siemens Standard name name wire colour Green JVL Industri Elektronik A/S - User Manual - Integrated Servo Motors MAC050 - 800...
  • Page 196 If the MAC motor is connected to the same RS232 line as other motors, the terminal TX- PD should only be connected at one of the motors. If one of JVL’s standard RS232 cables (RS232-9-1 or -n) is used between the DSUB connector shown and the PC com port, the RX and TX pins must be swapped since they cross in these standard cables.
  • Page 197 Terminal A (Siemens syntax) for the Profibus-DP interface DGND Profibus-DP interface ground Terminal A (Siemens syntax) for the Profibus-DP interface SHIELD Cable shield. Internally conn. to the motor housing. (Continued next page) JVL Industri Elektronik A/S - User Manual - Integrated Servo Motors MAC050 - 800...
  • Page 198 Isolation group 2 means that the terminal refers to the Profibus-DP interface ground (DGND). Isolation group 3 means that the terminal refers to the I/O ground (IO-) JVL Industri Elektronik A/S - User Manual - Integrated Servo Motors MAC050 - 800...
  • Page 199 If this is required, use a special robot cable (2D or 3D cable). See also Accessories, page 291 where additional M12 connectors are shown. JVL Industri Elektronik A/S - User Manual - Integrated Servo Motors MAC050 - 800...
  • Page 200 500_supp=1 1.5M_supp=1 3M_supp=1 6M_supp=1 12M_supp=1 MaxTsdr_9.6=60 MaxTsdr_19.2=60 MaxTsdr_93.75=60 MaxTsdr_187.5=60 MaxTsdr_500=100 MaxTsdr_1.5M=150 MaxTsdr_3M=250 MaxTsdr_6M=450 MaxTsdr_12M=800 Implementation_Type=’VPC3’ Bitmap_Device=’DPLINK_’ ; Slave-Specification: Freeze_Mode_supp=0 Sync_Mode_supp=0 Auto_Baud_supp=1 Min_Slave_Intervall=1 Max_Diag_Data_Len=8 Modul_Offset=0 Slave_Family=0 OrderNumber=’MAC00-FPx’ JVL Industri Elektronik A/S - User Manual - Integrated Servo Motors MAC050 - 800...
  • Page 201 EndExtUserPrmData ExtUserPrmData=6 ’PL Input level’ Bit(5) 1 0-1 Prm_Text_Ref=1 EndExtUserPrmData ExtUserPrmData=7 ’Endlimit action’ Bit(0) 0 0-1 Prm_Text_Ref=2 EndExtUserPrmData ExtUserPrmData=8 ’Input 1 Action’ UnSigned8 0 0-255 EndExtUserPrmData JVL Industri Elektronik A/S - User Manual - Integrated Servo Motors MAC050 - 800...
  • Page 202 Ext_User_Prm_Data_Ref(1)=1 Ext_User_Prm_Data_Ref(1)=2 Ext_User_Prm_Data_Ref(1)=3 Ext_User_Prm_Data_Ref(1)=4 Ext_User_Prm_Data_Ref(1)=5 Ext_User_Prm_Data_Ref(1)=6 Ext_User_Prm_Data_Ref(2)=7 Ext_User_Prm_Data_Ref(2)=12 Ext_User_Prm_Data_Ref(2)=13 Ext_User_Prm_Data_Ref(3)=8 Ext_User_Prm_Data_Ref(4)=8 Ext_User_Prm_Data_Ref(5)=8 Ext_User_Prm_Data_Ref(6)=9 Ext_User_Prm_Data_Ref(7)=9 Ext_User_Prm_Data_Ref(8)=9 Ext_User_Prm_Data_Ref(9)=10 Ext_User_Prm_Data_Ref(10)=10 Ext_User_Prm_Data_Ref(11)=10 Ext_User_Prm_Data_Ref(12)=11 Ext_User_Prm_Data_Ref(13)=11 Ext_User_Prm_Data_Ref(14)=11 ; <Module-Definition-List> Module=’MAC00-FP’ 0x13,0x10,0x10,0x10,0x10,0x23,0x20,0x20,0x20,0x20,0x20 EndModule JVL Industri Elektronik A/S - User Manual - Integrated Servo Motors MAC050 - 800...

  • Page 203: Expansion Module Mac00-Fs1/Fs4

    The pages in the first part of this section concern the common features of both modules. Please consult the last pages in this section to see specific information about each module such as example connection diagrams. JVL Industri Elektronik A/S - User Manual - Integrated Servo Motors MAC050 - 800...
  • Page 204 RS485 interface positive terminal. RS485 A- Blue Leave open if unused RS485 interface negative terminal. RS485 B+ Black Leave open if unused Interface ground Grey (Continued next page) JVL Industri Elektronik A/S - User Manual - Integrated Servo Motors MAC050 - 800...
  • Page 205 Isolation group 2 means that the terminals refer only to the RS485 interface. Isolation group 3 means that the terminals refer to the I/O ground (IO-). JVL Industri Elektronik A/S - User Manual - Integrated Servo Motors MAC050 - 800...
  • Page 206 Dip switch location on the MAC00-FS4 Expansion module M12 external connectors Basic MAC motor housing Internal circuit boards Dip Switches placed on the rear side of the module TT1128GB JVL Industri Elektronik A/S - User Manual - Integrated Servo Motors MAC050 - 800...
  • Page 207 If this is required use a special robot cable (2D or 3D cable). See also Accessories, page 291 where additional M12 connectors are shown. JVL Industri Elektronik A/S - User Manual - Integrated Servo Motors MAC050 - 800...

  • Page 208: Expansion Module Mac00-P5

    • RS232 Communication interface to a PC for setup and monitoring use. • Supply input for the control section in the motor. Is also used to the slave motor if present. JVL Industri Elektronik A/S - User Manual - Integrated Servo Motors MAC050 - 800...
  • Page 209 IO+ is the overall supply of the outputs and must be applied with 5-32VDC. The outputs are PNP (source) outputs. The outputs are galvanic isolated from all oth- er terminals and circuits. JVL Industri Elektronik A/S - User Manual - Integrated Servo Motors MAC050 - 800...
  • Page 210 Littlefuse type Default switch setting: “451-10A” SW1 : OFF , OFF (4-20mA supplied from external source) SW2 : ON, ON ( RS485 Termination is enabled) TT1164GB JVL Industri Elektronik A/S - User Manual - Integrated Servo Motors MAC050 - 800...
  • Page 211 MAC00-P5. MAC400 Motor Use only CVI1 with MAC00-Px Power Max. 32VDC ! Supply CVI1 Control Volt. Mains 115 or 230VAC Main supply TT1168GB JVL Industri Elektronik A/S - User Manual - Integrated Servo Motors MAC050 - 800...
  • Page 212 To see the specific connector pin-out please see the chapter Expansion MAC00-B41 con- nector description, page 105. A finished RS232 cable also exist. Please see Cables for the MAC00-B41, page 107 JVL Industri Elektronik A/S - User Manual - Integrated Servo Motors MAC050 - 800...
  • Page 213 “Save in flash”. 7. It may be needed to cycle the 24V supply for both motors in order to establish full syncronization between the 2 motors. JVL Industri Elektronik A/S - User Manual - Integrated Servo Motors MAC050 - 800...
  • Page 214 1, 2, 3 and 4 are all fully independantly isolated from each other. Group 0 correspond to the housing of the motor which may also be connected to earth via the 115/230VAC power inlet. (Continued next page) JVL Industri Elektronik A/S - User Manual - Integrated Servo Motors MAC050 - 800...
  • Page 215 Hardwired internally to CVI1. Ground to be used with CVI2. This ground is hardwired internally to the main power ground P-. IGND Multifunction I/O2 terminal B2+ Screen wire JVL Industri Elektronik A/S - User Manual - Integrated Servo Motors MAC050 - 800...
  • Page 216 Important: Please note that the cables are a standard type. They are not recommended for use in ca- ble chains or where the cable is repeatedly bent. If this is required, use a special robot cable (2D or 3D cable). JVL Industri Elektronik A/S - User Manual - Integrated Servo Motors MAC050 - 800...

  • Page 217: Expansion Module Mac00-R1/R3/R4

    The first part of this section deals with the common features of both modules. Please see the latter pages of the section for see specific information about each module (for exam- ple, connection diagrams). JVL Industri Elektronik A/S - User Manual - Integrated Servo Motors MAC050 - 800...
  • Page 218 The function of each input and output can be user defined TT1078GB 4.9.3 How to set up the desired firmware Use the following step-by-step instruction to set up the desired firmware. (continued next page). JVL Industri Elektronik A/S - User Manual - Integrated Servo Motors MAC050 - 800...
  • Page 219 Step 6 MAC00-RxP tab is now available among the other standard tabs. Proceed with the setup and/or programming according to the description for each firmware type. TT1079GB JVL Industri Elektronik A/S - User Manual - Integrated Servo Motors MAC050 - 800...
  • Page 220 Optionally upload the actual program stored in the module last time. TT0980GB After making one of these 3 choices above, the program window will be opened. JVL Industri Elektronik A/S - User Manual - Integrated Servo Motors MAC050 - 800...
  • Page 221 When paused, the single step feature can be used to debug the program. TT0981GB JVL Industri Elektronik A/S - User Manual - Integrated Servo Motors MAC050 - 800...
  • Page 222 MacTalk later. Program + Source Same as above but without remarks. Program only Only the compiled program is transfered. TT0982GB JVL Industri Elektronik A/S - User Manual - Integrated Servo Motors MAC050 - 800...
  • Page 223 Choose to wait until input 5 is high and press OK The command is inserted at the previous selected program line Continued TT0983GB JVL Industri Elektronik A/S - User Manual - Integrated Servo Motors MAC050 - 800...
  • Page 224 Press the “Transfer & Start” button. Now the program will be transfered and stored permanently in the module. The program will be executed immidiately Continued TT0984GB JVL Industri Elektronik A/S - User Manual - Integrated Servo Motors MAC050 - 800...
  • Page 225 3. A program line can be edited by double-clicking the command text. 4. When the cursor is placed on top of the command icon, an edit menu can be called up with a right-click. JVL Industri Elektronik A/S - User Manual - Integrated Servo Motors MAC050 - 800...
  • Page 226 TT1103GB JVL Industri Elektronik A/S - User Manual - Integrated Servo Motors MAC050 - 800...
  • Page 227 This allow you to use different operating modes in different parts of the program. For a detailed description of the individual operating modes, refer to section 1.2.1 JVL Industri Elektronik A/S - User Manual - Integrated Servo Motors MAC050 - 800...
  • Page 228 The motor will finish the movement on its own, unless it is given other instructions by the program. JVL Industri Elektronik A/S - User Manual - Integrated Servo Motors MAC050 - 800...
  • Page 229 Register no. 49 (P1) is always overridden by this command. This command always wait until the movement is finished, before proceeding to the next line in the program. JVL Industri Elektronik A/S - User Manual - Integrated Servo Motors MAC050 - 800...
  • Page 230 Register no. 49 (P1) is always over written by this command. This command always wait until the movement is finished, before proceeding to the next line in the program. JVL Industri Elektronik A/S - User Manual - Integrated Servo Motors MAC050 - 800...
  • Page 231 The motor will finish the movement on its own, unless it is given other instructions by the program. JVL Industri Elektronik A/S - User Manual - Integrated Servo Motors MAC050 - 800...
  • Page 232 Register no. 49 (P1) is always overridden by this command This command always wait until the movement is finished, before proceeding to the next line in the program. JVL Industri Elektronik A/S - User Manual - Integrated Servo Motors MAC050 - 800...
  • Page 233 (in milliseconds) of a pulse to send out on that output. When setting multiple outputs, you can specify whether to set each output high, low, or leave it in its current state JVL Industri Elektronik A/S - User Manual - Integrated Servo Motors MAC050 - 800...
  • Page 234 After pressing the OK button, the dialogue will disappear, and the mouse cursor will change. The next program line that you click on will then become the destination for the jump command JVL Industri Elektronik A/S - User Manual - Integrated Servo Motors MAC050 - 800...
  • Page 235 After pressing the OK button, the dialogue will disappear, and the mouse cursor will change. The next program line that you click on will then become the destination for the jump command. JVL Industri Elektronik A/S - User Manual - Integrated Servo Motors MAC050 - 800...
  • Page 236 The longest pause that can be specified is 65535 milli- seconds. The shortest pause that can be specified is 0 milliseconds. Note that this command over writes Timer 1 in the RxP modules memory. JVL Industri Elektronik A/S - User Manual - Integrated Servo Motors MAC050 - 800...
  • Page 237 (Falling Edge). The input is tested with 30 microsecond intervals. JVL Industri Elektronik A/S - User Manual - Integrated Servo Motors MAC050 - 800...
  • Page 238 If set to “Or” only one input need to match its test setting. Inputs that are set to “Don’t care” are not tested. The inputs are tested with 30 microsecond intervals. JVL Industri Elektronik A/S - User Manual - Integrated Servo Motors MAC050 - 800...
  • Page 239 After pressing the OK button, the dialogue will disappear, and the mouse cursor will change. The next program line that you click on will then become the destination for the jump command. JVL Industri Elektronik A/S - User Manual - Integrated Servo Motors MAC050 - 800...
  • Page 240 Saves the current position, from register no. 10 (P_IST), to one of three locations in memory on the RxP module. The saved position(s) can then be used wherever a position or distance is needed in a move command. JVL Industri Elektronik A/S - User Manual - Integrated Servo Motors MAC050 - 800...
  • Page 241 65 (V1) will be written to register no. 5 (V_SOLL). Move operations will then take place at that velocity. JVL Industri Elektronik A/S - User Manual - Integrated Servo Motors MAC050 - 800...
  • Page 242 RxP module can be done with a binary command. If you find yourself with special needs, that are not covered by the other commands, contact JVL for assistance. JVL Industri Elektronik A/S - User Manual - Integrated Servo Motors MAC050 - 800...
  • Page 243 “Set a register in the MAC motor”. “Jump according to a register in the MAC motor”, and “Wait for a register value before continuing”. JVL Industri Elektronik A/S - User Manual - Integrated Servo Motors MAC050 - 800...
  • Page 244 A recognized register name will appear in the expression. An unrecognized register name will appear as a zero. You can switch between the two methods of data entry at any time. JVL Industri Elektronik A/S - User Manual - Integrated Servo Motors MAC050 - 800...
  • Page 245 In the example above, two position registers are compared. Both hold position information, both measure position in encoder counts. Such a comparison will always yield meaningful, predictable results. For other types of registers, consult section 5.6. JVL Industri Elektronik A/S - User Manual - Integrated Servo Motors MAC050 - 800...
  • Page 246 On the MAC00-R4 module, input ground (ICM) and output ground (OCM) are tied together internally to a common connector terminal (IO-) TT1012GB Connections to the interface and basic motor JVL Industri Elektronik A/S - User Manual - Integrated Servo Motors MAC050 - 800...
  • Page 247 32VDC. The outputs are short-circuit protected. The input and output circuitry are optically isolated from each other and also from the other parts of the MAC00-R1 or R3. JVL Industri Elektronik A/S - User Manual - Integrated Servo Motors MAC050 - 800...
  • Page 248 • Full RS485 protocol support for multipoint communication up to 100m. • Sourcing (PNP) outputs for status signals O1 and O2 instead of sinking (NPN). JVL Industri Elektronik A/S - User Manual - Integrated Servo Motors MAC050 - 800...
  • Page 249 If this is required, use a spe- cial robot cable (2D or 3D cable). JVL Industri Elektronik A/S - User Manual - Integrated Servo Motors MAC050 - 800...
  • Page 250 PD should only be connected on one of the motors. If one of JVL’s standard RS232 cables (RS232-9-1 or -n) is used between the DSUB con- nector shown and the PC com port, the RX and TX pins must be swapped since they cross in these standard cables.
  • Page 251 Leave open if unused Interface ground (same as main ground). Grey Note 1: See also Dip switch for RS232 TxPD (Transmit pull-down), page 248 (Continued next page) JVL Industri Elektronik A/S - User Manual - Integrated Servo Motors MAC050 - 800...
  • Page 252 If the MAC motor is connected to the same RS232 line as other motors, the terminal TX-PD should only be connected on one of the motors. JVL Industri Elektronik A/S - User Manual - Integrated Servo Motors MAC050 - 800...
  • Page 253 If this is required, use a special robot cable (2D or 3D cable). See also Accessories, page 291 JVL Industri Elektronik A/S - User Manual - Integrated Servo Motors MAC050 - 800...
  • Page 254 JVL Industri Elektronik A/S - User Manual - Integrated Servo Motors MAC050 - 800...

  • Page 255: Appendix

    Appendix JVL Industri Elektronik A/S - User Manual - Integrated Servo Motors MAC050 - 800...

  • Page 256: Technical Data

    32 bit. Infinity, Flip over at ±2 pulses. POSITION (serial communication) Communication facility From PLC, PC etc via RS422 or asynchronous serial port RS232 with special cable. MacTalk JVL commands, special commands with high security. Communication Baud-rate 19200 bit/sec. (19.2kBaud) Position range ±67.000.000...
  • Page 257 32 bit. Infinity, Flip over at ±2 pulses. POSITION (serial communication) Communication facility From PLC, PC etc via RS422 or asynchronous serial port RS232 with special cable. MacTalk JVL commands, special commands with high security. Communication Baud-rate 19200 bit/sec. (19.2kBaud) Position range ±67 000 000...
  • Page 258 32 bit. Infinity, Flip over at ±2 pulses. POSITION (serial communication) Communication facility From PLC, PC etc via RS422 or asynchronous serial port RS232 with special cable. MacTalk JVL commands, special commands with high security. Communication Baud-rate 19200 bit/sec. (19.2kBaud) Position range ±67 000 000...

  • Page 259: Torque Curves

    2000 3000 4000 Oz./Inch MAC141 Torque versus speed 1.75 248.5 177.5 106.5 35.5 TT0911GB 1000 2000 2800 3000 4000 Operation above 2800 RPM is not recommended. JVL Industri Elektronik A/S - User Manual - Integrated Servo Motors MAC050 - 800...
  • Page 260 4000 >3600RPM = Overspeed error = Peak torque = Average torque Oz./Inch MAC800 Torque versus speed 1133 TT0992GB 1000 2000 3000 4000 >3600RPM = Overspeed error JVL Industri Elektronik A/S - User Manual - Integrated Servo Motors MAC050 - 800...

  • Page 261: Efficiency Curve

    3.5W. In the speed range from 0 to 500 RPM this internal power consumption starts to be a dominant part of total power consumption which explains that the efficiency is low- JVL Industri Elektronik A/S - User Manual - Integrated Servo Motors MAC050 - 800...

  • Page 262: Physical Dimensions

    Standard NEMA23 M2.5 mounting hole for expansion 47.15 [1.86"] module. 58.7 [2.31"] Max TT0902GB All dimensions in mm/inch Download CAD drawings from www.jvl.dk/default.asp?Action=Details&Item=426 JVL Industri Elektronik A/S - User Manual - Integrated Servo Motors MAC050 - 800...
  • Page 263 Physical Dimensions Only MAC400 5.4.2 Physical dimensions MAC400 Download CAD drawings from www.jvl.dk/default.asp?Action=Details&Item=426 JVL Industri Elektronik A/S - User Manual - Integrated Servo Motors MAC050 - 800...
  • Page 264 13.8 [0.54"] 201.6 [7.94"] 19.8 [0,78"] MAC800-D3 209 [8.23"] 48.8 [1,92"] MAC800-D4/D5 All dimensions in millimetres/inches MAC800-D6 233.7 [9.2"] 51.8 [2,039"] TT0989GB Download CAD drawings from www.jvl.dk/default.asp?Action=Details&Item=426 JVL Industri Elektronik A/S - User Manual - Integrated Servo Motors MAC050 - 800...

  • Page 265: Life Time

    If the speed is lowered to 300 RPM (10 times lower than the curve is specified at) the lifetime will increase 10 times giving a total of 190000 hours of operation. JVL Industri Elektronik A/S - User Manual - Integrated Servo Motors MAC050 - 800...
  • Page 266 If the speed is lowered to 300 RPM (10 times lower than the curve is specified at) the lifetime will increase 10 times giving a total of 1020000 hours of operation. JVL Industri Elektronik A/S - User Manual - Integrated Servo Motors MAC050 - 800...
  • Page 267 10 times giving a total of 680000 hours of operation. Expected ball bearing life time V.S. distance Life time(hrs) 1000000 100N 200N 300N 400N 500N 100000 10000 1000 Distance (mm) TT1059GB JVL Industri Elektronik A/S - User Manual - Integrated Servo Motors MAC050 - 800...

  • Page 268: Installation Precautions

    MAC800-D6 is offering IP65 protection. To obtain this protection degree it is very im- portant that the various components are mounted and fasten properly according to the illustration below. TT1095GB JVL Industri Elektronik A/S - User Manual - Integrated Servo Motors MAC050 - 800...

  • Page 269: Emergency Stop Considerations

    Machinery Directive and thus also which protective measures are required. It is also the risk assessment that determines whether an emergency stop function is required. JVL Industri Elektronik A/S - User Manual - Integrated Servo Motors MAC050 - 800...
  • Page 270 0. Stop functions shall override related start functions (see §9.2.5.2 in DS/EN 60204-1). Similarly, requirements are specified for the implementation of an emergency stop func- tion: JVL Industri Elektronik A/S - User Manual - Integrated Servo Motors MAC050 - 800...
  • Page 271 The standard prescribes 5 categories: B, 1, 2, 3, and 4, where B represents the lowest level and 4 the highest. JVL Industri Elektronik A/S - User Manual - Integrated Servo Motors MAC050 - 800...
  • Page 272 The achievable PL level in accordance with DS/EN ISO 13849 will depend on the MTTF of the components used; using the solutions shown, typically a minimum PL level d would be achieved. JVL Industri Elektronik A/S - User Manual - Integrated Servo Motors MAC050 - 800...
  • Page 273 The latter solution must be implemented with the same levels of safety as those prescribed by the machine’s risk as- sessment of the guard device implemented. JVL Industri Elektronik A/S - User Manual - Integrated Servo Motors MAC050 - 800...
  • Page 274 JVL Industri Elektronik A/S - User Manual - Integrated Servo Motors MAC050 - 800...

  • Page 275: Trouble-Shooting Guide

    Ensure also that the MacTalk program is the newest version (>V1.21). Both Motor and MacTalk can be updated from the internet using the “Update” menu at the top of the main screen. JVL Industri Elektronik A/S - User Manual - Integrated Servo Motors MAC050 - 800...
  • Page 276 - Check also that the maximum speed is set within the allowable range specified for the actual supply voltage - see Power supply (only MAC050 to 141), page 59 where a graph illustrates the relationship between supply voltage and recommended speed.

  • Page 277: Bus Serial Communication

    5.9.1 Important information concerning RS-232. Be sure to read this before trying to use RS-232 with any of the JVL modules or motors. Also if you do not plan to use multidrop. The widely used RS-232 connection is a point-to-point solution, where two systems are...
  • Page 278 Bus serial communication The typical use scenario is that one PC or PLC is connected to two or more JVL modules and each module has it’s own unique address, so the PC/PLC can address one module at a time and receive an answer on the shared line. It can then address the next module with another address.
  • Page 279 With the JVL MacTalk protocol, this pause can be considered to be two byte-times at 19200 baud and six byte-times at 57600 baud. JVL Industri Elektronik A/S - User Manual - Integrated Servo Motors MAC050 - 800...

  • Page 280: Serial Communication

    (connectors or cables). JVL Industri Elektronik A/S - User Manual - Integrated Servo Motors MAC050 - 800...
  • Page 281 This section does not describe all the bits in detail, but describes the different groups of functions the bits in this register can assume. Note that even though the Error/Status register bits are similar in the MAC050-141 and the MAC800 motors, they are not the same. The bits that have a Control function can be located either in Register 35, Error/Status or in Register 36, ControlBits, at another motor type.
  • Page 282 Velocity mode, where position limits do not apply, and run outside the position range. Another example is bit 9 in the on the MAC050-141 motors. When using FastMac com- mands to transfer one of the P1..P8 register to P_SOLL, bit 9 selects whether to simply copy the value or to add it to the existing contents of P_SOLL.
  • Page 283 (or read) can take up to almost 20 milliseconds at 19200 baud. The normal time is 10.5 to 15 milliseconds for a single register transfer. JVL Industri Elektronik A/S - User Manual - Integrated Servo Motors MAC050 - 800...
  • Page 284 Again, you can substitute a specific motor address for the broadcast address <FF><00>. JVL Industri Elektronik A/S - User Manual - Integrated Servo Motors MAC050 - 800...
  • Page 285 Again, you can substitute a specific motor address for the broadcast address < >< > JVL Industri Elektronik A/S - User Manual - Integrated Servo Motors MAC050 - 800...
  • Page 286 The value 100h (256 decimal) is also used by the Load Defaults function on the Motor menu in MacTalk. JVL Industri Elektronik A/S - User Manual - Integrated Servo Motors MAC050 - 800...

  • Page 287: Mactalk Communication

    Counts/sample² coverable error has occurred. 1000 RPM/s = 4.026 Pulses/Sample² If actual position is within this window, the motor is in INPOSWIN Word Encoder counts position. JVL Industri Elektronik A/S - User Manual - Integrated Servo Motors MAC050 - 800...
  • Page 288 The easiest way to become familiar with the registers and MAC communication is to use the MacRegIO program. This program lists all of the registers, and the serial commands sent and received can be monitored. JVL Industri Elektronik A/S - User Manual - Integrated Servo Motors MAC050 - 800...
  • Page 289 Write 230,000 (38270h) to register 3 (32 bit) to the MAC motor with address 7. Transmit:52h,52h,52h - 07h,F8h - 03h,FCh - 04h,FBh - 70h,8Fh,82h,7Dh,03h,FCh,00h,FFh - AAh, AAh Response:11h,11h,11h JVL Industri Elektronik A/S - User Manual - Integrated Servo Motors MAC050 - 800...
  • Page 290 Transmit:50h,50h,50h - 08h,F7h - 03h,FCh - AAh, AAh Response:52h,52h,52h - 00h,FFh - 05h,F6h - 04h,FBh - 70h,8Fh,82h,7Dh,03h,FCh,00h,FFh - AAh, AAh The value of register 3 was 230,000 (38270h). JVL Industri Elektronik A/S - User Manual - Integrated Servo Motors MAC050 - 800...
  • Page 291 Transmit: 50h,50h,50h - 08h,F7h - 0Ah,F5h - AAh, AAh Response: 52h,52h,52h - 00h,FFh - 0Ah,F5h - 04h,FBh - 08h,F7h,BDh,42h,03h,FCh,00h,FFh - AAh, AAh The position was 245,000 (3BD08h) JVL Industri Elektronik A/S - User Manual - Integrated Servo Motors MAC050 - 800...

  • Page 292: Connecting To Other Equipment

    PLC module in order to let the PLC know what the actual velocity and/or position is. Standard cables: If the MAC00-B4 expansion module with M12 connectors is used, JVL can offer a stand- ard cable type WI0040. This cable connects directly between the MAC00-B4 module and the Jetter JX2-SV1.
  • Page 293 2000 RPM at this voltage. Do not worry, the SV1 module controls and limits the speed correctly. See also Power supply (only MAC050 to 141), page 59. JVL Industri Elektronik A/S - User Manual - Integrated Servo Motors MAC050 - 800...
  • Page 294 MAC (PLC takes care of motor itself interferes with the motor itself interferes with the zero search). PLC control-loop. PLC control-loop. TT0955GB JVL Industri Elektronik A/S - User Manual - Integrated Servo Motors MAC050 - 800...

  • Page 295: Accessories

    MAC50 to 141 Fits directly to the 8-pole I/O connector inside the basic MAC motor. MAC00-CS Passes through the -CS module and connects to the basic MAC motor. JVL Industri Elektronik A/S - User Manual - Integrated Servo Motors MAC050 - 800...
  • Page 296 Other power supplies: JVL offers a wide range of power supplies in the power range 45W up to 1.5kW with the output voltages 24 and 48VDC. They all uses switch-mode technology in order to mini- mize physical dimensions and for easy adaption to mains voltages in the range 90 to 240VAC.

  • Page 297: Ce Declaration Of Conformity

    EMC product standard including specific test methods August 2009 Bo V. Jessen Technical Director JVL Industri Elektronik A/S TT 097 0G B (LX 001 5-03 G B ) JVL Industri Elektronik A/S - User Manual - Integrated Servo Motors MAC050 - 800...
  • Page 298 EMC product standard including specific test methods August 2009 Bo V. Jessen Technical Director JVL Industri Elektronik A/S TT 107 7 G B (LX 00 2 1-0 1 G B ) JVL Industri Elektronik A/S - User Manual - Integrated Servo Motors MAC050 - 800...

  • Page 299: Ul Certificate Of Compliance

    5.15 UL Certificate of Compliance JVL Industri Elektronik A/S - User Manual - Integrated Servo Motors MAC050 - 800...
  • Page 300 JVL Industri Elektronik A/S - User Manual - Integrated Servo Motors MAC050 - 800...
  • Page 301 – – – – – Connector Kit MAC00- Features CONKIT1 Basic operating modes DSUB Overall description – Filter selector basics Interface connection Filter set-up Coil mode JVL Industri Elektronik A/S - User Manual - Integrated Servo Motors MAC050 - 800...
  • Page 302 Node-id, Baud Rate, Termination Position controller Quadrature input – – MAC00-FP2/FP4 Expansion Introduction Modules – – Features – Overall description – Address, Termination IP42 Assembly instruction for profi cables JVL Industri Elektronik A/S - User Manual - Integrated Servo Motors MAC050 - 800...
  • Page 303 – Technical data – Torque curves Using 115V supply Overall description of the MAC motors – MacTalk – – Passive mode – PDOs – – nano-PLC JVL Industri Elektronik A/S - User Manual - Integrated Servo Motors MAC050 - 800...
  • Page 304 Zero search – MAC00-B1/B2/B4 – – Rx (fixed formats) RxP (Graphic programming) – Coil mode Saving, retrieving disk files Index position after zero search Serial communication Modes JVL Industri Elektronik A/S - User Manual - Integrated Servo Motors MAC050 - 800...
  • Page 305 Index Sensor type Sensor type 1 Sensor type 2 Starting a zero search Torque – Zero point offset JVL Industri Elektronik A/S - User Manual - Integrated Servo Motors MAC050 - 800...
  • Page 306 Index JVL Industri Elektronik A/S - User Manual - Integrated Servo Motors MAC050 - 800...

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