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JVL MAC050 User Manual

Integrated servo motors
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MAC050 - MAC141
MAC400 - MAC402 - MAC800
MAC1200 - MAC1500 - MAC3000
MAC4500
Integrated Servo Motors
User Manual
Including expansion modules
JVL A/S
LB0047-39GB
Revised January 2023

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Summary of Contents for JVL MAC050

  • Page 1 MAC050 - MAC141 MAC400 - MAC402 - MAC800 MAC1200 - MAC1500 - MAC3000 MAC4500 Integrated Servo Motors User Manual Including expansion modules JVL A/S LB0047-39GB Revised January 2023...
  • Page 3 This user manual must not be reproduced in any form without prior written permission of JVL A/S. JVL A/S reserves the right to make changes to information contained in this manual without prior notice. Similarly JVL A/S assumes no liability for printing errors or other omissions or discrepancies in this user manual.

  • Page 5: Table Of Contents

    Physical Dimensions ............................365 Life time ................................375 Installation instructions ........................... 378 Emergency stop considerations ........................384 Trouble-shooting guide ........................... 390 Bus serial communication ..........................392 6.10 Serial communication ............................395 JVL A/S - User Manual - Integrated Servo Motors MAC050 - 4500...
  • Page 6 6.15 Cable drawings ..............................450 6.16 Vibration test certificates ..........................452 6.17 CE Declaration of Conformity ........................455 6.18 UL Certificate of Compliance ..........................457 Practical Applications ....................459 Synchronous Movement ..........................460 JVL A/S - User Manual - Integrated Servo Motors MAC050 - 4500...

  • Page 7: Introduction

    Introduction JVL A/S - User Manual - Integrated Servo Motors MAC050 - 4500...

  • Page 8: Features

    Talk available for installation/setup. • High-efficiency power stage keeps temper- ature at a low level. • CE approved. UL recognized (MAC400 and 800/1200 - MAC1500 & 3000 pending) JVL A/S - User Manual - Integrated Servo Motors MAC050 - 4500...

  • Page 9: Overall Description

    Please notice that the MAC400, 402, 800, 1200, 1500, 3000 and MAC4500have 2 supply voltages which offers the possibility to remove energy to the motor but keep having the control core active and thereby keeping position values and other dynamic parameters. JVL A/S - User Manual - Integrated Servo Motors MAC050 - 4500...
  • Page 10 (5.12”x5.12”) (13.0” - 15.5”) The MAC motor is available many different sizes: MAC050, MAC95, MAC140, MAC141- A, MAC141-F, MAC400, MAC800, MAC1200, MAC1500, MAC3000 and MAC4500 with continuous power ratings from 46W to 4500W. The basic functions and I/O features are the same for all models.
  • Page 11 Another typical application is as a slave driver in multi-axis sys- tems with a master position controller for several axes. The update frequency is 521 Hz. Use Analogue Torque (Direct) if a higher bandwidth is required. JVL A/S - User Manual - Integrated Servo Motors MAC050 - 4500...
  • Page 12 The position of the motor will change proportionally with the voltage at the analogue in- put, between the zero position and a predefined position. A typical application could be controlling a valve position using a voltage or a current con- trol signal. JVL A/S - User Manual - Integrated Servo Motors MAC050 - 4500...
  • Page 13 Motor stat. IP55 RS422 (3) Basic MAC motor IP55 (IP66) 19.2kbaud 19.2kbaud 2.5Mhz or 2 x NPN Molex (IP66) 8192 cpr Full Duplex Full Duplex 150kHz (LP) 25mA JVL A/S - User Manual - Integrated Servo Motors MAC050 - 4500...

  • Page 14: 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 15 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 and no print at surface TT1176-03GB JVL A/S - User Manual - Integrated Servo Motors MAC050 - 4500...
  • Page 16 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 A/S - User Manual - Integrated Servo Motors MAC050 - 4500...
  • Page 17 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 A/S - User Manual - Integrated Servo Motors MAC050 - 4500...
  • Page 18 JVL A/S - User Manual - Integrated Servo Motors MAC050 - 4500...

  • Page 19: Function Description

    Function description JVL A/S - User Manual - Integrated Servo Motors MAC050 - 4500...

  • Page 20: 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 A/S - User Manual - Integrated Servo Motors MAC050 - 4500...

  • Page 21: Gear Mode

    Also the “Input type” must be selected. Choose “Quadra- ture” if an incremental encoder is connected or “pulse-direction” if it is a step motor signal. See also Multifunction I/O general description, page 115. JVL A/S - User Manual - Integrated Servo Motors MAC050 - 4500...
  • Page 22 Homing in the MAC motor can be used. Please consult the chapter Mechanical Homing, page JVL A/S - User Manual - Integrated Servo Motors MAC050 - 4500...
  • Page 23 MAC50-141 MAC1200 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 A/S - User Manual - Integrated Servo Motors MAC050 - 4500...

  • Page 24: Coil Mode

    Start traversing right (positive direction) 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 A/S - User Manual - Integrated Servo Motors MAC050 - 4500...
  • Page 25 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 A/S - User Manual - Integrated Servo Motors MAC050 - 4500...
  • Page 26 The general setup, such as selecting maximum velocity, gear ratio and input type setup, is similar to Gear Mode. Only the Coil Mode parameters differ from Gear Mode. For details of the overall setup, please See Gear Mode, page JVL A/S - User Manual - Integrated Servo Motors MAC050 - 4500...

  • Page 27: Analogue Bi Position Mode

    The distance or positions can be setup in 2 internal registers and saved permanently in the motor. Concerning the trigger level at the input and how to change please consult Analogue in- put, page 112 JVL A/S - User Manual - Integrated Servo Motors MAC050 - 4500...

  • Page 28: Analogue To Position Mode

    Counts positive direction “Full range” Offset -10V Input voltage (+/- 10VDC) “Full range” +10V Counts negative direction The 3 parameters in MacTalk most relevant for this mode. TT1182GB JVL A/S - User Manual - Integrated Servo Motors MAC050 - 4500...
  • Page 29 10000 RPM. Note that no pulses are lost if the velocity is limited. They are simply remembered and used when the input frequency falls to a level at which the motor is able to follow. JVL A/S - User Manual - Integrated Servo Motors MAC050 - 4500...
  • Page 30 Homing in the MAC motor can be used. Please consult the chapter Mechanical Hom- ing, page JVL A/S - User Manual - Integrated Servo Motors MAC050 - 4500...
  • Page 31 As a result the “Hysteresis” register is set to 50 counts. Ensure the “Profile data” containing motor “Velocity”, “Acceleration” etc. is set to prop- er values in order not to limit motor operation unintentionally. Setup in MacTalk JVL A/S - User Manual - Integrated Servo Motors MAC050 - 4500...

  • Page 32: Mechanical Homing

    Medium Torque Sensor type 1 Medium Sensor type 2 High Enc. Index High Enc. quick index Medium 2.6.2 Overall Homing mode descriptions Disabled (default) The Homing is disabled. JVL A/S - User Manual - Integrated Servo Motors MAC050 - 4500...
  • Page 33 A command is also available via one of the serial interfaces — please consult the technical manual (LB0048-xx) For more details or see the individual detailed Homing descriptions in the next pages. JVL A/S - User Manual - Integrated Servo Motors MAC050 - 4500...
  • Page 34 - To improve the repeatability precision of the zero point make sure that the mechanical “collision” point is as stiff and well-defined as possible. JVL A/S - User Manual - Integrated Servo Motors MAC050 - 4500...
  • Page 35 The Zero sensor must be connected to the analogue input (AIN), which during Homing functions as a digital input. For connection information and electrical specification, see Analogue input, page 112. JVL A/S - User Manual - Integrated Servo Motors MAC050 - 4500...
  • Page 36 Start the Index Homing Quick: Write the decimal value 26 into the MODE_REG (register 2). This will immediately start the Homing. The value is expressed in 32 bits unsigned. JVL A/S - User Manual - Integrated Servo Motors MAC050 - 4500...
  • Page 37 A velocity expressed as 100 RPM must be written as 277 (1 RPM = 2.77). The value is expressed in 32 bits signed. Concerning setting of Homing position see Making a Zero point offset, page 34 JVL A/S - User Manual - Integrated Servo Motors MAC050 - 4500...
  • Page 38 After the basic homing has is now zero (position 0) been done, the actual Homing complete. position counter is set to the specified value in Homing position. TT0951-01GB TT0951-01GB JVL A/S - User Manual - Integrated Servo Motors MAC050 - 4500...
  • Page 39 Adjustment of the Homing point must be done regardless of which of the Homing methods is selected. The illustration below shows the MacTalk Tests tab which must be used for adjusting the Homing point. TT0975-03GB JVL A/S - User Manual - Integrated Servo Motors MAC050 - 4500...

  • Page 40: Error Messages And Error Handling

    Use this parameter to define the deceleration during an unrecoverable error. Default is 0, meaning that the feature is disabled. JVL A/S - User Manual - Integrated Servo Motors MAC050 - 4500...
  • Page 41 How to return to normal - Reset the motor, clear the error bit(s) in register 35 or cycle operation the power. Error bit / Firmware name Bit 0 / ’I2T_ERR’ JVL A/S - User Manual - Integrated Servo Motors MAC050 - 4500...
  • Page 42 How to return to normal - Reset the motor, clear the error bit(s) in register 35 or cycle operation the power. Error bit / Firmware name Bit 2 / ’FNC_ERR’ JVL A/S - User Manual - Integrated Servo Motors MAC050 - 4500...
  • Page 43 How to return to normal - Reset the motor, clear the error bit(s) in register 35 or cycle operation the power. Error bit / Firmware name Bit 7 / ’PLIM_ERR’ JVL A/S - User Manual - Integrated Servo Motors MAC050 - 4500...
  • Page 44 See also the chapter Under Voltage Handling, page Error bit / Firmware name Bit 9 / ’UV_ERR’ Error message 11 do not exist since bits are used for other status purposes. JVL A/S - User Manual - Integrated Servo Motors MAC050 - 4500...
  • Page 45 How to return to normal - Reset the motor, clear the error bit(s) in register 35 or cycle operation the power. Error bit / Firmware name Bit 11 / ’OV_ERR’ JVL A/S - User Manual - Integrated Servo Motors MAC050 - 4500...
  • Page 46 How to return to normal - This error type is not software resetable. Cycle the control operation voltage (24VDC). Error bit / Firmware name Bit 12 / ’IPEAK_ERR’ JVL A/S - User Manual - Integrated Servo Motors MAC050 - 4500...
  • Page 47 How to return to normal - Reset the motor, clear the error bit(s) in register 35 or cycle operation the power. Error bit / Firmware name Bit 15 / ’SSI_ERR’ JVL A/S - User Manual - Integrated Servo Motors MAC050 - 4500...
  • Page 48 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 A/S - User Manual - Integrated Servo Motors MAC050 - 4500...
  • Page 49 - 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 A/S - User Manual - Integrated Servo Motors MAC050 - 4500...
  • Page 50 How to return to normal - Reset the motor, clear the error bit(s) in register 35 or cycle operation the 24VDC power. Error bit / Firmware name Bit 23 / ’SLAVE_ERR’ JVL A/S - User Manual - Integrated Servo Motors MAC050 - 4500...

  • Page 51: 2.8 How To Monitor Motor Torque And Load

    The I2T register can also be useful to monitor the load over time to see if me- chanics starts to have an unintended higher friction compared to the installation date. JVL A/S - User Manual - Integrated Servo Motors MAC050 - 4500...

  • Page 52: 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 A/S - User Manual - Integrated Servo Motors MAC050 - 4500...

  • Page 53: Servo Filter Adjustment

    When the motor starts to rotate, it will not “sense” the payload before the backlash dis- tance is passed and the belt is tightened. It is therefore not a linear system and the LOAD cannot be increased as much as in theory. JVL A/S - User Manual - Integrated Servo Motors MAC050 - 4500...
  • Page 54 The filter selector is in principle the same for the complete MAC motor range except that the 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 A/S - User Manual - Integrated Servo Motors MAC050 - 4500...
  • Page 55 Adjusting the current filter (only MAC050 to 141-A) The current filter is adjustable in the MAC050 to MAC141-A models. This feature is use- ful 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 56 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 A/S - User Manual - Integrated Servo Motors MAC050 - 4500...
  • Page 57 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 A/S - User Manual - Integrated Servo Motors MAC050 - 4500...
  • Page 58 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 JVL A/S - User Manual - Integrated Servo Motors MAC050 - 4500...

  • Page 59: Using External Ssi Encoder

    Clock stays high. In the MAC-motor several registers are available for storing values for different purpos- es. Position registers P1-P8 (available from MacTalk etc.) are used to hold SSI positions. JVL A/S - User Manual - Integrated Servo Motors MAC050 - 4500...
  • Page 60 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 A/S - User Manual - Integrated Servo Motors MAC050 - 4500...
  • Page 61 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 A/S - User Manual - Integrated Servo Motors MAC050 - 4500...
  • Page 62 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 A/S - User Manual - Integrated Servo Motors MAC050 - 4500...
  • Page 63 To do a software reset simply write register 211 = 1 and let the motor start-up. The reading and the start-up will take approximately 1-2 seconds. JVL A/S - User Manual - Integrated Servo Motors MAC050 - 4500...
  • Page 64 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 A/S - User Manual - Integrated Servo Motors MAC050 - 4500...

  • Page 65: Absolute Multiturn Encoder

    The full description of the extended encoder operation can be found in the section tended encoder operation - detailed description., page 66 JVL A/S - User Manual - Integrated Servo Motors MAC050 - 4500...
  • Page 66 4. Press the “Reset position” button to reset the “Actual position” (P_IST) and press the “Save in Motor” button in order to store the zero point setting permanent in the mo- tor. JVL A/S - User Manual - Integrated Servo Motors MAC050 - 4500...
  • Page 67 Actual (motor) position (P_IST) = -16.735.232 + (-16.000.000) Actual (motor) position (P_IST) = -32.735.232! Which is not exactly what was expected, because the encoder passed its working range. JVL A/S - User Manual - Integrated Servo Motors MAC050 - 4500...
  • Page 68 Of cause resetting outside the recommended range is possible but care must be taken. Trying to reset the motor position in the red area results in a warning dialog that appears in MacTalk. JVL A/S - User Manual - Integrated Servo Motors MAC050 - 4500...
  • Page 69 Please notice that if the value is not stored in the flash memory the zero point is lost after a power cycle. JVL A/S - User Manual - Integrated Servo Motors MAC050 - 4500...
  • Page 70 “Reset position”. After doing this the actual motor position will be set to 0. 3. Finish the setup by pressing the “Save in Motor” in order to store the settings per- manently in the motor. JVL A/S - User Manual - Integrated Servo Motors MAC050 - 4500...
  • Page 71 8192. The resolution can optionally be set to 8000 by setting bit 21 in register 39 (HW_- SETUP).Remember to save the change in flash memory according to step 4 shown above. JVL A/S - User Manual - Integrated Servo Motors MAC050 - 4500...
  • Page 72 3. Execute a FastMac command that 'activates' the Px register. See the section for your specific MAC00-xx interface module on how to execute FastMac commands. This type of relative movement will not change P_SOLL, so no wrap-around handling is needed. JVL A/S - User Manual - Integrated Servo Motors MAC050 - 4500...
  • Page 73 Insert this little program if motor direction is set to normal Insert this little program if motor direction is set to «inverted» TT1549-01GB JVL A/S - User Manual - Integrated Servo Motors MAC050 - 4500...

  • Page 74: Electro Mechanical Brake

    Setting bit 7 in Reg. 36 makes it possible to disable the brake, so that the motor can run freely regardless which mode or condition the motor is in. JVL A/S - User Manual - Integrated Servo Motors MAC050 - 4500...

  • Page 75: Rotary Table Option

    To make a full turn in CW or CCW mode, a multiturn operation is supported see following illustration. The registers normally used for software position limits are used to define the rotary table working range in rotary table operation. JVL A/S - User Manual - Integrated Servo Motors MAC050 - 4500...
  • Page 76 - Multiturn CW rotation (4). Values below working range minimum are limited to the minimum. - Multiturn CCW rotation (5). Values above working range maximum are limited to the maximum. JVL A/S - User Manual - Integrated Servo Motors MAC050 - 4500...
  • Page 77 Both in encoder counts. Both values are refering to the zero position found during the optional Homing or alternatively the zero point defined if using an absolute multiturn encoder. TT1185-01GB JVL A/S - User Manual - Integrated Servo Motors MAC050 - 4500...
  • Page 78 P_SOLL. Important: Please remember to save the setup in permanent memory (Save in Motor) before the setup is applied and used by the motor. JVL A/S - User Manual - Integrated Servo Motors MAC050 - 4500...
  • Page 79 In case the rotary table position range does not include the start up value, the start up value is modified by adding or subtracting N times the number of valid position in the ro- tary table position range until it is inside this range. JVL A/S - User Manual - Integrated Servo Motors MAC050 - 4500...
  • Page 80 It is generally recommended to set the maximum velocity V_SOLL, to zero when exiting a JOG operation and update P_IST and P_SOLL to desired values before setting V_SOLL back to a non-zero value. JVL A/S - User Manual - Integrated Servo Motors MAC050 - 4500...

  • Page 81: Power Save

    In Position window long enough to re- sume the original active mode. This issue can be reduced by selecting a better value for the In Position window register. JVL A/S - User Manual - Integrated Servo Motors MAC050 - 4500...

  • Page 82: Safe Torque Off (Sto)

    The person that install and service the motor must have a general knowledge con- cerning electrical equipment and safety functions. The STO function is considered as functional and reliable for 20 years. JVL A/S - User Manual - Integrated Servo Motors MAC050 - 4500...
  • Page 83 STO func- tion is active or not. 2.16.4 STO cabling. JVL offers a standard 5m long cable with 3 pin M8 connector in one end and flying leads in the other end. The part no. is WI1010-M08M3T05P. 2.16.5...

  • Page 84: Silent Mode

    Silence mode enabled level 14 Silence mode enabled level 15 - Maximum noise reduction At the moment its not possible to control the silent mode from the MacTalk. (Continued on next page.) JVL A/S - User Manual - Integrated Servo Motors MAC050 - 4500...
  • Page 85 At the moment it is not possible to control the PWM frequency from the JVL MacTalk program. JVL A/S - User Manual - Integrated Servo Motors MAC050 - 4500...

  • Page 86: High Resolution Velocity

    2.18.2 Function description Traditionally, the JVL MAC motors have used an internal resolution 16 times higher than the physical encoder resolution of 8000/8192 pulses per revolution. This allows the user to select target/maximum velocity and acceleration with a 16 times higher resolution.
  • Page 87 Please be aware of marginal rounding differences between classic mode and high-reso- lution modes. This can mean some applications must be fine-tuned to reach the same maximum velocity and acceleration. JVL A/S - User Manual - Integrated Servo Motors MAC050 - 4500...
  • Page 88 FastMac command 17: Relative position offset P7 FastMac command 18: Relative position offset P8 FastMac command 23: Synchronize positions using P_NEW, absolute FastMac command 24: Synchronize positions using P_NEW, relative JVL A/S - User Manual - Integrated Servo Motors MAC050 - 4500...
  • Page 89 Index Homing mode 1 (slow, high precision) Index Homing mode 2 (fast, lower precision) Synchronize Positions (manually) Synchronize Positions (manually, using P_NEW) In-Position status bit calculation (also at-velocity status bit calculation) JVL A/S - User Manual - Integrated Servo Motors MAC050 - 4500...

  • Page 90: How To Update The Motor Firmware

    Hint!: Some older products may not start after pushing the “start” button showed above. If this is the case simply switch off power wait 5 seconds and reapply power. The update should now start. JVL A/S - User Manual - Integrated Servo Motors MAC050 - 4500...

  • Page 91: Hardware Description

    Hardware description JVL A/S - User Manual - Integrated Servo Motors MAC050 - 4500...

  • Page 92: Connector Overview

    How to connect power supply (only MAC400), page 93 How to connect the power supply (MAC800/1200), page 102. A connector kit is available “MAC00-CONKIT1”. See Accessories, page 448. JVL A/S - User Manual - Integrated Servo Motors MAC050 - 4500...

  • Page 93: Power Supply

    2 of the Power Supply connector. The overall earth- ing of the system must be done at a central point close to the power supply. JVL A/S - User Manual - Integrated Servo Motors MAC050 - 4500...
  • Page 94 Dimensioning power supply and fuse (Only MAC050 to 141) The power supply must be dimensioned according to the actual motor size (MAC050, 95, 140 or 141). The size of the pre-fuse also depends on the actual model of the MAC motor.
  • Page 95 -200 When decreasing speed - power (energy) will be returned to the supply and cause -300 a negative current flowing in the supply line. TT1276-02GB JVL A/S - User Manual - Integrated Servo Motors MAC050 - 4500...
  • Page 96 “overvoltage” is monitored, an external power dump resistor must be connect- ed between the terminals PD and BO. 3.2.7 Emergency stop Please consult the chapter: Emergency stop considerations, page 384 JVL A/S - User Manual - Integrated Servo Motors MAC050 - 4500...
  • Page 97 Make sure that the machine part on which the MAC400 is mounted is properly grounded to the main part (body) of the machine in order to avoid major ground/earth current to flow through the motor and cause interference to other signal groups. JVL A/S - User Manual - Integrated Servo Motors MAC050 - 4500...
  • Page 98 Ensure that the resistor value is between 33 to 68 Ohm/50W since the output otherwise can be damaged. Also avoid short-circuit of the output. CAUTION - Risk of electric shock. Disconnect all power and wait 5 min. before servicing JVL A/S - User Manual - Integrated Servo Motors MAC050 - 4500...
  • Page 99 Input supply cable type: WP0402, WP0405, WP0420 Blue Neutral / 0 Grn./Yel. Earth “ ” Brown Input 230VAC (phase) General information: Make sure that any unused wires are isolated and stay unconnected TT1194GB JVL A/S - User Manual - Integrated Servo Motors MAC050 - 4500...
  • Page 100 Brake resistor/DC bus 7830.4000.00 WG0231 degree housing. Metal protection cap. Mounted Brake resistor/DC bus 7010.9001.62 WG0224 if connector is not in use Crimp tool 7.000.900.904 Not for sale JVL A/S - User Manual - Integrated Servo Motors MAC050 - 4500...
  • Page 101 “overvoltage” is monitored, an external power dump unit must be connected such as the JVL type PSU00-PD1. See also Power Supplies, page 449. 3.2.15 Emergency stop Please consult the chapter: Emergency stop considerations, page 384 JVL A/S - User Manual - Integrated Servo Motors MAC050 - 4500...
  • Page 102 (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 A/S - User Manual - Integrated Servo Motors MAC050 - 4500...
  • Page 103 M- (GND) M- (GND) M- (GND) Earth “ ” Screen - (connect to GND) General information: Make sure that any unused wires are isolated and stay unconnected TT1275GB JVL A/S - User Manual - Integrated Servo Motors MAC050 - 4500...
  • Page 104 5.0 to 9.0mm / 0.2” to 0.53” Use 1 pcs. per connector. Optional - same as above but 90 Power 8-48VDC 7830.4000.00 WG0231 degree housing. Crimp tool 7000.9009.04 Not for sale JVL A/S - User Manual - Integrated Servo Motors MAC050 - 4500...
  • Page 105 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 A/S - User Manual - Integrated Servo Motors MAC050 - 4500...
  • Page 106 (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 A/S - User Manual - Integrated Servo Motors MAC050 - 4500...
  • Page 107 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 (MAC800 and MAC1200), page 101 JVL A/S - User Manual - Integrated Servo Motors MAC050 - 4500...
  • Page 108 Ensure that the resistor value is not lower than 33 Ohm since the output can be damaged. Also avoid short-circuit of the output. CAUTION - Risk of electric shock. Disconnect all power and wait 5 min. before servicing JVL A/S - User Manual - Integrated Servo Motors MAC050 - 4500...
  • Page 109 The internal power dump is intended to cover 90% of all applications but if the error message “overvoltage” is monitored, an external power dump resistor must be connect- ed between the terminals PD and BO. JVL A/S - User Manual - Integrated Servo Motors MAC050 - 4500...
  • Page 110 Please notice that the current values shown above is nominal values. Higher values may appear depending on the quality of the supply. 3.2.30 Emergency stop Please consult the chapter: Emergency stop considerations, page 384 JVL A/S - User Manual - Integrated Servo Motors MAC050 - 4500...
  • Page 111 (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 A/S - User Manual - Integrated Servo Motors MAC050 - 4500...
  • Page 112 Pin 4: Not in use - Do not connect ! Pin 6: CM (Common / bus ground) : PE (Earth) Pin 2: BO (Bus out 560-680VDC) Pin 1: PD (Power dump output) JVL A/S - User Manual - Integrated Servo Motors MAC050 - 4500...
  • Page 113 7.0 to 12.0mm / 0.28” to 0.47” Use 1 pcs. per connector. Brake resistor/ Metal protection cap. Mounted 7.010.908.102 WG0252 DC bus if connector is not in use Crimp tool 7.000.900.901 Not for sale JVL A/S - User Manual - Integrated Servo Motors MAC050 - 4500...
  • Page 114 Input supply cable type: WP3405 Input 400-480VAC (ph.L1) Input 400-480VAC (ph.L2) Input 400-480VAC (ph.L3) Earth “ ” Grn./Yel. General information: Make sure that any unused wires are isolated and stay unconnected TT1250GB JVL A/S - User Manual - Integrated Servo Motors MAC050 - 4500...

  • Page 115: Serial Interface

    If the Basic MAC motor is implemented in an OEM application where an internal proces- sor communicates with the MAC motor, the TX and RX terminals can normally interface directly. JVL A/S - User Manual - Integrated Servo Motors MAC050 - 4500...

  • Page 116: 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 A/S - User Manual - Integrated Servo Motors MAC050 - 4500...
  • Page 117 If 5V is desired as trigger level an offset voltage of 7.5V - 5V = +2.5 must be inserted in the offset register. Below is shown how this is done in MacTalk. TT1177-01GB JVL A/S - User Manual - Integrated Servo Motors MAC050 - 4500...
  • Page 118 (!): 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 A/S - User Manual - Integrated Servo Motors MAC050 - 4500...
  • Page 119 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 A/S - User Manual - Integrated Servo Motors MAC050 - 4500...
  • Page 120 TT0928GB See also the descriptions of Gear and Analogue Velocity/Gear modes for further details about functionality. JVL A/S - User Manual - Integrated Servo Motors MAC050 - 4500...
  • Page 121 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 A/S - User Manual - Integrated Servo Motors MAC050 - 4500...
  • Page 122 The Multifunction I/O’s must be set up in MacTalk to function as a serial communication interface. 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 A/S - User Manual - Integrated Servo Motors MAC050 - 4500...

  • Page 123: Mactalk Setup Software

    MacTalk setup software JVL A/S - User Manual - Integrated Servo Motors MAC050 - 4500...

  • Page 124: Installation Of Mactalk

    Once you have obtained the MacTalk software / commissioning tool, it is time for instal- lation. This is done by running the downloaded MacTalk Setup file. Ex. MAC_TALK_1_90_019_INSTALL.zip JVL A/S - User Manual - Integrated Servo Motors MAC050 - 4500...
  • Page 125 Step 5 After MacTalk have restarted the version number of the new MacTalk can be observed in the top of the screen. The complete update is finished !. TT2342-02GB JVL A/S - User Manual - Integrated Servo Motors MAC050 - 4500...
  • Page 126 Uninstallation of MacTalk SW can either be done by running unins000.exe in the MacTalk installation folder. (Ex. C:\Program Files (x86)\JVL\MacTalk\unins000.exe) or the usual windows method. Settings -> Apps -> Select MacTalk 1.90.019 and click on the Unin- stall button. JVL A/S - User Manual - Integrated Servo Motors MAC050 - 4500...

  • Page 127: Using Mactalk To Setup The Motor

    The following pages describe the actual window for each mode and how the parameters affect the MAC motor operation. JVL A/S - User Manual - Integrated Servo Motors MAC050 - 4500...
  • Page 128 Warning! Do not consider this button as an appropriate Emergency stop. Always fit an Emergency stop circuitry to your motor setup. [What’s New...] Shows what have been added changed since last MacTalk® version. JVL A/S - User Manual - Integrated Servo Motors MAC050 - 4500...
  • Page 129 TT1151GB Pressing “OK” disconnects the motor from the PC application and all data can be edited without any interruption in the motor. The following MacTalk view is presented. JVL A/S - User Manual - Integrated Servo Motors MAC050 - 4500...
  • Page 130 The following warning message box appears. TT1154GB Choosing “No” will immediately upload all motor data, pressing “Yes” will save all data in the open file. JVL A/S - User Manual - Integrated Servo Motors MAC050 - 4500...
  • Page 131 Quiet mode On/Off User Refresh Accept Quiet mode TT1289GB Background functionality, such as overload protection, is still active in the motor. The internal ePLC program will also continue to run. JVL A/S - User Manual - Integrated Servo Motors MAC050 - 4500...
  • Page 132 PC at the same time. Important: Make sure that no other communication takes place, when using the Test function since it may interrupt the function of the test. JVL A/S - User Manual - Integrated Servo Motors MAC050 - 4500...
  • Page 133 Modify highlighted register ie 6-Acceleration Add a register number to the list Dump all register Activate Register setup values to disc from disc Save selected register setup to disc TT1260GB JVL A/S - User Manual - Integrated Servo Motors MAC050 - 4500...
  • Page 134 Sampling of data can be set-up to be based upon changes or on a timer. Captured data can be saved to a file (Text or CSV) via File->Save Captured as... JVL A/S - User Manual - Integrated Servo Motors MAC050 - 4500...

  • Page 135: Mactalk Scope Usage

    The Default icon can also be used. All settings will return to default view of data. Different colours can be applied to the graph data and scales. Double click on the ‘Reg- ister name’ and select the preferred colour. JVL A/S - User Manual - Integrated Servo Motors MAC050 - 4500...
  • Page 136 Note that values for Actual torque is very hard to see variation. In this specific case, it would be a good idea to add a scale for Actual torque. JVL A/S - User Manual - Integrated Servo Motors MAC050 - 4500...
  • Page 137 When saving scope data using the MacTalk® Scope Data Format (.scopeData), you will be able to reload the recording back into MacTalk. Reloaded scope data can still be saved as .CSV or .BMP, if needed. JVL A/S - User Manual - Integrated Servo Motors MAC050 - 4500...
  • Page 138 Capture will start when a bit in a register changes to High or Low. A typical scenario: Trigger recording of data, when Error/status Bit 24 is set or reset. JVL A/S - User Manual - Integrated Servo Motors MAC050 - 4500...
  • Page 139 Now the trigger is not armed before the Actual velocity has been under 600rpm. Subsequently the trigger will be activated when the Actual velocity again rises beyond 600rpm. If unchecked, the trigger is based on a static value evaluation. JVL A/S - User Manual - Integrated Servo Motors MAC050 - 4500...

  • Page 140: Message Center

    The idea behind the Message Center is to track what happened prior to a Warning or an Error. This enables the user to create flawless ePLC programs and valid motor setup. TT1603GB JVL A/S - User Manual - Integrated Servo Motors MAC050 - 4500...

  • Page 141: Expansion Modules

    Expansion Modules JVL A/S - User Manual - Integrated Servo Motors MAC050 - 4500...

  • Page 142: Expansion Module 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: Hardware description, page 87 JVL A/S - User Manual - Integrated Servo Motors MAC050 - 4500...

  • Page 143: Expansion Module 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 A/S - User Manual - Integrated Servo Motors MAC050 - 4500...
  • Page 144 Also in “Air Cylinder Mode” the analogue in- put is used as a trigger input. For a functional description, please refer to General Analogue input (AIN) description when using MAC00-Bx, page 143. (continued) JVL A/S - User Manual - Integrated Servo Motors MAC050 - 4500...
  • Page 145 RS232 is not recommended for long dis- tances (>10m). The MAC motor uses “binary” communication protocol which makes it possible to ac- cess all the internal registers. Please consult section 6.11 for further details. JVL A/S - User Manual - Integrated Servo Motors MAC050 - 4500...
  • Page 146 Power Supply Control voltage Only MAC50-141 with B2 or B4 (Optional) MAC800 Motor with MAC00-B1, B2 or B4 Power Max. 32VDC ! Supply Mains 230VAC Main supply TT1053GB JVL A/S - User Manual - Integrated Servo Motors MAC050 - 4500...
  • Page 147 For further information concerning physical connections, see the individual chapters for each module type: General description MAC00-B1, page 148, General description MAC00- B2, page 149, or General description MAC00-B4, page 151. JVL A/S - User Manual - Integrated Servo Motors MAC050 - 4500...
  • Page 148 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 A/S - User Manual - Integrated Servo Motors MAC050 - 4500...
  • Page 149 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 A/S - User Manual - Integrated Servo Motors MAC050 - 4500...
  • Page 150 If used, the B+ terminal must be connected in the same manner as the A+ terminal. T T 0 9 4 2 G B JVL A/S - User Manual - Integrated Servo Motors MAC050 - 4500...
  • Page 151 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 A/S - User Manual - Integrated Servo Motors MAC050 - 4500...
  • Page 152 RS232 Interface between MAC motor and a PC. Apply +18-32VDC (max 32V!) 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 A/S - User Manual - Integrated Servo Motors MAC050 - 4500...
  • Page 153 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 154 Important: Please note that the cables are a standard type. They are not recommend- ed for use in cable chains or where the cable is repeatedly bent. If this is required, use a special robot cable (2D or 3D cable). JVL A/S - User Manual - Integrated Servo Motors MAC050 - 4500...
  • Page 155 TT1015-02GB 5.2.15 General description MAC00-B4 The MAC00-B4 expansion module is protection class IP67 (MAC050-141) and is basically similar to the B1 and B2 modules except that it offers M12 circular industrial connectors which makes the module flexible and robust. Additional features are:...
  • Page 156 RS485 interface. Leave open if unused Black Interface ground (same as main ground). Grey For complete drawings of the M12 cables please see the appendix Cable drawings, page 450. JVL A/S - User Manual - Integrated Servo Motors MAC050 - 4500...
  • Page 157 ON/OFF 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 A/S - User Manual - Integrated Servo Motors MAC050 - 4500...
  • Page 158 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 A/S - User Manual - Integrated Servo Motors MAC050 - 4500...

  • Page 159: Expansion Module Mac00-B41

    • MAC800 but only in newer versions with serial numbers >85000. • MAC1200 to MAC4500 Please notice that the module is NOT recommended to be used in the MAC050 to 141 motors since the following I/O terminals will not be active: IO1 to IO6, AIN2, (USB) and Multifunction 2 (A2/B2).
  • Page 160 Also in “Air Cylinder Mode” the analogue input is used as a trigger input. For a functional description, please refer to Analogue input, page 112. (continued) JVL A/S - User Manual - Integrated Servo Motors MAC050 - 4500...
  • Page 161 Littlefuse type “451-10A” 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 A/S - User Manual - Integrated Servo Motors MAC050 - 4500...
  • Page 162 Supply 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 A/S - User Manual - Integrated Servo Motors MAC050 - 4500...
  • Page 163 Homing or in “Air Cylinder Mode” where it is used as trigger input for the movement done by the motor. For further information concerning physical connections, see the Expansion MAC00-B41 connector description, page 169. JVL A/S - User Manual - Integrated Servo Motors MAC050 - 4500...
  • Page 164 To see the specific connector pin-out please see the chapter Expansion MAC00-B41 con- nector description, page 169. A finished RS232 cable also exist. Please see Cables for the MAC00-B41, page 171 JVL A/S - User Manual - Integrated Servo Motors MAC050 - 4500...
  • Page 165 B4, B41 contain this feature. See the individual module descriptions. MAC00-B41, page 171 *** Each unit connected must be setup with an address via The MacTalk program. If only one unit is connected no address is needed. JVL A/S - User Manual - Integrated Servo Motors MAC050 - 4500...
  • Page 166 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 A/S - User Manual - Integrated Servo Motors MAC050 - 4500...
  • Page 167 If used, the B+ terminal must be connected in the same manner as the A+ terminal. T T 1 1 4 1 G B The negative input terminals ( Bx-) must be left unconnected. JVL A/S - User Manual - Integrated Servo Motors MAC050 - 4500...
  • Page 168 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 A/S - User Manual - Integrated Servo Motors MAC050 - 4500...
  • Page 169 If possible avoid connecting the terminals to the cable since internal capacitances in the cable can interfere T T 1 1 8 9 G B Continued next page. JVL A/S - User Manual - Integrated Servo Motors MAC050 - 4500...
  • Page 170 Please see the general gear mode description - Gear Mode - overall description, page 17 Now the motor should move accordingly to the connected external encoder using the Gear mode. (Continued next page) JVL A/S - User Manual - Integrated Servo Motors MAC050 - 4500...
  • Page 171 Passive mode Gear mode depending on the state of input 1 selected above. Select the Registers TT1191GB (Continued next page) JVL A/S - User Manual - Integrated Servo Motors MAC050 - 4500...
  • Page 172 2 is active. Note that the unit will toggle from RPM to cnt./smp. when activated by the mouse Select the Registers TT1192GB JVL A/S - User Manual - Integrated Servo Motors MAC050 - 4500...
  • Page 173 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 A/S - User Manual - Integrated Servo Motors MAC050 - 4500...
  • Page 174 Multifunction I/O2 terminal A2- Grey 5V out - max 100mA Multifunction I/O2 terminal B2- Violet AIN1 Analogue input1 ±10V or used for Homing Grey/pink AIN2 Analogue input2 ±10V Red/blue JVL A/S - User Manual - Integrated Servo Motors MAC050 - 4500...
  • Page 175 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 A/S - User Manual - Integrated Servo Motors MAC050 - 4500...

  • Page 176: Expansion Module Mac00-B42

    • MAC800 but only in newer versions with serial numbers >85000. • MAC1500 - 4500 Please notice that the module is NOT recommended to be used in the MAC050 to 141 motors since the following I/O terminals will not be active: IN1 to IN8 and O1 to O4.
  • Page 177 Also in “Air Cylinder Mode” the analogue input is used as a trigger input. For a functional description, please refer to Analogue input, page 112. (continued) JVL A/S - User Manual - Integrated Servo Motors MAC050 - 4500...
  • Page 178 Therefore the description of the commands and how to build an ePLC program can be found on the pages MAC00-RxP Main window, page 315 How to build a program, page 317. JVL A/S - User Manual - Integrated Servo Motors MAC050 - 4500...
  • Page 179 RS485 A- Black Leave open if unused Interface ground (same as main ground). Grey Note 1: See also Dip switch for RS485 active termination, page 176 (Continued next page) JVL A/S - User Manual - Integrated Servo Motors MAC050 - 4500...
  • Page 180 If the MAC motor is connected to other units at a RS485 line the last unit in each end of the line must have the termination dip switches activated. JVL A/S - User Manual - Integrated Servo Motors MAC050 - 4500...
  • Page 181 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). See also Accessories, page 448 JVL A/S - User Manual - Integrated Servo Motors MAC050 - 4500...

  • Page 182: Expansion Module Mac00-Exx4

    Following Ethernet modules are available: EthernetIP, ProfiNET, EtherCAT, Powerlink and soon available Sercos III. MAC800 users - Important: Please notice that MAC800 motors with a serial number lower than 85000 do NOT support the Ethernet modules. JVL A/S - User Manual - Integrated Servo Motors MAC050 - 4500...

  • Page 183: 5.6 Expansion Mod. Mac00-Fc2/Fc4/Fc41

    How to connect and cables for the modules section 5.6.60 section 5.6.66 Section with more detail explanations to the CANopen® theory, particularly DS- 301. From section section 5.6.53 section 5.6.59. JVL A/S - User Manual - Integrated Servo Motors MAC050 - 4500...
  • Page 184 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/standardization/specifications/ JVL A/S - User Manual - Integrated Servo Motors MAC050 - 4500...
  • Page 185 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 A/S - User Manual - Integrated Servo Motors MAC050 - 4500...
  • Page 186 11-bit Header are also designated as the identifier or as the COB-ID (Communication Object identifier). JVL uses 11-bit format type CAN A, but not 29-bit format type CAN B. The COB-ID carries out two task for the controller communication object.
  • Page 187 In see Cables, page 448 of this chapter there is an overview showing various JVL standard cables. All the JVL cables are twisted and shielded. For bus lenghts greater than 1 km, a bridge or repeater device is recommended. galvanic isolation between the bus nodes is optional.
  • Page 188 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/FC41.
  • Page 189 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 A/S - User Manual - Integrated Servo Motors MAC050 - 4500...
  • Page 190 OFF OFF 59 OFF ON OFF ON OFF OFF ON OFF ON OFF ON OFF OFF OFF OFF ON OFF 61 OFF ON OFF ON Table continued on next page JVL A/S - User Manual - Integrated Servo Motors MAC050 - 4500...
  • Page 191 OFF ON OFF OFF OFF ON OFF OFF 125 OFF ON OFF ON OFF ON OFF ON OFF 127 Node id will be the same as for the motor JVL A/S - User Manual - Integrated Servo Motors MAC050 - 4500...
  • Page 192 The figure below shows the termination selection: The factory default settings are OFF on both dip switches, an the line termination are off. JVL A/S - User Manual - Integrated Servo Motors MAC050 - 4500...
  • Page 193 (GND) Optional CAN Ground Pin 6 CAN_H CAN_H bus line (High) Pin 4 Pin 7 Reserved (error line) Pin 8 CAN_V+ Optional CAN ext. + supply Pin 9 JVL A/S - User Manual - Integrated Servo Motors MAC050 - 4500...
  • Page 194 MAC module are connected via the RS232 interface on the MAC mod- ule. To set up the master, download the EDS file from the JVL web-page. This file contains all register set-up in the MAC module. The node-ID, the Baud-rate,...
  • Page 195 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 A/S - User Manual - Integrated Servo Motors MAC050 - 4500...
  • Page 196 Sets up the desired velocity 200h The motor rotates the Encoder P_SOLL 32 bit desired numbers of -20000h count encoder pulses Sets the motor Mode_Reg 16 bit in passive mode JVL A/S - User Manual - Integrated Servo Motors MAC050 - 4500...
  • Page 197 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 A/S - User Manual - Integrated Servo Motors MAC050 - 4500...
  • Page 198 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 A/S - User Manual - Integrated Servo Motors MAC050 - 4500...
  • Page 199 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 A/S - User Manual - Integrated Servo Motors MAC050 - 4500...
  • Page 200 JVLs vendor ID. Mandatory. UNSIGNED32 0x0100h Product Code, identifies a specific device version. The MAC00-FCxx has the product code 100h UNSIGNED32 0x20020h Revision number. UNSIGNED32 Serial number JVL A/S - User Manual - Integrated Servo Motors MAC050 - 4500...
  • Page 201 Error Class Bit 0 Generic error. Mandatory Current (not supported) Voltage (not supported) Temperature (not supported) Communication (Overrun) - (not supported) Device profile specific (not supported) Reserved Manufactor specific JVL A/S - User Manual - Integrated Servo Motors MAC050 - 4500...
  • Page 202 Bit 0 Overload Bit 1 Follow error Bit 2 Function error Bit 3 Regenerative error Bit 4 In position Bit 5 Accelerating Bit 6 Decelerating Bit 7 Position JVL A/S - User Manual - Integrated Servo Motors MAC050 - 4500...
  • Page 203 After the module has started up and there is communication between the master and the slave, then turn on the wanted error control mechanism in the object Dictionary. JVL A/S - User Manual - Integrated Servo Motors MAC050 - 4500...
  • Page 204 Reset communication error 3 + 4 Reserved for MacTalk debugging Reset module only - the basic motor will not be reset Sync. reset module + motor 7-255 Reserved JVL A/S - User Manual - Integrated Servo Motors MAC050 - 4500...
  • Page 205 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 infor- mation. JVL A/S - User Manual - Integrated Servo Motors MAC050 - 4500...
  • Page 206 With this object the active level of the inputs can be selected. When bit x = 0, the input is active low and when bit x = 1, the input is active high.The default setup for the output is active high. Input Reserved JVL A/S - User Manual - Integrated Servo Motors MAC050 - 4500...
  • Page 207 Endless relative: When this bit is 1, the endless relative position mode is used when doing relative positioning in DSP402. When using this mode, absolute po- sitioning can no longer be used. JVL A/S - User Manual - Integrated Servo Motors MAC050 - 4500...
  • Page 208 If set non-zero, holds the register number to be transmitted in TxPDO24. This will automatically change the length of TxPDO24 from 2 to 6 bytes. 5.6.36 Object 2011h – Subindex 0Fh UserReg16RcvData (U16) Reserved for future use. JVL A/S - User Manual - Integrated Servo Motors MAC050 - 4500...
  • Page 209 This condition can only be reset over CAN – not from the built-in motor program or MacTalk. After power on, or software/hardware reset, the errors will also be cleared. JVL A/S - User Manual - Integrated Servo Motors MAC050 - 4500...
  • Page 210 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 A/S - User Manual - Integrated Servo Motors MAC050 - 4500...
  • Page 211 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 A/S - User Manual - Integrated Servo Motors MAC050 - 4500...
  • Page 212 Command 2013h, Object sub 0 Add 96 to the FastMac command number. For example command 23 becomes 119 (dec- imal). 96 +28 (decimal) will reset the module (only) JVL A/S - User Manual - Integrated Servo Motors MAC050 - 4500...
  • Page 213 All of the transmit PDOs support synchronous transmission, and PDO 25 also supports asynchronous transmission. JVL uses static mapping of the PDOs, but with some manufacturer specific ways to make some of the PDOs use registers selectable by the user. After reset all the PDOs are dis- abled, because the highest bit in their COB-ID field is set.
  • Page 214 The following table shows the processing time for the PDOs. The table with 8.5 and 21 ms are valid for the MAC050 – MAC141, and for MAC400 and higher with firmware versions below 2.0. With MAC400 and higher with firmware 2.0 and higher, the table with <2 ms will be valid.
  • Page 215 (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 A/S - User Manual - Integrated Servo Motors MAC050 - 4500...
  • Page 216 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 A/S - User Manual - Integrated Servo Motors MAC050 - 4500...
  • Page 217 Position_window 6067h Position_factor Imm. Position_window_time 6068h SamleFreq/1000 POSCNT 5000 or Max_motor_speed 6080h 4000 Profile_velocity 6081h Velocity_factor Acceleration_ Profile_acceleration 6083h 15000 factor Acceleration_ Quick_stop_deceleration 6085h 50000 factor Motion_profile_type 6086h JVL A/S - User Manual - Integrated Servo Motors MAC050 - 4500...
  • Page 218 CF Upd, Feed_constant_ >Position_factor 6092h Shaft_revolutions >Feed_constant >PFactorNumerator Position_factor_number_ See formula Fac- 6093h of_entries tors, page 216 In CF_Upd Position_factor_Numerator 6093h See formula Fac- tors, page 216 Position_factor_Feed_constant 6093h JVL A/S - User Manual - Integrated Servo Motors MAC050 - 4500...
  • Page 219 Last motor status 2011h Output setup 2011h Input active level 2011h 0x3F Input setup 2011h Setup bits 2011h Data (256 motor registers) 2012h Fastcommand (Send FastMac 2013h command) JVL A/S - User Manual - Integrated Servo Motors MAC050 - 4500...
  • Page 220 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 A/S - User Manual - Integrated Servo Motors MAC050 - 4500...
  • Page 221 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 A/S - User Manual - Integrated Servo Motors MAC050 - 4500...
  • Page 222 Feed_constant_factor formula: Feed_constat_Feed Feed_constant_factor= Feed_constant_Shaft_revolutions or as and object: Object 6092sub1 Feed_constant_factor= Object 6092sub2 Position_factor_Numerator. 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 A/S - User Manual - Integrated Servo Motors MAC050 - 4500...
  • Page 223 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 A/S - User Manual - Integrated Servo Motors MAC050 - 4500...
  • Page 224 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 A/S - User Manual - Integrated Servo Motors MAC050 - 4500...
  • Page 225 Position actual value 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 A/S - User Manual - Integrated Servo Motors MAC050 - 4500...
  • Page 226 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 A/S - User Manual - Integrated Servo Motors MAC050 - 4500...
  • Page 227 The protocol uses the same identifier as the error control protocols, see the figure below: NMT Slave NMT Master COB-ID = 700h + Node-ID Indication Request TT1085GB One data byte is transmitted with value 0. JVL A/S - User Manual - Integrated Servo Motors MAC050 - 4500...
  • Page 228 The following figure show a read PDO service: PDO Producer PDO Consumers Request Indication L = 0..8 Response Confirmation Proces data TT1087GB JVL A/S - User Manual - Integrated Servo Motors MAC050 - 4500...
  • Page 229 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 A/S - User Manual - Integrated Servo Motors MAC050 - 4500...
  • Page 230 [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 A/S - User Manual - Integrated Servo Motors MAC050 - 4500...
  • Page 231 Attempt to write a read only object 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 A/S - User Manual - Integrated Servo Motors MAC050 - 4500...
  • Page 232 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 A/S - User Manual - Integrated Servo Motors MAC050 - 4500...
  • Page 233 This is an instruction to transition from Operational or Stopped into Pre-Operational. In the 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 A/S - User Manual - Integrated Servo Motors MAC050 - 4500...
  • Page 234 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 A/S - User Manual - Integrated Servo Motors MAC050 - 4500...
  • Page 235 Heartbeat Event will be generated. 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 A/S - User Manual - Integrated Servo Motors MAC050 - 4500...
  • Page 236 After the module has started up and there is communication between the master and the slave, then turn on the wanted error control mechanism in the object Dictionary. JVL A/S - User Manual - Integrated Servo Motors MAC050 - 4500...
  • Page 237 Cable glands Internal circuit boards Dip Switches placed CAN-open and I/O on the rear side of the connectors. TT1069GB module JVL A/S - User Manual - Integrated Servo Motors MAC050 - 4500...
  • Page 238 The illustration below shows all the internal connectors in the module. The CAN bus and power connectors are easy-to-use screw terminals. If the I/O’s are used, they require a JVL cable type WG0402 (2m), WG0410 (10m) or WG0420 (20m). See also the appendix for cable and connector accessories.
  • Page 239 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 A/S - User Manual - Integrated Servo Motors MAC050 - 4500...
  • Page 240 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 241 CAN_V+ Reserved for future purpose - do not connect CAN_GND CAN interface ground Black CAN_H CAN interface. Positive signal line White CAN_L CAN interface. Negative signal line Blue JVL A/S - User Manual - Integrated Servo Motors MAC050 - 4500...
  • Page 242 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 next page. JVL A/S - User Manual - Integrated Servo Motors MAC050 - 4500...
  • Page 243 The factory default setting is: 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 A/S - User Manual - Integrated Servo Motors MAC050 - 4500...
  • Page 244 If this is required, use a special robot cable (2D or 3D cable). See also Accessories, page 448 where additional M12 connec- tors are shown. JVL A/S - User Manual - Integrated Servo Motors MAC050 - 4500...
  • Page 245 MAC00-FC2 module. Expansion MAC00-FC41 Hardware description: The MAC00-FC41 offers IP67 on MAC050-141(only with extension -A009) and IP65 on MAC400-4500 protection and M12 connectors which makes it ideal for automation ap- plications where no additional protection is desired. The M12 connectors offer solid me- chanical protection and are easy to unplug compared to the FC2 module which has cable glands.
  • Page 246 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 next page. JVL A/S - User Manual - Integrated Servo Motors MAC050 - 4500...
  • Page 247 The factory default setting is: 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 A/S - User Manual - Integrated Servo Motors MAC050 - 4500...
  • Page 248 If this is required, use a special robot cable (2D or 3D cable). See also Accessories, page 448 where additional M12 connec- tors are shown. JVL A/S - User Manual - Integrated Servo Motors MAC050 - 4500...

  • Page 249: Expansion Module Mac00-Fd4

    With M12 connectors TT1018GB 5.7.1 DeviceNet Introduction The MAC00-FD4 module allows you to connect a JVL MacMotor to a DeviceNet net- work. Using this module, all the registers in the MAC motor can be accessed over a DeviceNet network. The module supports Baud-rates of 125, 250 and 500kbit. The module includes galvanic isolation between the motor and the DeviceNet network.
  • Page 250 For example the desired motor velocity can be set by writ- ing to register 5. For a general motor register overview please consult MacTalk commu- nication, page 402. JVL A/S - User Manual - Integrated Servo Motors MAC050 - 4500...
  • Page 251 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 A/S - User Manual - Integrated Servo Motors MAC050 - 4500...
  • Page 252 OFF ON OFF ON OFF ON OFF ON OFF ON OFF ON OFF ON OFF OFF OFF OFF OFF ON OFF ON OFF ON OFF ON OFF ON JVL A/S - User Manual - Integrated Servo Motors MAC050 - 4500...
  • Page 253 See table above 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 A/S - User Manual - Integrated Servo Motors MAC050 - 4500...
  • Page 254 (V. Mode) data Load Reverse Forward Complete limit limit Response Message Type Data value byte 0 Data Value byte 1 Data Value byte 2 Data Value byte 3 JVL A/S - User Manual - Integrated Servo Motors MAC050 - 4500...
  • Page 255 Hard stop: Bring the motor to an immediate stop. Enable: Bring the motor into an active mode clearing this bit will bring the mo- tor into "Passive" -mode. JVL A/S - User Manual - Integrated Servo Motors MAC050 - 4500...
  • Page 256 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 A/S - User Manual - Integrated Servo Motors MAC050 - 4500...
  • Page 257 Description Parameter mapping The total number of supported USINT attributes Reserved Get/Set BYTE Module setup 246 (0xF6) USINT Execute FastMac Command 247 (0xF7) USINT MAC00-FDx command 248 (0xF8) JVL A/S - User Manual - Integrated Servo Motors MAC050 - 4500...
  • Page 258 4. 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 A/S - User Manual - Integrated Servo Motors MAC050 - 4500...
  • Page 259 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 A/S - User Manual - Integrated Servo Motors MAC050 - 4500...
  • Page 260 1023 to 1023. A negative torque value means that the zero sensor is active low. Get/Set BOOL Use Index. If this is enabled, the zero point will be cor- rected with reference to the motors index mark. JVL A/S - User Manual - Integrated Servo Motors MAC050 - 4500...
  • Page 261 In velocity mode, none of the position related registers are of particular interest but the actual position counter is still updated continuously. JVL A/S - User Manual - Integrated Servo Motors MAC050 - 4500...
  • Page 262 Otherwise the motor will return to the original motor position which was present before the JOG function was executed. A simple way of doing this, is to send the special command 247 to the “Special command” -register, register number 211. JVL A/S - User Manual - Integrated Servo Motors MAC050 - 4500...
  • Page 263 All this can be done by sending a the special command 247 to the command register 211 which will set the actual and requested position = 0. The motor will stay stationary if it is set in a position related mode afterwards. JVL A/S - User Manual - Integrated Servo Motors MAC050 - 4500...
  • Page 264 Word 0: #0381; Set the bits in the structure and get register 3=P_IST actual position Word 1: #053F; Register 2, MODE, use command message = 31 + 32 Word 2: #0000; Value=0 Word 3: #0000; - (continued next page) JVL A/S - User Manual - Integrated Servo Motors MAC050 - 4500...
  • Page 265 Word 3: #0000; - ..Please also consult the user documentation for the Omron PLC and for a general motor register overview please consult MacTalk communication, page 402. JVL A/S - User Manual - Integrated Servo Motors MAC050 - 4500...
  • Page 266 M12 Male connector RS232 serial interface Interface Asynchronous Control interface (5V) “BUS2” DeviceNet DeviceNet Interface Transceiver M12 Female connector CAN_H DC-DC conv. CAN_L Opto-isolation TT 0 1 19 JVL A/S - User Manual - Integrated Servo Motors MAC050 - 4500...
  • Page 267 5.7.22 Expansion MAC00-FD4 hardware description The MAC00-FD4 offers IP67 protection on MAC050 to MAC4500 and M12 connectors which make it ideal for automation applications where no additional protection is de- sired. The M12 connectors offer solid mechanical protection and are easy to operate.
  • Page 268 For the smaller series of MAC-motors (50-141) there is a separate power connection for the motor driver (P+ terminal) which can be disabled while the control power (the CV terminal) is kept supplied with 24VDC without loss of communication. JVL A/S - User Manual - Integrated Servo Motors MAC050 - 4500...
  • Page 269 6.14.1 there is an overview showing various JVL standard cables. All the JVL cables are twisted and shielded. For bus lenghts greater than 500m, a bridge or repeater device is recommended. Galvanic isolation between the bus nodes is optional. In the MAC00-FD4 modules the galvanic isolation is integrated to obtain best possible immunity against noise and differ- ences in the voltage potential between the nodes.
  • Page 270 Using MacTalk to setup the motor, page 123. MacTalk is not a free-ware program. Please contact your JVL representative for further information. JVL A/S - User Manual - Integrated Servo Motors MAC050 - 4500...
  • Page 271 The factory default setting is: 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 A/S - User Manual - Integrated Servo Motors MAC050 - 4500...
  • Page 272 If this is required, use a special robot cable (2D or 3D cable). See also Accessories, page 448 where additional M12 connec- tors are shown. JVL A/S - User Manual - Integrated Servo Motors MAC050 - 4500...

  • Page 273: Expansion Module Mac00-Fp2/Fp4

    A list of the typically used registers can be found in Serial Quick Guide (MacTalk pro- tocol), page 402. The FlexMac commands are described in FastMac commands, page 277. JVL A/S - User Manual - Integrated Servo Motors MAC050 - 4500...
  • Page 274 MacTalk. Please contact your JVL distributor if it is crucial to use the dip switch for address setup. JVL A/S - User Manual - Integrated Servo Motors MAC050 - 4500...
  • Page 275 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 A/S - User Manual - Integrated Servo Motors MAC050 - 4500...
  • Page 276 (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 275 for details. JVL A/S - User Manual - Integrated Servo Motors MAC050 - 4500...
  • Page 277 Definitions: Toggle: Change to opposite state. (from 0 to 1 or from 1 to 0). On bit level it corre- spond to making an inverse of the bit. JVL A/S - User Manual - Integrated Servo Motors MAC050 - 4500...
  • Page 278 (Error) this bit is 1 when a motor error has occurred. Input status Function Bit 5 (PL) Positive limit input. Bit 4 (NL) Negative limit input. Bit 3-0 (INx) user inputs. Last direct register page 271 for details. JVL A/S - User Manual - Integrated Servo Motors MAC050 - 4500...
  • Page 279 The action is executed when an inactive-to-active transition is detected on the input. 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 276. JVL A/S - User Manual - Integrated Servo Motors MAC050 - 4500...
  • Page 280 These actions are used when the custom input mode is selected. See Input modes, page 275. The action is defined by a FlexMac command. See FastMac commands, page 277. Possible values are 0-127, where 0 represents no action. JVL A/S - User Manual - Integrated Servo Motors MAC050 - 4500...
  • Page 281 P_FNC = (FLWERR - P8) * 16 No operation Reserved No operation Reserved No operation Activate P1,V1,A1,T1,L1,Z1 No operation Activate P2,V2,A2,T2,L2,Z2 No operation Activate P3,V3,A3,T3,L3,Z3 Reserved Activate P4,V4,A4,T4,L4,Z4 Reserved JVL A/S - User Manual - Integrated Servo Motors MAC050 - 4500...
  • Page 282 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 A/S - User Manual - Integrated Servo Motors MAC050 - 4500...
  • Page 283 The illustration below shows all the internal connectors in the module. The Profibus and power connectors are easy-to-use screw terminals. If the I/O’s are used, they require a JVL cable type WG0402 (2m), WG0410 (10m) or WG0420 (20m). See also the appendix for cable and connector accessories.
  • Page 284 Important: Please note that the cables are a standard type. They are not recommended for use in cable chains or where the cable is repeatedly bent. If this is required, use a spe- cial robot cable (2D or 3D cable). JVL A/S - User Manual - Integrated Servo Motors MAC050 - 4500...
  • Page 285 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 A/S - User Manual - Integrated Servo Motors MAC050 - 4500...
  • Page 286 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 287 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 A/S - User Manual - Integrated Servo Motors MAC050 - 4500...
  • Page 288 Isolation group 1 means that the terminal refers to the main ground (P-, GND and the motor housing). 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 A/S - User Manual - Integrated Servo Motors MAC050 - 4500...
  • Page 289 If this is required, use a special robot cable (2D or 3D cable). See also Accessories, page 448 where additional M12 connec- tors are shown. JVL A/S - User Manual - Integrated Servo Motors MAC050 - 4500...
  • Page 290 93.75_supp=1 187.5_supp=1 500_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 A/S - User Manual - Integrated Servo Motors MAC050 - 4500...
  • Page 291 Bit(4) 1 0-1 Prm_Text_Ref=1 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 A/S - User Manual - Integrated Servo Motors MAC050 - 4500...
  • Page 292 Ext_User_Prm_Data_Const(0) = 0x0,0x3F,0x0,0,0,0,0,0,0,0,0,0,0,0,0 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 A/S - User Manual - Integrated Servo Motors MAC050 - 4500...

  • Page 293: 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 A/S - User Manual - Integrated Servo Motors MAC050 - 4500...
  • Page 294 RS232 Interface between MAC motor and a PC. Apply +18-32VDC (max 32V!) 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 A/S - User Manual - Integrated Servo Motors MAC050 - 4500...
  • Page 295 5.9.3 Expansion MAC00-FS4 hardware description The MAC00-FS4 offers a IP67 on MAC050-141 protection and M12 connectors which makes it ideal for automation applications where no additional protection is desired. The M12 connectors offers a solid mechanical protection and are easy to operate.
  • Page 296 Isolation group 1 means that the terminals refers to the main ground (P-, GND and the motor housing). 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 A/S - User Manual - Integrated Servo Motors MAC050 - 4500...
  • Page 297 Basic MAC motor SW1B housing I/O setup Internal circuit boards SW1A For Future use Dip Switches placed on the rear side of the module Line termination TT1017GB JVL A/S - User Manual - Integrated Servo Motors MAC050 - 4500...
  • Page 298 If this is required use a special robot cable (2D or 3D cable). See also Accessories, page 448 where additional M12 connectors are shown. JVL A/S - User Manual - Integrated Servo Motors MAC050 - 4500...

  • Page 299: 5.10 Expansion Module Mac00-P4/P5

    The MAC00-P4 and P5 is an expansion module for the integrated servomotors MAC400- 3000. Please notice that the module can NOT be used in the MAC050-141 since all I/O’s will not be supported. The module is intended to be used for control application requiring an analogue 4-20mA interface to a master controller.
  • Page 300 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 A/S - User Manual - Integrated Servo Motors MAC050 - 4500...
  • Page 301 Resistor disabled = both switches set to Littlefuse type Default switch setting: “451-10A” SW1 : (1)ON, (2)ON = RS485 Termination is enabled SW2 : (1)OFF , (2)ON = 4-20mA supplied from external source. TT1164GB JVL A/S - User Manual - Integrated Servo Motors MAC050 - 4500...
  • Page 302 The terminal P+ do not exist on 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 A/S - User Manual - Integrated Servo Motors MAC050 - 4500...
  • Page 303 Expansion MAC00-P4 connector description, page 305 Expansion MAC00-P5 connector description, page 308 A finished RS232 cable also exist. Please see Cables for the MAC00-P4, page 307 Cables for the MAC00-P5, page 310 JVL A/S - User Manual - Integrated Servo Motors MAC050 - 4500...
  • Page 304 4-20mA output circuitry +B24V Int. supply ON/OFF 0.22R/2% TF0018 AOUT1 220R/1% BGND NHDS-02-T-TR TF0018 AOUT2 Power Supply From/to Typ. 24VDC BCX55 4448-115 1000mW 4-20mA controller 2k0/0.1% 130R/0.1% BGND TT1278-01GB JVL A/S - User Manual - Integrated Servo Motors MAC050 - 4500...
  • Page 305 TT1197GB Select in the Modbus setup. Paired Master Select in as process input - this is the ANINP3 4-20mA input at the P4/5 module. JVL A/S - User Manual - Integrated Servo Motors MAC050 - 4500...
  • Page 306 24V supply is taken care of in the slave motor (see supply op- tions at previous page). Beside these connections only 115/230VAC need to be supplied the slave motor. (Continued next page) JVL A/S - User Manual - Integrated Servo Motors MAC050 - 4500...
  • Page 307 Torque and Load may also need a different setting compared to the default setup. TT1199GB Finalize the setup by pressing the «Save in Flash» button. Select in the Modbus setup. Paired Slave JVL A/S - User Manual - Integrated Servo Motors MAC050 - 4500...
  • Page 308 Master/slave application example. The illustration below shows exactly how 2 motors installed with a MAC00-P4 module can be connected in a master/slave coupling using the cable JVL type: WI1005- M12F5TF5T03P which contains an internal supply for the slave and a RS485 connection.
  • Page 309 * 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 A/S - User Manual - Integrated Servo Motors MAC050 - 4500...
  • Page 310 Ground intended to be used together with the IGND Screen wire other signals in this connector. The RS485 pins in “COM” and “SLV” is not for general use but only for master/slave config- uration. JVL A/S - User Manual - Integrated Servo Motors MAC050 - 4500...
  • Page 311 Please note that the cables are a standard type. They are not recommended for use in cable chains or where the cable is repeatedly bent. If this is required, use a special robot cable (2D or 3D cable). JVL A/S - User Manual - Integrated Servo Motors MAC050 - 4500...
  • Page 312 1, 2, 3 and 4 are all fully independently 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 A/S - User Manual - Integrated Servo Motors MAC050 - 4500...
  • Page 313 This ground is hard-wired internally to the main power ground P-. IGND Multifunction I/O2 terminal B2+ Screen wire The RS485 pins in “COM” and “SLV” is not for general use but only for master/slave configuration. JVL A/S - User Manual - Integrated Servo Motors MAC050 - 4500...
  • Page 314 Please note that the cables are a standard type. They are not recommended for use in cable chains or where the cable is repeatedly bent. If this is required, use a special robot cable (2D or 3D cable). JVL A/S - User Manual - Integrated Servo Motors MAC050 - 4500...

  • Page 315: 5.11 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 A/S - User Manual - Integrated Servo Motors MAC050 - 4500...
  • Page 316 The function of each input and output can be user defined TT1078GB TT1078-01GB 5.11.3 How to set up the desired firmware Use the following step-by-step instruction to set up the desired firmware. (continued next page). JVL A/S - User Manual - Integrated Servo Motors MAC050 - 4500...
  • Page 317 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 A/S - User Manual - Integrated Servo Motors MAC050 - 4500...
  • Page 318 Choose one of these program types 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 A/S - User Manual - Integrated Servo Motors MAC050 - 4500...
  • Page 319 When paused, the single step feature can be used to debug the program. TT0981GB JVL A/S - User Manual - Integrated Servo Motors MAC050 - 4500...
  • Page 320 This can be an advantage if remarks and source program must be uploaded to MacTalk later. Program + Source Same as above but without remarks. Program only Only the compiled program is transfered. TT0982GB JVL A/S - User Manual - Integrated Servo Motors MAC050 - 4500...
  • Page 321 Choose to wait until input 5 is high and press OK The command is inserted at the previous selected program line Continued TT0983GB JVL A/S - User Manual - Integrated Servo Motors MAC050 - 4500...
  • Page 322 Now the program is finished. 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 A/S - User Manual - Integrated Servo Motors MAC050 - 4500...
  • Page 323 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 A/S - User Manual - Integrated Servo Motors MAC050 - 4500...
  • Page 324 A short description of all 16 command icons is given below. JVL A/S - User Manual - Integrated Servo Motors MAC050 - 4500...
  • Page 325 For a detailed description of the individual operating modes, see also Using Position mode, page 16 Analogue to position mode, page JVL A/S - User Manual - Integrated Servo Motors MAC050 - 4500...
  • Page 326 The motor will finish the movement on its own, unless it is given other instructions by the pro- gram. JVL A/S - User Manual - Integrated Servo Motors MAC050 - 4500...
  • Page 327 Register no. 49 (P1) is always overridden by this command. This command always wait until the movement is finished, be- fore proceeding to the next line in the program. JVL A/S - User Manual - Integrated Servo Motors MAC050 - 4500...
  • Page 328 Register no. 49 (P1) is always over written by this com- mand. This command always wait until the movement is finished, before proceeding to the next line in the program. JVL A/S - User Manual - Integrated Servo Motors MAC050 - 4500...
  • Page 329 If this option is not checked, the program will start the movement, then immediately start executing the next command. The motor will finish the movement on its own, unless it is given other instructions by the program. JVL A/S - User Manual - Integrated Servo Motors MAC050 - 4500...
  • Page 330 Register no. 49 (P1) is always overridden by this command This command always wait until the movement is finished, be- fore proceeding to the next line in the program. JVL A/S - User Manual - Integrated Servo Motors MAC050 - 4500...
  • Page 331 (in milliseconds) of a pulse to send out on that output. When setting multiple out- puts, you can specify whether to set each output high, low, or leave it in its current state JVL A/S - User Manual - Integrated Servo Motors MAC050 - 4500...
  • Page 332 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 com- mand JVL A/S - User Manual - Integrated Servo Motors MAC050 - 4500...
  • Page 333 1 The IF command checks if the internal flag has been set as function of a previous rising edge at input 1. After checking the flag is cleared. JVL A/S - User Manual - Integrated Servo Motors MAC050 - 4500...
  • Page 334 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 A/S - User Manual - Integrated Servo Motors MAC050 - 4500...
  • Page 335 65535 milliseconds. The shortest pause that can be specified is 0 milliseconds. Note that this command over writes Timer 1 in the RxP modules memory. JVL A/S - User Manual - Integrated Servo Motors MAC050 - 4500...
  • Page 336 (Falling Edge). The input is tested with 30 microsecond intervals. Examples shown at next page. JVL A/S - User Manual - Integrated Servo Motors MAC050 - 4500...
  • Page 337 If input 1 is NOT applied a rising edge the program execution keeps waiting in line 1. Rising edge Input 1 Program line 2 3 4 5 6 7 8 9 The programexecution stay in line 1 until a rising edge have been applied JVL A/S - User Manual - Integrated Servo Motors MAC050 - 4500...
  • Page 338 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 A/S - User Manual - Integrated Servo Motors MAC050 - 4500...
  • Page 339 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 com- mand. JVL A/S - User Manual - Integrated Servo Motors MAC050 - 4500...
  • Page 340 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 A/S - User Manual - Integrated Servo Motors MAC050 - 4500...
  • Page 341 In the example above, the value in register no. 65 (V1) will be written to register no. 5 (V_SOLL). Move operations will then take place at that velocity. JVL A/S - User Manual - Integrated Servo Motors MAC050 - 4500...
  • Page 342 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 A/S - User Manual - Integrated Servo Motors MAC050 - 4500...
  • Page 343 Conversion from generic engineering units is only supported for the commands “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 A/S - User Manual - Integrated Servo Motors MAC050 - 4500...
  • Page 344 A recognized register name will appear in the expression. An unrecognised register name will appear as a zero. You can switch between the two methods of data entry at any time. JVL A/S - User Manual - Integrated Servo Motors MAC050 - 4500...
  • Page 345 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. JVL A/S - User Manual - Integrated Servo Motors MAC050 - 4500...
  • Page 346 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 A/S - User Manual - Integrated Servo Motors MAC050 - 4500...
  • Page 347 *** Each unit connected must be setup with an address via The MacTalk program. If only one unit is connected no address is needed. see the connector layout. JVL A/S - User Manual - Integrated Servo Motors MAC050 - 4500...
  • Page 348 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 A/S - User Manual - Integrated Servo Motors MAC050 - 4500...
  • Page 349 The MAC00-R3 expansion module is an industrial interface that mates with the standard MAC motor and offers a number of feature enhancements including: • Protection IP67 if mounted on basic MAC motor (IP67 type: MAC050-141). • Direct cable connection through sealed compression cable glands.
  • Page 350 2x10m of cable. 1 cable comprises the power sup- ply and analogue input. The other cable covers all the signal lines, i.e. RS232, RS485, sta- tus outputs and multifunction I/O. Power cable - Cable 1 - JVL type no. WG0302 (2m) or WG0320 (20m) Power Supply Signal name...
  • Page 351 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 352 Black Leave open if unused Interface ground (same as main ground). Grey Note 1: See also Dip switch for RS232 TxPD (Transmit pull-down), page 349 (Continued next page) JVL A/S - User Manual - Integrated Servo Motors MAC050 - 4500...
  • Page 353 TT1129GB 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 A/S - User Manual - Integrated Servo Motors MAC050 - 4500...
  • Page 354 If this is required, use a special robot cable (2D or 3D cable). See also Accessories, page 448 JVL A/S - User Manual - Integrated Servo Motors MAC050 - 4500...

  • Page 355: Appendix

    Appendix JVL A/S - User Manual - Integrated Servo Motors MAC050 - 4500...

  • Page 356: 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 357 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 358 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 359 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 360 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 361 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 362 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 363 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 364: Torque Curves

    MAC140 Torque versus speed 1000 2000 3000 4000 Oz./Inch MAC141 Torque versus speed 1.75 248.5 177.5 106.5 35.5 TT0911GB 1000 2000 2700 3000 4000 Operation above 2700 RPM is not recommended. JVL A/S - User Manual - Integrated Servo Motors MAC050 - 4500...
  • Page 365 2000 Safe operation area 1000 Supply Voltage (VDC) Operation below 12V is possible but at lower speed. TT1531-01GB The motor shuts down at <8VDC JVL A/S - User Manual - Integrated Servo Motors MAC050 - 4500...
  • Page 366 2000 3000 4000 >3600RPM = Overspeed error = Peak torque = Average torque Oz./Inch MAC800 Torque versus speed 1133 TT0992GB 1000 2000 3000 4000 >3600RPM = Overspeed error JVL A/S - User Manual - Integrated Servo Motors MAC050 - 4500...
  • Page 367                     = Peak T orque                  = Average T orque     TT1542-03GB       JVL A/S - User Manual - Integrated Servo Motors MAC050 - 4500...

  • Page 368: 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 A/S - User Manual - Integrated Servo Motors MAC050 - 4500...

  • Page 369: Physical Dimensions

    M2.5 mounting hole for expansion module. 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 A/S - User Manual - Integrated Servo Motors MAC050 - 4500...
  • Page 370 Physical Dimensions Only MAC400 6.4.2 Physical dimensions MAC400 Download CAD drawings from www.jvl.dk/default.asp?Action=Details&Item=426 JVL A/S - User Manual - Integrated Servo Motors MAC050 - 4500...
  • Page 371 174 [6.85"] 13.8 [0.54"] MAC800-D3 202 [7.95"] 20.2 [0,80"] 49.8 [1,96"] MAC800-D5 209 [8.23"] All dimensions in millimetres/inches 234 [9.21"] MAC800-D6 54.8 [2,16"] TT0989-02GB Download CAD drawings from www.jvl.dk/default.asp?Action=Details&Item=426 JVL A/S - User Manual - Integrated Servo Motors MAC050 - 4500...
  • Page 372 Physical Dimensions Only MAC1200 6.4.4 Physical dimensions MAC1200 JVL A/S - User Manual - Integrated Servo Motors MAC050 - 4500...
  • Page 373 Physical Dimensions Only MAC1500 6.4.5 Physical dimensions MAC1500-D1 All dimensions in millimetres/inches TT1245GB Download CAD drawings from www.jvl.dk/default.asp?Action=Details&Item=426 JVL A/S - User Manual - Integrated Servo Motors MAC050 - 4500...
  • Page 374 Physical Dimensions Only MAC1500 6.4.6 Physical dimensions MAC1500-D2 & -D3 TT1538-01GB Download CAD drawings from www.jvl.dk/default.asp?Action=Details&Item=426 JVL A/S - User Manual - Integrated Servo Motors MAC050 - 4500...
  • Page 375 Physical Dimensions Only MAC1500 6.4.7 Physical dimensions MAC1500-D5 & -D6 (w.break) TT1540-01GB Download CAD drawings from www.jvl.dk/default.asp?Action=Details&Item=426 JVL A/S - User Manual - Integrated Servo Motors MAC050 - 4500...
  • Page 376 Physical Dimensions Only MAC3000 6.4.8 Physical dimensions MAC3000-D1 All dimensions in millimetres/inches TT1246GB Download CAD drawings from www.jvl.dk/default.asp?Action=Details&Item=426 JVL A/S - User Manual - Integrated Servo Motors MAC050 - 4500...
  • Page 377 Physical Dimensions Only MAC3000 6.4.9 Physical dimensions MAC3000-D2 & -D3 TT1539-01GB Download CAD drawings from www.jvl.dk/default.asp?Action=Details&Item=426 JVL A/S - User Manual - Integrated Servo Motors MAC050 - 4500...
  • Page 378 Physical Dimensions Only MAC3000 6.4.10 Physical dimensions MAC3000-D5 & -D6 TT1541-01GB Download CAD drawings from www.jvl.dk/default.asp?Action=Details&Item=426 JVL A/S - User Manual - Integrated Servo Motors MAC050 - 4500...

  • Page 379: 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 A/S - User Manual - Integrated Servo Motors MAC050 - 4500...
  • Page 380 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 A/S - User Manual - Integrated Servo Motors MAC050 - 4500...
  • Page 381 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 A/S - User Manual - Integrated Servo Motors MAC050 - 4500...

  • Page 382: Installation Instructions

    Its recommended to use Locktite 278 in the threats to make sure that the bolts stay in place. Do NOT tighten the shaft collar Flange bolts properly mounted before the flange bolts are tightend and tightend. TT1536-01GB JVL A/S - User Manual - Integrated Servo Motors MAC050 - 4500...
  • Page 383 Used with motor type Tool Torque (F1) MAB23x MAC050 to MAC141 (Ø6.35 shaft) Hex size 2.5 MAB23x MIS230-233 Hex size 2.5 (Ø6.35 shaft) MAB34x MIS340-341 (Ø9.53 shaft) Hex size 3 TT1537-01GB JVL A/S - User Manual - Integrated Servo Motors MAC050 - 4500...
  • Page 384 Since the heat dissipation in the motor and electronics is primarily influenced by the ac- tual torque it is recommended to lower the torque to keep within the maximum power. The speed can be kept at the nominal value. JVL A/S - User Manual - Integrated Servo Motors MAC050 - 4500...
  • Page 385 All circular connectors at motors and modules including cables with matching connectors offered by JVL is guaranteed to be IP67 or higher but under the condition that they are tightened with a proper high torque.
  • Page 386 MAC motor is lifted to a point higher than the bottom of the cabinet with a relevant safety distance. JVL A/S - User Manual - Integrated Servo Motors MAC050 - 4500...
  • Page 387 Please notice !. The cable used must be with a diameter of 5 to 9 mm in order to be tight 4 x Torx M2.5 must be tightened with a torque of minimum 0.8 to 1.0 Nm TT1286-01GB JVL A/S - User Manual - Integrated Servo Motors MAC050 - 4500...

  • Page 388: 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 re- quired. JVL A/S - User Manual - Integrated Servo Motors MAC050 - 4500...
  • Page 389 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 A/S - User Manual - Integrated Servo Motors MAC050 - 4500...
  • Page 390 In DS/EN 954-1 the architecture of the safety related circuits is used exclusively as the goal for the level of safety. The standard prescribes 5 categories: B, 1, 2, 3, and 4, where B represents the lowest level and 4 the highest. JVL A/S - User Manual - Integrated Servo Motors MAC050 - 4500...
  • Page 391 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 A/S - User Manual - Integrated Servo Motors MAC050 - 4500...
  • Page 392 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 A/S - User Manual - Integrated Servo Motors MAC050 - 4500...
  • Page 393 In the construction of the machine and its safety control systems, efforts should always be made to achieve solutions that ensure the requirements of control systems are as low as possible, in accordance with the principles of safety integration mentioned above. JVL A/S - User Manual - Integrated Servo Motors MAC050 - 4500...

  • Page 394: 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 A/S - User Manual - Integrated Servo Motors MAC050 - 4500...
  • Page 395 Choose “update firmware” in the “Update” menu and switch on the motor. The firmware update will “catch” the motor before it starts to oscillate and refresh all the settings in the motor. JVL A/S - User Manual - Integrated Servo Motors MAC050 - 4500...

  • Page 396: Bus Serial Communication

    6.9.1 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 397 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 398 It is a common requirement in many protocols to require a pause of 1.5 byte-times or more between telegrams. 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.

  • Page 399: Serial Communication

    (connectors or cables). JVL A/S - User Manual - Integrated Servo Motors MAC050 - 4500...
  • Page 400 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 MAC400 up to MAC3000 motors, they are not the same. The bits that have a Con- trol function can be located either in Register 35, Error/Status or in Register 36, Control- Bits, at another motor type.
  • Page 401 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 402 (or read) can take up to almost 20 millisecond at 19200 baud. The normal time is 10.5 to 15 millisecond for a single register transfer. JVL A/S - User Manual - Integrated Servo Motors MAC050 - 4500...
  • Page 403 Again, you can substitute a specific motor address for the broadcast address <FF> <00>. JVL A/S - User Manual - Integrated Servo Motors MAC050 - 4500...
  • Page 404 The elec- tronics in the motor must be repaired or replaced to be able to save reliably to flash again. JVL recommends to avoid saving in flash when it is not strictly necessary. Clear Errors: Pressing this button will clear the error-bits in the Error/Status motor register 35.
  • Page 405 The value 100h (256 decimal) is also used by the Load Defaults function on the Motor menu in MacTalk. JVL A/S - User Manual - Integrated Servo Motors MAC050 - 4500...

  • Page 406: Mactalk Communication

    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 A/S - User Manual - Integrated Servo Motors MAC050 - 4500...
  • Page 407 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 A/S - User Manual - Integrated Servo Motors MAC050 - 4500...
  • Page 408 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 A/S - User Manual - Integrated Servo Motors MAC050 - 4500...
  • Page 409 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 A/S - User Manual - Integrated Servo Motors MAC050 - 4500...

  • Page 410: Registers

    Most of the most common used registers are though equal but scaling and the length (16bit or 32bit) of the registers may vary from between the 2 motor families. JVL A/S - User Manual - Integrated Servo Motors MAC050 - 4500...
  • Page 411 P_SOLL, 32-bit Position -67M - 32 bit The target position that the drive will attempt +67M R / W reach in position related modes. (high word of P-SOLL) JVL A/S - User Manual - Integrated Servo Motors MAC050 - 4500...
  • Page 412 When this accumulated value exceeds Reg26, FNCERRMAX, the FNC_ERR bit is set in Reg35, ERR_STAT and the motor will stop. T T 1521GB JVL A/S - User Manual - Integrated Servo Motors MAC050 - 4500...
  • Page 413 Bit 8, FRAME_ERR_TX A framing error was detected during the last reception on the FastMac protocol. Continued next page T T 1522GB JVL A/S - User Manual - Integrated Servo Motors MAC050 - 4500...
  • Page 414 This bit is cleared automatically when the actual position gets inside the position range again. Bit 15, SSI_ERROR T T 1523GB JVL A/S - User Manual - Integrated Servo Motors MAC050 - 4500...
  • Page 415 VEL7 / V8 ACC0 / A1 ACC1 / A2 ACC2 / A3 ACC3 / A4 TQ0 / T1 TQ1 / T2 TQ2 / T3 TQ3 / T4 T T 1524GB JVL A/S - User Manual - Integrated Servo Motors MAC050 - 4500...
  • Page 416 VF_OUT ANINP ANINP_OFFSET ELDEGN_OFFSET ELDEGP_OFFSET PHASE_COMP AMPLITUDE MAN_I_NOM MAN_ALPHA UMEAS I_NOM PHI_SOLL IA_SOLL IB_SOLL IC_SOLL IX_SELECT IA_IST IB_IST IC_IST IA_OFFSET IB_OFFSET IC_OFFSET T T 1525GB JVL A/S - User Manual - Integrated Servo Motors MAC050 - 4500...
  • Page 417 Bit 6, HW_PLIM_IN5 Bit 7, HW_PLIM_IN6 Bit 8, HW_PLIM_ANINP HOMING_DONE Bit-0 set every time a zero search has completed. Not cleared by firmware, except after reset. T T 1526GB JVL A/S - User Manual - Integrated Servo Motors MAC050 - 4500...
  • Page 418 HWI0, 32-bit (hi-word of HWI0) HWI1, 32-bit (hi-word of HWI1) HWI2, 32-bit (hi-word of HWI2) HWI3, 32-bit (hi-word of HWI3) HWI4, 32-bit (hi-word of HWI4) T T 1527GB JVL A/S - User Manual - Integrated Servo Motors MAC050 - 4500...
  • Page 419 Reserved for future purposes Reserved for future purposes Reserved for future purposes Reserved for future purposes Reserved for future purposes Reserved for future purposes Reserved for future purposes T T 1528GB JVL A/S - User Manual - Integrated Servo Motors MAC050 - 4500...
  • Page 420 256 = Load firmware default register values and save in flash. 257 = (Re)load register values last saved in flash. 258 = Save all register values in flash and reset. TT1500-03GB JVL A/S - User Manual - Integrated Servo Motors MAC050 - 4500...
  • Page 421 Reg4, P_NEW, or other special measures. Also note that the firmware will change this register after a zero search operation has completed. TT1502-03GB JVL A/S - User Manual - Integrated Servo Motors MAC050 - 4500...
  • Page 422 'pulses from theoretical position' or 'difference in actual velocity to V_SOLL'. Contact JVL for more detailed information for specific modes. TT1502-03GB JVL A/S - User Manual - Integrated Servo Motors MAC050 - 4500...
  • Page 423 Temperature error bit in ERR_STAT (84'C and change into Passive mode. Same scaling as Reg29, DEGC. ACC_EMERG Na / Word / Acceleration to use during emergency stops. (not present) TT1503-02GB JVL A/S - User Manual - Integrated Servo Motors MAC050 - 4500...
  • Page 424 Set when one of the software position limits in Reg28 and Reg30 have been exceeded. Note that there is an option to temporarily disable position limits to be able to be move inside the position limit range again. TT1533-02GB JVL A/S - User Manual - Integrated Servo Motors MAC050 - 4500...
  • Page 425 12 V (9V on MAC402). The motor must be reset or power cycled to clear this error. It is considered unsafe to continue, because the electronics may not work correctly, and may have lost data. T1534-02GB JVL A/S - User Manual - Integrated Servo Motors MAC050 - 4500...
  • Page 426 Status of the physical pin normally used for the ERROR_OUT signal/hardware output. The pin can also be used for user defined purposes and this bit will reflects its state also in this case. T1504-02GB JVL A/S - User Manual - Integrated Servo Motors MAC050 - 4500...
  • Page 427 The offset value to use to adjust P_IST at the end of a Zero Search. search -10000 counts P_IST will be set to this value( instead of zero) after a zero search. position T1505-02GB JVL A/S - User Manual - Integrated Servo Motors MAC050 - 4500...
  • Page 428 Note that this inversion is not active when the ouputs are user controlled by bits 8 and 9 in this register. Bit 12, CMP_ERROR_OUT If set, OUT2_PIN is controlled by (P_IST > CMP_POS0) (continued next page) T1506-02GB JVL A/S - User Manual - Integrated Servo Motors MAC050 - 4500...
  • Page 429 Note that this inversion is not active when the ouputs are user controlled by bits 8 and 9 in this register. Bit 12, CMP_ERROR_OUT If set, OUT2_PIN is controlled by (P_IST > CMP_POS0) (continued next page) T1507-02GB JVL A/S - User Manual - Integrated Servo Motors MAC050 - 4500...
  • Page 430 When set to 1..4, copies one of LOAD0..LOAD3 to KVOUT then resets to 0 (not present) Z_REG_P 0-4 / Word / When set to 1..4, copies one of ZERO0..ZERO3 to INPOSWIN, then resets (not to 0 present) T1508-02GB JVL A/S - User Manual - Integrated Servo Motors MAC050 - 4500...
  • Page 431 Velocity register V8 - see also register 65. (V7) (100RPM) VEL7 Velocity 8 Na / Word / Velocity register V8 - see also register 65. (V8) (100RPM) T1509-02GB JVL A/S - User Manual - Integrated Servo Motors MAC050 - 4500...
  • Page 432 (the Input State) The copying is executed every 1.0 or 1.3 ms. The digital inputs can thus be considered level-triggered rather than edge-triggered. (Contrinued next page) T1510-02GB JVL A/S - User Manual - Integrated Servo Motors MAC050 - 4500...
  • Page 433 Digital Input 2 will have higher priority than Digital Input 1, because it is evaluated later and overwrites V_SOLL in case both buttons are held down. T1511-02GB JVL A/S - User Manual - Integrated Servo Motors MAC050 - 4500...
  • Page 434 4-20 mA) use Reg222, IOSETUP to make ANINP reflect the (signal conditioned) value of this input, so the digital status will be shown in Bit 8. T151 -02GB JVL A/S - User Manual - Integrated Servo Motors MAC050 - 4500...
  • Page 435 Bits [4:0]: Bit number in source register to use. Reg215, IO_POLARITY, will be applied after these registers to allow general inversion of each digital output bit. T151 -02GB JVL A/S - User Manual - Integrated Servo Motors MAC050 - 4500...
  • Page 436 Na / Word / (not present) KIFY0/PIDD_KP Na / Word / (not present) KIB1/PIDD_KI Na / Word / (not present) KIB0/PIDD_KD Na / Word / (not present) TT1514-02GB JVL A/S - User Manual - Integrated Servo Motors MAC050 - 4500...
  • Page 437 MacTalk will use the appropriate filter set. Note that the units of all velocity-related register, measured in counts/sample will now be doubled, and all acceleration-related registers, measured in Counts/sample , will be four times larger. TT15 -02GB JVL A/S - User Manual - Integrated Servo Motors MAC050 - 4500...
  • Page 438 (not present) IB_SOLL/IQ_ERR Na / Word / <used with motor current loop> (not present) IC_SOLL/ID_ERR Na / Word / <used with motor current loop> (not present) TT15 -02GB JVL A/S - User Manual - Integrated Servo Motors MAC050 - 4500...
  • Page 439 TC0_CV1 Na / Word / <used by JVL only to monitor internal timing´> TC0_CV2 Na / Word / <used by JVL only to monitor internal timing´> TT15 -02GB JVL A/S - User Manual - Integrated Servo Motors MAC050 - 4500...
  • Page 440 This can be used to set a new zero position for the absolute encoder. Please note a save in flash operation is required to use the new value. TT15 -02GB JVL A/S - User Manual - Integrated Servo Motors MAC050 - 4500...
  • Page 441 Modbus serial interface into the sample buffer. This is used to debug communications between the basic motor and interface modules or user Modbus communications. The data can be read using special tools from JVL, or accessed via the eRxP interface. 0x1026, CMD_SAFE_RESET: This command will begin the process of saving in flash and reset.
  • Page 442 0=Passive server, 1=Active server with timeout monitoring, 2=Client ( bus master) operation to transfer requested position and monitor errors. Bits [23:20]: Reserved for future use. 0..3 TT15 -02GB JVL A/S - User Manual - Integrated Servo Motors MAC050 - 4500...
  • Page 443 This value can be read at all times, also if the analogue input selected for motor control is selected to be one of ANINP1 or ANINP2. ANINP3_OFFSET Na / Word / Offset for Reg220, ANNIP3 (not present) TT15 -02GB JVL A/S - User Manual - Integrated Servo Motors MAC050 - 4500...
  • Page 444 Enable on-the-fly scaling on the MacTalk interface – also works when this is configured for Modbus operation. Bit 4: ZUP_NANOPLC_SCALE TT15 -02GB Enable on-the-fly scaling in the eRxP system. JVL A/S - User Manual - Integrated Servo Motors MAC050 - 4500...
  • Page 445 InPositionWindow and InPositonCount. It does not compensate for follow error etc. TT15 -02GB JVL A/S - User Manual - Integrated Servo Motors MAC050 - 4500...
  • Page 446 0.01 RPM per count. The Acceleration can also be made much more smoothly. Please request a separate document from JVL if you need tables of RPM or RPM/S per count for the different sample times and encoder resolutions.
  • Page 447 1=Busy – execution in progress, and hasn't yet timed out or used all retries. 2= Failure – last operation could not be completed even after using all retries. TT15 -02GB JVL A/S - User Manual - Integrated Servo Motors MAC050 - 4500...
  • Page 448 INDEX_OFFSET_ Word (not HIRES present) G_FNC_HI Word (not present) TASK_TIME Prepared for multi-tasking in the ePLC system. (not present) (reserved) PWR_DMP_VOLTAGE Word/ (not present) desc. Volt TT15 -02GB JVL A/S - User Manual - Integrated Servo Motors MAC050 - 4500...

  • Page 449: 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 450 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 JVL A/S - User Manual - Integrated Servo Motors MAC050 - 4500...
  • Page 451 MAC order to avoid that the 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 A/S - User Manual - Integrated Servo Motors MAC050 - 4500...

  • Page 452: 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 A/S - User Manual - Integrated Servo Motors MAC050 - 4500...
  • Page 453 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 454: Cable Drawings

    Blokken 42 • DK-3460 Birkerød Safety stop cabel external Tel: +45 4582 4440 Tel: +45 4582 4440 Approved by: Drawn by: Fax: +45 4582 5550 Fax: +45 4582 5550 JVL A/S - User Manual - Integrated Servo Motors MAC050 - 4500...
  • Page 455 Version - 1.2 Blokken 42 • DK-3460 Birkerød Interface cable Tel: +45 4582 4440 Approved by: Drawn by: Fax: +45 4582 5550 M12 to DSUB BVJ - 1.2 JVL A/S - User Manual - Integrated Servo Motors MAC050 - 4500...

  • Page 456: Vibration Test Certificates

    6.16 Vibration test certificates JVL A/S - User Manual - Integrated Servo Motors MAC050 - 4500...
  • Page 457 6.16 Vibration test certificates JVL A/S - User Manual - Integrated Servo Motors MAC050 - 4500...
  • Page 458 6.16 Vibration test certificates JVL A/S - User Manual - Integrated Servo Motors MAC050 - 4500...

  • Page 459: Ce Declaration Of Conformity

    6.17 CE Declaration of Conformity JVL A/S - User Manual - Integrated Servo Motors MAC050 - 4500...
  • Page 460 EN 61800-3 Adjustable speed electrical power drives systems - part 3: EMC product standard including specific test methods.. Maj 2016 Bo V. Jessen Technical Director JVL Industri Elektronik A/S LX0021-03GB JVL A/S - User Manual - Integrated Servo Motors MAC050 - 4500...

  • Page 461: Ul Certificate Of Compliance

    Any information and documentation involving UL Mark services are provided on behalf of UL LLC (UL) or any authorized licensee of UL. For questions, please contact a local UL Customer Service Representative at www.ul.com/contactus Page 1 of 1 Note: MAC1500 and MAC3000 are UL Pending. JVL A/S - User Manual - Integrated Servo Motors MAC050 - 4500...
  • Page 462 JVL A/S - User Manual - Integrated Servo Motors MAC050 - 4500...

  • Page 463: Practical Applications

    Practical Applications JVL A/S - User Manual - Integrated Servo Motors MAC050 - 4500...

  • Page 464: Synchronous Movement

    Or you can alternatively realize the 24V voltage for the output O2 via a dip-switch (see following picture) on the MAC00-EP41. Then the output O2 is supplied internally. JVL A/S - User Manual - Integrated Servo Motors MAC050 - 4500...
  • Page 465 The following setup of the slave is used that you have the same cyclic write register as the master for the velocity (register 65 instead of register 5)   JVL A/S - User Manual - Integrated Servo Motors MAC050 - 4500...
  • Page 466 The sequence shown in the following image was imported into the internal PLC (ePLC). The parametrization by this sequence can also be realized via acyclic communication with the registers 230 and 231 via the PLC. JVL A/S - User Manual - Integrated Servo Motors MAC050 - 4500...
  • Page 467 Synchronous Movement Example Master: This sequence creates an IO setup as shown in the following figure. JVL A/S - User Manual - Integrated Servo Motors MAC050 - 4500...
  • Page 468 230. The parametrization by this sequence can also be realized via acyclic communication with the registers 230 and 231 via the PLC. The sequence shown in the following image was imported into the internal PLC (ePLC). JVL A/S - User Manual - Integrated Servo Motors MAC050 - 4500...
  • Page 469 Synchronous Movement Example slave: JVL A/S - User Manual - Integrated Servo Motors MAC050 - 4500...
  • Page 470 230 and then reading the data value in the "Indirect register data" register 231. Of course, the reading can also be done via acyclic communication with a PLC. Reading master sequence: JVL A/S - User Manual - Integrated Servo Motors MAC050 - 4500...
  • Page 471 Previously, the data value 4 was sent to address 10 (See ePLC sequence slave lines 16 and 17) Readout: Set register 230 (address register) to -10 then you get the data value 4 in register 231 (data register) JVL A/S - User Manual - Integrated Servo Motors MAC050 - 4500...
  • Page 472 The gear factors for the input (register 15) and output (register 14) are set to the same value. 7.1.7.3 Firmware: Due to hardware issues, the firmware has been revised. For the synchronous run you use the engine firmware MAC400_Firm- ware_v2_25_4_1.maf or newer. JVL A/S - User Manual - Integrated Servo Motors MAC050 - 4500...
  • Page 473 Connector overview Expansion modules Connectors – – MAC00-B1/B2/B4 – – – – – – – – – – – – – – – – – – – MAC00-CS JVL A/S - User Manual - Integrated Servo Motors MAC050 - 4500...
  • Page 474 General analogue input (AIN) Connector overview General hardware Power supply – – – aspects – – MAC00-B2 with cables Serial interface MAC00-B4 cables User I/O – Multifunction I/O JVL A/S - User Manual - Integrated Servo Motors MAC050 - 4500...
  • Page 475 O2 Output MAC00-R4 cables See also Outputs Programming hints Operating modes Rx (fixed format) Analogue Gear mode RxP (Graphic programming) – Analogue Torque mode – Analogue Velocity mode JVL A/S - User Manual - Integrated Servo Motors MAC050 - 4500...
  • Page 476 Setting up the MAC Motor – MAC800 connection Disk files MAC800 grounding MacTalk Power dump resistor, MAC800 Toolbar description Using 115V, MAC800 only Shaft reinforcements Prefuse Signal levels, serial interface JVL A/S - User Manual - Integrated Servo Motors MAC050 - 4500...
  • Page 477 – – – – – – Coil mode Index position after zero search Modes Sensor type Sensor type 1 – Starting a zero search Torque Zero point offset JVL A/S - User Manual - Integrated Servo Motors MAC050 - 4500...
  • Page 478 Index JVL A/S - User Manual - Integrated Servo Motors MAC050 - 4500...

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