JVL MAC050 User Manual page 357

6.1
General
Technology
Controller capacity
Speed range
Amplifier control system
Filter
Feedback
Input power supply
Control modes
Flange and shaft dimension
POSITION
(pulse inputs)
Command input pulse
Input frequency
Electronic gear
Follow error register
In position width
Position range
POSITION
(serial communication)
Communication facility
Communication Baud-rate
Position range
Speed range
Digital resolution
Acceleration range
Addressing
Number of parameters.
Speed variance
SPEED/ TORQUE
Analogue speed/torque input.
Sampling rate at analogue input
Encoder output signals
Analogue speed input
Zero speed determination.
Speed variance at rated speed
Torque limit in speed mode
Analogue torque input
Torque control accuracy
VARIOUS
Electromechanical brake
Regenerative
Protective functions.
LED functions
Output signals
Homing
Shaft load maximum
Optional brake(-D5 and -D6 option)
Rated power rate. (motor)
Mechanical time constant. (motor)
Electrical time constant. (motor)
Leakage current to earth
Standards
Protection
Usage / Storage Temperature
JVL A/S - User Manual - Integrated Servo Motors MAC050 - 4500
Technical Data
All data are specified for the MAC motor only, i.e. without any expansion module mounted.
AC-servomotor (brushless) with built-in 2048 PPR encoder, hall sensors and 3 phase servo amplifier/controller
Rated output @3000 RPM
Rated Torque RMS / Peak Torque
Inertia (kgcm²)
Maximum angular acceleration
Length
Weight (without expansion module)
Audible noise level (measured in 30cm distance)
Backlash (when brake is activated)
0-3000RPM with nom. torque. (max 3500RPM short-term). Speed protection trips at >4300RPM. Motor will shut down.
Sinusoidal wave PWM control. 20kHz switching, optional 10kHz
6.th. order filter with only one inertia load factor parameter to be adjusted.
Incremental A and B encoder 8192 CPR. (Physical 2048 PPR). Optional multiturn absolute encoder.
115/230AC (±10%), 47-63Hz for main power circuit. 18-32VDC for control circuit.
Consumption at 115-230VAC - see power supply section.
Control circuitry consumption: MAC400D2 and 3 (wo/brake) = Typical 0.22A @ 24VDC(5.3W).
Control circuitry consumption: MAC400D5 and 6 (w/brake) = Typical 0.58A @ 24VDC(14W).
* ±10V Speed and Torque. A+B encoder outputs
* Pulse/direction and 90° phase shifted A++B (Incremental)
* RS422 or RS232 (5V) position and parameter commands
* Gear mode with analogue input speed offset + different options
* Sensor Homing or mechanical Homing
Front: 60x60mm. Rear: 63x115mm. Shaft Ø14mm
Pulse/direction or 90° phase shifted A+B. RS422
0-8 MHz. 0-1 MHz with input filter
A/B: A= -10000 to 10000, B=1 to10000. Simulation of all step resolutions.
32 bit
0-32767 pulses
31
32 bit. Infinity, Flip over at ±2 pulses.
From PLC, PC etc via RS422 or asynchronous serial port RS232 with special cable. MacTalk JVL commands, special commands with
high security.
19200 bit/sec. (19.2kBaud)
±67 000 000
0-3000 RPM.
0.3606 RPM
250 - 444.675 RPM/sec
Point to point on RS422. Up to 32 units on the same serial RS232/RS485 interface with built-in expansion module. Address range 1-
254
Standard 85. With MacRegIO software 156 (Only for experts)
Max ±4 RPM variance between command and actual speed.
11bit + sign. Nom. input voltage ±10V. 10kOhm input resistance. Voltage range max. -10 to +32VDC. Offset typical ±50mV.
750 Hz
A+,A-,B+,B-, RS422. Line driver Typical 1.1 - 3.7 Volt outputs (SN75176). 90° Phase shifted.
+voltage -> CW rotation. Shaft view
0 - rated speed.
Initial error @20°C: ±0,0%
Load 0-300%: ±0.0%
0-300% by parameter
+voltage (positive torque) -> CW rotation. Shaft view
±10% @ 20°C (Reproducibility)
Optional feature. The brake is activated automatically when an unrecoverable error situation occur.
Integrated power dump. External attachment is possible
Error trace back.Overload (I²T), Regenerative overload, follow error, function error, regenerative overload (over voltage), software
position limit. Abnormality in flash memory, under voltage, over current, temperature too high.
Power (Green LED), Error (Red LED). Note that the LED's are only visible when no module is mounted.
3 general purpose NPN 32V/25 mA outputs. Error and In position.
1: Automatic Homing with sensor connected to input (2 formats)
2: Mechanical Homing without sensor. (Torque controlled)
Radial load: 24.5kg (13.5mm from flange). Axial load: 9.8kg.
Controlled automatic or from input. 1.3Nm, inertia 0.22cm2, turn on time: 50ms, turn off time: 15ms
50.0 kW/s
0.59±10% ms
3.5±10% ms
Less than 3 mA @ 50 Hz
CE approved / UL File: E254947
IP55 or IP66
Ambient 0 to +40°C (32-104°F)/ Storage (power not applied): -20 to +85°C. (-4 to 185°F) (Humidity 90%).
Temperature warning is given before reaching max.
Temperature shut down and error message generated at 84°C (183F).
- MAC400-D2 & -D3 MAC400-D5 & -D6 (w/brake)
- 400W 400W
- 1.27Nm / 3.8Nm 1.27Nm / 3.8Nm
- 0.34 (kgcm²) 0.36 (kgcm²)
114706 rad/sec² 108333 rad/sec²
- (1095361 RPM/sec) (1034504 RPM/sec)
- 191mm 225mm
- 2.3kg 2.8kg
- - (to be defined) dB(A)
- - < ±1 degree
Power Supply: ±10%: 0.0%
Ambient temperature 0-40°C: ±0,0005% (±50ppm)
Only MAC400
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