JVL MAC050 User Manual page 363

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 or D6 option)
Leakage current to earth
Standards
Protection
Usage / Storage Temperature
Notes: * = Only continuous above 2000 RPM if the motor is with fan (MAC4500-Gx-xTxx). See also torque curves.
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)
0-3000 RPM with full torque. Max 3500 RPM. Overspeed protection if speed >3600 = Motor will go in passive mode
Sinusoidal wave PWM control. 5kHz switching
6.th. order filter with only one inertia load factor parameter to be adjusted.
Expert tuning also available for professionals.
Incremental A and B encoder 8192 CPR. (Physical 2048 PPR/lines per rev.). Optional multiturn absolute encoder.
3 phase supply 400 to 480AC, 47-63Hz for driver circuit. Absolute max 550VAC! 18-32VDC for control circuit.
Control circuitry consumption: MAC4500-G2 and G3 (wo/brake) =0.3A @ 24VDC(8W).
Control circuitry consumption: MAC4500-G5 and G6 (w/brake) =1.2A @ 24VDC(24W).
* ±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: 130x130mm. Rear: 130x203mm(excl. connectors). Shaft Ø24.0mm +0/-0.013mm
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 (Driver: 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: xxN (xxmm from flange). Axial load: xxkg.
Controlled automatic or from input. Brake torque: 16Nm, turn on time: 16ms, turn off time (motor released): 55ms
Less than 3 mA @ 50 Hz
CE approved / UL recognized -Pending (file number E254947)
IP55 (-D2 or D5 version). IP66 (D3 or D6 version)
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).
- MAC4500-G2 or G3 MAC4500-G5 or G6 (w. brake)
- 4500W 4500W
- 14.33Nm* / 43Nm 14.33Nm*
- 40.5 kgcm² (TBD) kgcm²
- (TBD) rad/sec² (TBD) rad/sec²
- 312mm / 12.276" 366mm / 14.439"
- 13.2kg 17.1kg
- - 65 dB(A)
- - ±0.5 degree
Power Supply: ±10%: 0.0%
Ambient temperature 0-40°C: ±0,0005% (±50ppm)
Only MAC4500
/ 43Nm
359