1
Introduction .................................................................................................................... 3
1.1
Features .............................................................................................................................................................. 4
1.2
Overall description ............................................................................................................................................. 5
1.3
Expansion modules overview ........................................................................................................................... 10
2
Function description ..................................................................................................... 15
2.1
Using Position mode ......................................................................................................................................... 16
2.2
Gear Mode ........................................................................................................................................................ 17
2.3
Coil Mode ......................................................................................................................................................... 20
2.4
Analogue bi position mode ............................................................................................................................... 23
2.5
Analogue to position mode ............................................................................................................................... 24
2.6
Mechanical Homing ........................................................................................................................................... 28
2.7
2.8
2.9
Under Voltage Handling .................................................................................................................................... 48
2.10
Servo filter adjustment ...................................................................................................................................... 49
2.11
Using external SSI encoder ............................................................................................................................... 55
2.12
Absolute Multiturn Encoder ............................................................................................................................. 61
2.13
Electro Mechanical brake .................................................................................................................................. 70
2.14
Rotary table option ........................................................................................................................................... 71
2.15
Power Save ....................................................................................................................................................... 77
2.16
Safe Torque Off (STO) ..................................................................................................................................... 78
2.17
Silent mode ....................................................................................................................................................... 80
2.18
High resolution velocity .................................................................................................................................... 82
2.19
3
Hardware description ................................................................................................... 87
3.1
Connector overview ......................................................................................................................................... 88
3.2
Power Supply.................................................................................................................................................... 89
3.3
Serial interface ................................................................................................................................................ 111
3.4
User I/O .......................................................................................................................................................... 112
4
MacTalk setup software ............................................................................................. 119
4.1
Installation of MacTalk .................................................................................................................................... 120
4.2
4.3
MacTalk Scope usage ...................................................................................................................................... 131
4.4
Message Center .............................................................................................................................................. 136
5
Expansion Modules ..................................................................................................... 137
5.1
Expansion Module MAC00-CS ....................................................................................................................... 138
5.2
5.3
Expansion module MAC00-B41 ...................................................................................................................... 155
5.4
Expansion module MAC00-B42 ...................................................................................................................... 172
5.5
Expansion module MAC00-Exx4 .................................................................................................................... 178
5.6
5.7
Expansion Module MAC00-FD4 ..................................................................................................................... 245
5.8
5.9
5.10
Expansion module MAC00-P4/P5 .................................................................................................................. 295
5.11
6
Appendix ..................................................................................................................... 351
6.1
Technical Data ................................................................................................................................................ 352
6.2
Torque Curves ................................................................................................................................................ 360
6.3
Efficiency curve ............................................................................................................................................... 364
6.4
Physical Dimensions ........................................................................................................................................ 365
6.5
Life time .......................................................................................................................................................... 375
6.6
Installation instructions ................................................................................................................................... 378
6.7
Emergency stop considerations ...................................................................................................................... 384
6.8
Trouble-shooting guide ................................................................................................................................... 390
6.9
Bus serial communication ............................................................................................................................... 392
6.10
Serial communication ...................................................................................................................................... 395
JVL A/S - User Manual - Integrated Servo Motors MAC050 - 4500
Contents
1