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

2.8

Servo filter adjustment

2.8.4

Filter selector basics

If the desired motor response cannot be achieved using only the LOAD parameter, the

filter selector can be used.

The filter selector can be found in the MacTalk upper toolbar.

Using the Filter selector, the “personality” of the motor response can be optimised to

specific applications. The following overall behaviours can be adjusted:

- Follow error during movement and/or when the motor is stationary.

- Stability with a high load inertia.

- Stability if the load inertia changes during operation.

- Motor noise

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
Filter selector:

MAC400 and 800
Filter selector:

TT1024GB

Summary of Contents for MAC050

Page 1: ...LB0047 24GB Revised 17 9 2009 JVL Industri Elektronik A S MAC050 MAC141 MAC400 MAC800 Integrated Servo Motors User Manual Including expansion modules ...

Page 2: ......

Page 3: ...in this manual without prior notice Similarly JVL Industri Elektronik A S assumes no liability for printing errors or other omissions or discrepancies in this user manual MacTalk and MotoWare are registered trademarks JVL Industri Elektronik A S Blokken 42 DK 3460 Birkerød Denmark Tlf 45 45 82 44 40 Fax 45 45 82 55 50 e mail jvl jvl dk Internet http www jvl dk The MAC series of products are used t...

Page 4: ......

Page 5: ... O 70 4 Expansion Modules 77 4 1 Expansion Modules MAC00 CS 78 4 2 Expansion Modules MAC00 B1 B2 B4 79 4 3 Expansion module MAC00 B41 95 4 4 Expansion Modules MAC00 FC2 FC4 109 4 5 Expansion Module MAC00 FD4 166 4 6 Expansion Module MAC00 FP2 FP4 180 4 7 Expansion Module MAC00 FS1 FS4 199 4 8 Expansion module MAC00 P5 204 4 9 Expansion Module MAC00 R1 R3 R4 213 5 Appendix 251 5 1 Technical Data 25...

Page 6: ...2 JVL Industri Elektronik A S User Manual Integrated Servo Motors MAC050 800 ...

Page 7: ...JVL Industri Elektronik A S User Manual Integrated Servo Motors MAC050 800 3 1 Introduction ...

Page 8: ...t for step motors offering much faster response Great flexibility due to many I O possibilities and many functions Less machine space required Fewer possibilities for wiring errors Main Features Low cost and high performance make the MAC series ideal for high volume applica tions Pulse and direction inputs make it possible to replace step motors Quadrature input for gearing applications 10V input ...

Page 9: ...ental encoder Hall elements 12 48VDC 24V and 90 240VAC Ground AIN Analogue input 10V A A B B Output 1 Output 2 Transmit Ground Valid for MAC400 and MAC800 Receive 5VDC Out Switchmode Power Supply Power Dump for absorbing regenerative energy 3 phase driver Current Sensing High speed A D converter High speed digital logic array Analogue input Level shifter and filter 2 channel differential Transceiv...

Page 10: ... used in electronic gear applications such as a flying saw where an external encoder tracks the position of a moving object Gear Follow Mode Same mode as gear mode except that the input pulses are not buffered so that con trol strictly follows the input pulses Analogue Velocity Mode The motor velocity is controlled by a voltage applied at the 10V analogue input This mode can be used in several app...

Page 11: ...the multifunction I O which is configured as input Either a pulse and direction signal can be applied or a quadrature A and B signal from for example an incremental encoder The gear ratio specified will determine the basic gear ratio between the applied puls es and the motor movement The special feature in this mode is that the basic gear ratio can be changed 5 depending on the voltage applied to ...

Page 12: ...C4 MAC00 FD4 MAC00 FB4 MAC00 FS1 FS4 MAC00 FP2 FP4 MAC00 FR4 Connector module w RS232 RS485 non isolated and LED s Connector module with Optical isolated RS232 Rs485 6 General digital I O Support 2 multifunction I O ports CANopen Supports DS402 Wireless module Bluetooth module Profibus DP 12Mbit with 6 4 Inputs and 2 outputs High speed serial RS485 Multiaxis Interf to IEC61131 1 High speed serial ...

Page 13: ...les Process control modules Rear plates MAC00 R1 R3 R4 MAC00 P5 Rearplates with or without cable glandsConn No electronic features included Nano PLC with graphic programming interface 8 input and 4 outputs Process module 4 20mA input and output galvanic isolated Harting and M12 Connectors MAC00 R1 MAC00 00 MAC00 R3 MAC00 01 MAC00 02 MAC00 CSxx N o t p l a n n e d N o t p l a n n e d DSUB Connector...

Page 14: ...r RS422 3 4096 cpr RS422 3 8000 cpr RS422 3 8000 cpr RS422 3 8192 cpr RS422 3 RS422 3 RS422 3 RS422 3 RS422 3 RS422 3 RS422 3 No No No No No No No No No No No No No No 6 In Out selectable 5 30V Motor stat 2 x NPN 25mA Motor stat 2 x NPN 25mA Motor stat 2 x NPN 25mA Motor stat 2 x NPN 25mA Motor stat 2 x NPN 25mA Motor stat 2 x NPN 25mA Motor stat 2 x NPN 25mA Motor stat 2 x NPN 25mA Motor stat 2 x...

Page 15: ...2 19 2kbaud Full Duplex RS232 19 2kbaud Full Duplex RS232 19 2kbaud Full Duplex RS232 19 2kbaud Full Duplex No RS422 3 RS422 3 RS422 3 No No 4 4 4 No No No No No No No No No No No No No No No No No 8 Inputs Opto isol 5 30V 8 Inputs Opto isol 5 30V 8 Inputs Opto isol 5 30V 6 Inputs Opto isol 5 30V 4 Inputs Opto isol 5 30V 4 4 Inputs Opto isol 5 30V 6 Inputs Opto isol 5 30V 4 Inputs Opto isol 5 30V ...

Page 16: ... for operation in the selected mode The following pages describe the actual window for each mode and how the parameters affect the MAC motor operation Startup mode The basic functionality of the MAC motor is set up in this field Setup save open The complete setup can be either saved or reloaded from a file using these buttons System control Use these buttons to save data permanently reset the moto...

Page 17: ...note that if an error is still present the motor will remain in the actual error state Reset motor Reset the motor Same as doing a power off on operation Filter setup Short cut to the servo filter setup screen Stop motor Stops the motor immediately using a controlled deceleration ramp and puts the motor into passive mode If a program is present this is stopped as well This button shall be consider...

Page 18: ...ile containing the desired motor setup When opening the file the setup will simultaneously be sent to the motor Remember to use the Save in flash button if the setup must be permanently saved in the motor From motor to file Use Save or Save as to save the actual setup in a motor as a setup file Make sure that the motor is on line with MacTalk otherwise only the MacTalk default setup is saved In ca...

Page 19: ...nt in MacTalk To re establish communication with the motor simply press the Go Online button and if any data has been changed a warning box appears enabling the user to save current data before re establishing communication with the motor as this will overwrite existing data in MacTalk If data is changed in MacTalk the user is warned that current data in MacTalk may be overwritten and needs to be ...

Page 20: ...16 JVL Industri Elektronik A S User Manual Integrated Servo Motors MAC050 800 ...

Page 21: ...JVL Industri Elektronik A S User Manual Integrated Servo Motors MAC050 800 17 2 Function description ...

Page 22: ...ion I O general de scription page 72 Motor Status 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 Startup mode Choose Position mode Reset Position Use this button to reset the actual position counter Error Handling Use these fields to define error limits fo...

Page 23: ... multifunction I O terminals must be set to pulse input since gear mode uses the incoming pulses at this input to control the motor move ment Also the Input type must be selected Choose Quadrature if an incremental encoder is connected or pulse direction if it is a step motor signal See also Hardware description page 57 Continued next page Startup mode Choose Gear mode or Gear Follow Error Handlin...

Page 24: ... care of making a controlled acceleration and deceleration Note that no puls es are lost if the acceleration is limited They are simply remembered and used when motor velocity reaches a level corresponding to the input frequency Torque The maximum torque can be limited in the range 0 300 300 corresponds to the rated peak torque of the MAC motor used Load The Load parameter is the overall gain in t...

Page 25: ...order to decode the input signal The pulse signal is con nected to the A terminals Multifunction I O and the direction signal is connected to the B terminals Multifunction I O s See also User I O page 70 The MAC motor is replacing a step motor system with 400 steps per revolution which means that when the pulse source produce 400 pulses it expects the MAC motor to rotate one revolution The MAC mot...

Page 26: ...edges Therefore the edges can be cut off at the positions given by registers P2 and P3 as shown in the illustration above When starting a new coil you must specify the starting position and the starting direction of the MAC motor to achieve repeatability The starting position related to the basic function shown in the illustration above is given by the value of register P5 The starting direction i...

Page 27: ... Normally open In conjunction with the above setup for registers P1 P6 the setup for the zero search could therefore be Zero search type Sensor 1 Zero search velocity 100 Zero search position 2000 Start mode Coil Mode Having ended the power up zero search you must give the MAC motor an initial start position command before starting the first coil process 2 3 4 Filter setup in coil mode Recommended...

Page 28: ...ar Mode Only the Coil Mode parameters differ from Gear Mode For details of the overall setup please See Gear Mode page 19 Startup mode Choose Coil mode Profile Data All these parameters can be used to limit the motion For example the maximum torque or velocity Gear factor The ratio between the incomming pulses and the actual motor movement is specified here Coil mode parameters Set P1 to P6 in thi...

Page 29: ...c MAC motor offers the Analogue bi position mode The Analogue bi position mode offers The motor will move a certain distance or go to one of 2 positions depending on the volt age at the analogue input The voltage at the analogue input will be seen as a digital signal meaning either logic low or logic high The distance or positions can be setup in 2 internal registers and saved permanently in the m...

Page 30: ...defined as zero The active sensor level can be changed by changing the sign at the value specified in the Zero search torque field Sensor type 2 Like above Sensor type 1 but after the sensor is activated the direction of movement is reversed and the point at which the sensor is disabled is defined as zero The following sections explain in detail the functionality of the 3 fundamental Zero search m...

Page 31: ...zero point make sure that the mechan ical collision point is as stiff and well defined as possible Select the mechanical zero search mode in this field TT0921GB When the torque rises higher than the value specified in the field the speed will drop to zero And the actual position is set to the value specified in Zero search Torque Zero search position Zero search started Zero search position veloci...

Page 32: ...ional offset See description in other chapter defines the velocity used during Zero search The sign of the specified velocity defines the zero search direction is used as the trip level when the zero position is reached 1 active high 1 active low Sensor status Select the mechanical zero search mode using this field Select the mechanical Zero search format in this menu TT0924GB When the zero search...

Page 33: ...or initiated by command from the interface or via an expansion module 2 The basic zero search is completed and the position counter is set to the value spec ified in the Zero search position field 3 If the zero search position value is different from position the motor will now move to position 0 4 The zero search is now completed and the motor will switch to normal operation which means the mode ...

Page 34: ...nge with a certain margin to the index points to ensure that the same index is always found during every zero search If the external sensor is activated too close to the index points it can cause the motor to finalize the zero search with reference to the wrong index point which in practice will constitute an error of 0 5 motor revolution Adjustment of the zero search point must be done regardless...

Page 35: ...ng the motor passive with no further movement The default is 0 meaning that the feature is disabled Function error Similar to Follow Error but the number of difference counts is only measured from the point where the peak torque is reached making it impossible for the motor to follow the commanded movement Default is 0 meaning that the feature is disabled Position limit min and max Same as the phy...

Page 36: ...e the screen dump above Possible cause of this error The motor has been loaded above maximum continuous torque rating for too long time causing a critical internal temperature Solutions to avoid error Reduce average motor load Reduce the speed and or acceleration Adjust servo filter to a stable behaviour during any event Make sure that the supply voltage is at the specified level How to return to ...

Page 37: ...ssage 3 Function error Type Motor action Unrecoverable error Motor is set in passive mode Error condition If the actual load torque of the motor gets higher than the spec ified torque setting permits it will cause the motor to slip away from where it is supposed to be If the number of motor counts missing in this situation gets higher than the value specified in the Maximum function error field in...

Page 38: ...ive electronics Solutions to avoid error Decrease the load inertia Decrease the top speed and or the acceleration value Make sure that the supply voltage is within nominal range in order to leave extra capacity at the internal capacitors How to return to normal operation Reset the motor clear the error bit s in register 35 or cycle the power Error bit Firmware name Bit 3 UIT_ERR Message no Message...

Page 39: ...e dissipated Solutions to avoid error Make precautions to decrease the surounding ambient tem perature Lower the speed and or load on the motor How to return to normal operation Reset the motor clear the error bit s in register 35 or cycle the power Error bit Firmware name Bit 8 DEGC_ERR Message no Message 10 Low AC voltage Type Motor action Unrecoverable error Motor is set in passive mode Error c...

Page 40: ...ow to return to normal operation Reset the motor clear the error bit s in register 35 or cycle the power Error bit Firmware name Bit 11 IX_ERR Message no Message 12 Overvoltage on bus Type Motor action Unrecoverable error Motor is set in passive mode Error condition The internal busvoltage has been higher than 450VDC which is not allowed in order to prevent damages of the motor Please note that th...

Page 41: ...se multiple wires in parallel Connect a capacitor across the supply line close to the motor Especially if using a switch mode power supply this will help See also Power supply only MAC050 to 141 page 59 How to return to normal operation Reset the motor clear the error bit s in register 35 or cycle the power Error bit Firmware name Bit 12 UV_ERR Message no Message 13 Peak error motor overcurrent Ty...

Page 42: ... 3000 RPM nominal Make sure that the servo filter is set to stable setting in order to avoid overshoots during acceleration or similar See also Servo filter adjustment page 43 How to return to normal operation Reset the motor clear the error bit s in register 35 or cycle the power Error bit Firmware name Bit 13 SPEED_ERR Message no Message 16 SSI Read error Type Motor action Unrecoverable error Mo...

Page 43: ...r condition The servo filter settings are not within valid ranges Possible cause of this error The setup file used has been corrupted The setup file used is an old type not compatible with the ac tual motor version Solutions to avoid error Select a new filter or contact your JVL How to return to normal operation Correct the servo filter setting See also Servo filter adjustment page 43 Cycle the 24...

Page 44: ...e the control volt age 24VDC Error bit Firmware name Bit 20 PWM_LOCKED Message no Message 22 Modbus Com Error Type Motor action Unrecoverable error Motor is set in passive mode Error condition Modbus communication has not been possible due to a commu nication error Possible cause of this error The motor is setup as master but it has not been possible to reach a slave motor The motor is setup as a ...

Page 45: ...35 or cycle the 24VDC power Error bit Firmware name Bit 22 CURLOOP_ERR Message no Message 24 Slave Error Type Motor action Unrecoverable error Motor is set in passive mode Error condition Modbus communication with a slave motor has not been pos sible due to a communication error A connected slave motor has discovered an error See the slave error register Possible cause of this error The motor is s...

Page 46: ...ode and report and under voltage error To get the motor back in normal operation the error must be cleared and a operation mode must be selected 2 7 3 Undervoltage Stop controlled and go to passive Default Off This option makes the motor decelerating according to the normal acceleration param eter and go to passive mode when the mains power is removed When main power is re applied the motor stay i...

Page 47: ...ease the val ue 20 30 to obtain a certain safety margin Remember to save the adjustment permanently in the motor by pressing the Save in flash button 2 8 3 Exceptions when adjusting LOAD Precautions must be taken if the transmission from the motor to the load is elastic or in volves a certain amount of backlash A typical situation where precautions must be taken is when using a belt drive actuator...

Page 48: ... personality of the motor response can be optimised to specific applications The following overall behaviours can be adjusted Follow error during movement and or when the motor is stationary Stability with a high load inertia Stability if the load inertia changes during operation Motor noise The filter selector is in principle the same for the complete MAC motor range except that the MAC50 to MAC1...

Page 49: ...e main response perform ance of the motor MAC050 95 140 and 141 Current filter selector TT1025GB Velocity position filter selector TT1026GB Actual velocity Follow error Commanded velocity Applied torque Velocity Fastness The relationship between a slow and a fast filter is seen as the ability to track the commanded velocity within time By choosing a faster filter the velocity reaches the required ...

Page 50: ...ash in the coupling or elastic toothbelts etc The filter becomes more tolerant to variations in the inertia which normally can cause the motor to become unstable High frequency When selecting High frequency oscillations at higher frequencies will be reduced This can typically occur if the filter starts to oscillate at a frequency related to the sample frequency Often this can be heard as an audibl...

Page 51: ...target position is reached as fast as possible but without any overshoots etc The Dynamic compensation provides 3 levels Dyn 1 to 3 Using a higher Dyn number the filter order is increased and better performance may be possible but will depend on the actual application Please note that the dynamic compensation level Dyn 3 is only available on the MAC400 800 but for all motor sizes the available dyn...

Page 52: ...also be saved to and later re called from disc by using the Open and Save buttons in the toolbar 2 8 10 Additional adjustment Now the desired filter is set up in the motor and the performance can be tested Further improvement may be required and typically it may be necessary to experiment in order to obtain an optimum result Please note that the LOAD parameter must still be used to adjust the iner...

Page 53: ... reading is requested the Clock goes low for t1 micro seconds to allow the encoder to sample and prepare a value On the first rising edge of the Clock 1 no sampling is done but on the second rising edge of the Clock 2 the first data bit is read from the Data line Shortly after reading the bit value the motor will set the Clock high and execute another cycle where the data bit is sampled just befor...

Page 54: ...position is calculated based on the encoder position stored in P7 and a previously saved value a position sample in register P6 This value stores in P6 is a position reference stored when a position reset is done The calculation is as follows P8 P7 P6 P5 The P5 value is used when an offset is to be added to the position So the desired 0 po sition is saved into P6 and the actual position from the e...

Page 55: ...position is used to preset a position to the value stored in P5 Default P5 0 Bit15 1 indicates a read failure that is different values are read within the 4 times the values is read Bit 0 1 2 3 4 14 15 Function SSI Enable Disable Not used Synchronize P_IST P8 P_SOLL P8 SSI reset position P6 current position Future options SSI Read Error Register 57 P5 32 bit signed Holds the preset value that is u...

Page 56: ...etup as previously as IO1 indicating In position and IO2 indicating errors Example IO2 is used as 24V power supply to the encoder so we need IO2 as user controlled out put and set the output to source the O voltage Register 161 bit 4 needs to be on Register 161 16 0x10 Register 179 bit0 and bit1 holds the output value but they are inverted so for IO2 to be high O bit1 needs to be 0 So we hold the ...

Page 57: ...otor and read the SSI value Next set the Reset bit in the SSI_SETUP register register 178 bit 3 Now the encoder value has been transferred to P6 and needs to saved in flash The Flash saving procedure is done by writing 211 2 This will also reset the motor and calculate the new position based on the saved value If a preset value is to be used instead of 0 this value is entered in P4 and will automa...

Page 58: ... due to strict timing control in the motor As a new feature the MAC40 141 firmware now supports setting up IO1 and IO2 as user controllable IO1 and IO2 is settable from these controls When all values has been setup remember to save in flash and or into a mac file before removing power from the motor If an encoder is available on the motor the actual position value is read as soon as the motor star...

Page 59: ...nalogue bi position mode Cautions When Power Save is enabled some functions may work differently from what is expect ed For instance in Analogue bi position mode changing the Low or High Position values will not have effect until the motor is set back into active mode by turning the axis or re selecting the active mode Also with under voltage conditions where the motor is set to enter Passive mode...

Page 60: ... is a 4 channel oscilloscope that is a very good and necessary function for testing a new application or finding errors in an existing system The Setup has to be selected to set up the Scope function correctly before use Most reg isters in the MAC motors can be chosen for viewing different trigger functions can be selected saving and loading scope pictures are possible etc TT1110GB TT1106GB ...

Page 61: ...JVL Industri Elektronik A S User Manual Integrated Servo Motors MAC050 800 57 3 Hardware description ...

Page 62: ...rface is intended for permanent connection Power Supply Connect the main supply to this connector The voltage must be within the range 12 to 48VDC nominal Please note that the MAC400 and 800 only accepts 18 to 30 VDC For further information about the MAC400 and 800 main supply See How to connect power supply only MAC400 page 62 and How to connect the pow er supply only MAC800 page 66 A connector k...

Page 63: ...ithin the safe area of operation 3 2 2 Power supply grounding only MAC050 to 141 No additional grounding earthing of the motor is necessary since the complete motor housing is connected directly to pin 2 of the Power Supply connector The overall earthing of the system must be done at a central point close to the power supply Only MAC050 to 141 Basic MAC motor Rear end Error LED red Power LED green...

Page 64: ...e MAC motor Use the following table to select the power supply and fuse ratings See also Power Supplies page 292 in the appendix which shows the standard power sup plies that JVL can offer 3 2 4 Emergency stop Please consult the chapter Emergency stop considerations page 265 Desired voltage MAC050 MAC095 MAC140 or 141 Supply rating Fuse size Supply rating Fuse size Supply rating Fuse size 12VDC 20...

Page 65: ...ted if the application does not require this safety feature There are shown examples of Emergency stop and relay in section 5 6 2 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 3 2 6 Emergency stop Please consult the chapter Emergency stop consid...

Page 66: ...8 MAC400 Grounding 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 such as interface cables Only MAC400 MAC400 supply connection Main power connector TT1172GB Control power 18 30VDC must be connected to the P a...

Page 67: ...er resistor The drawing above shows how to connect an external power resistor A wirewound type is recommended since it will be able to absorb higher peak power than other types of resistors Warnings Ensure that the resistor value is between 33 to 68 Ohm 50W since the out put otherwise can be damaged Also avoid short circuit of the output Only MAC400 MAC400 with external power dump connection TT117...

Page 68: ...free end Female WP0020 MAC400 115 230VAC power cable 20 m Straight M16 conn and free end Female WP0102 MAC400 Brake cable 2 m Straight M16 conn and free end Male WP0105 MAC400 Brake cable 5 m Straight M16 conn and free end Male WP0120 MAC400 Brake cable 20 m Straight M16 conn and free end Male WP0402 MAC400 230V power cable with earth 2m Straight M16 conn and free end Female WP0405 MAC400 230V pow...

Page 69: ...ection 5 6 2 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 connected between the terminals PD and BO 3 2 13 Emergency stop Please consult the chapter Emergency stop considerations page 265 3 2 14 Sizing the external fuse Prefuse When using 115V supply voltage To met UL requirements the p...

Page 70: ...he internal DC bus Important notes If 115VAC is used as supply voltage the MAC800 must be set up for this See Using 115V supply voltage only MAC800 page 67 Screened cables is recommended 3 2 16 MAC800 Grounding Make sure that the machine part on which the MAC800 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 mot...

Page 71: ...e shown will only be half of this value 160 170VDC Important Make sure that the jumper is not short circuited if 230VAC is applied since this will cause fatal damage to internal components The MAC800 motor is configured by default for 230VAC supply jumper not short circuited on delivery 3 2 18 Prefuse when using 115V supply only MAC800 To fulfil UL requirements the prefuse must be a class RK5 such...

Page 72: ...nsure that the resistor value is not lower than 68 Ohm since the output can be damaged Also avoid short circuit of the output Only MAC800 L1 N PE Earth PE Earth PD BO CM MAC800 with external power dump connection TT1013GB Velocity Time Time Time Voltage V BO PD V R Not less than 68 Ohm 100W Wirewound Nom 325VDC 400V Energy fed back from the motor to the DC bus PD activated when voltage exceeds 400...

Page 73: ...e also Accessories page 291 3 3 2 RS232 Interface signal levels Please note that the signal levels are 0 to 5V 3 3V DC and are thus not according to the RS232 standard which requires 12V nominal at the RX and TX signals However the protocol used is equivalent to the RS232 protocol If the Basic MAC motor is implemented in an OEM application where an internal proc essor communicates with the MAC mot...

Page 74: ...nical zero search page 26 The input is automatically used as an an alogue 10V input when the Start up mode in the MacTalk main window is set to one of the 7 modes such as Analogue Torque Velocity or Velocity Gear as shown in the accompanying illustration 1 GND 2 AIN 3 O1 4 O2 5 A 6 A 7 B 8 B 1 Main signal ground 2 Analogue input 10V User I O TT0913GB Note screenonly connectedtosignalsource 10V out...

Page 75: ...m O2 This output is normally passive but if an unrecoverable error occurs it will be ac tivated to indicate that normal operation of the motor has been interrupted and no further operation is possible until a reset or power down has been made An unrecoverable error can be one of the following conditions Please note that when mounting an expansion module in the motor the output type and performance...

Page 76: ...The internal encoder pulses are output as a quadrature signal RS422 communication A master controller can send commands for example velocity or position com mands This interface is intended for permanent connection Multifunction I O s of the MAC motor 1 GND 2 AIN 3 O1 4 O2 5 A 6 A 7 B 8 B Channel A Signal GND Channel B Internal circuitry in the MAC motor Multifunction I O User I O TT0918GB GND A B...

Page 77: ... O s must be set up in MAC Talk to function as inputs Also an input filter and the preferred direction of movement can be selected See also the descriptions of Gear and Analog Velocity Gear modes for further details about functionality Multifunction I O s used as balanced pulse input 1 GND 2 AIN 3 O1 4 O2 Connector Manufacturer AMP Type 770602 8 2 54mm 0 1 pitch A Signal GND B User I O TT0927GB Tw...

Page 78: ...will appear at the A and B channel Quadrature means that the two channels are 90 degree phase shifted either positively or negatively which determines the actual direction of movement of the motor The Multifunction I O s must be set up in MAC Talk to function as pulse outputs See also the respective mode descriptions for further details about functionality Multifunction I O s used as balanced puls...

Page 79: ...MAC motor Technical Reference Guide which must be requested separately and is not part of this user manual See also MacTalk communication page 283 The Multifunction I O s must be set up in MacTalk to function as a serial communication interface Multifunction I O s used as balanced serial interface 1 GND 2 AIN 3 O1 4 O2 5 A 6 A 7 B 8 B Connector Manufacturer AMP Type 770602 8 2 54mm 0 1 pitch A Sig...

Page 80: ...76 JVL Industri Elektronik A S User Manual Integrated Servo Motors MAC050 800 ...

Page 81: ...JVL Industri Elektronik A S User Manual Integrated Servo Motors MAC050 800 77 4 Expansion Modules ...

Page 82: ...ding mechanism Dispenser systems and many more MAC00 CS is available in following versions The cable connections are as follows For details of the description of each signal and how to connect and use these please re fer to the description of the basic motor section 3 Type Cable length MAC00 CS 02 2m 79 MAC00 CS 10 10m 394 MAC00 CS 20 20m 787 Power cable I O cable Power supply con nector in basic ...

Page 83: ...s signals O1 and O2 instead of sinking NPN Only MAC00 B1 LEDs to indicate O1 O2 output status Zero switch analogue in put status and Input power status Only MAC00 B2 and B4 Dual supply The main supply can be removed but the con trol circuitry is kept active and position data and communication are still functional Typical applications for these expansion modules are Closed loop systems with an over...

Page 84: ... functional description please refer to General Analogue input AIN description when using MAC00 Bx page 83 continued P AIN P AIN P GND P GND O OCM O1 O2 A A O1 RX B O2 TX B GND Rx GND Tx PD Tx Overvoltage protection Control Supply PNP Output Driver Asynchronous serial interface Interface Control Power supply MAC50 141 12 48V MAC800 12 32V Analogue input or Zero search input 10V nom or up to 32V Mu...

Page 85: ...outputs indicate the actual status of the MAC motor O1 This output functions as an In Position or at velocity output depending on which operating mode is selected The position interval can be set up using the MacTalk program O2 This output is normally passive but if an unrecoverable error occurs it will be activated to indicate that normal operation of the motor has been interrupted and no further...

Page 86: ...y P is removed See also the description Power supply only MAC050 to 141 page 59 MAC400 or 800 For the MAC400 800 the main supply is 115 230VAC connected at separate terminals The P power supply terminal only serves as a supply to the internal control circuitry The voltage must stay in the range 12 32VDC See also the Power supply circuitry only MAC400 page 61 or Power supply circuitry only MAC800 p...

Page 87: ...AC00 B1 B2 or B4 MAC motor MAC00 B1 B2 or B4 MAC motor MAC00 B1 B2 or B4 Make sure that all involved units are connected to the same potential Make sure that all involved units are connected to the same potential Make sure that all involved units are connected to the same potential Analogue input connection at the MAC motor mounted with a MAC00 B1 B2 or B4 modules Note screenonly connectedtosignal...

Page 88: ...Master Controller RS485 interface If available it is strongly rec ommended a type with op tical isolation is used 7 The interface cable length should not exceed 10 me tres Connectors Please read the individual de scription for the MAC00 B1 B2 or B4 to see the RS232 connector layout Central Controller for example a PC MAC50 141 Motor MAC50 141 Motor RS232 network with 2 x MAC140 and 1 x MAC800 moun...

Page 89: ...th op tical isolation is used Connectors Please read the individual de scription for the MAC00 B1 B2 or B4 to see the connector layout Central Controller for example a PC MAC50 141 Motor RS485 network with 2 x MAC140 and 1 x MAC800 mounted with MAC00 B1 B2 or B4 modules MAC50 141 Motor MAC800 Motor Power supply A A A A P P P B B B B P P P RS485 Interface Screen connected to GND in each end Opto is...

Page 90: ...to the input since this will damage the input permanently OFF OFF OFF OFF 1 1 1 2 2 2 O N O N O N 3 3 3 4 4 4 OFF OFF OFF OFF ON OFF ON OFF OFF ON OFF ON TT0937GB Dip Switch setting Input type setup for all common output types The Dip switch is located at the rear side on all 3 module types MAC00 B1 B2 and B4 NPN NPN NPN PNP PNP PNP NPN NPN NPN PNP Dipswitch 5 6 only at MAC00 B4 Please consult the...

Page 91: ... this will damage the input permanently Use a proper resistor as indicated in the table below 1 2 O N 3 4 OFF ON OFF ON NPN PNP NPN PNP INPUT SETUP A B PNP source output connected to the A and B input Optional resistor Seetable Dip Switchsetting Ifused theB terminalmustbeconnectedinthesamemannerastheA terminal The and terminalsmustbeleftunconnected A B Power Supply 5 32VDC PNP Output switch TT0941...

Page 92: ...e MAC high speed communication using RS422 Balanced pulse in or outputs used for Pulse and direction signals or Quadrature encoder signal Status outputs Default O1 In position output O2 Error output LED s for showing the output status of O1 and O2 Notice that LED s are only active if the O terminal is supplied LED for showing the voltage level at the analogue input AIN LED for showing the voltage ...

Page 93: ...r all signal lines power supply and Zero switch Full RS232 protocol support Note The basic MAC motor is only equipped with a low voltage serial interface that requires the use of the RS232 9 1 MAC option cable which has integrated electron ics to boost the voltage levels Full RS485 protocol support for multipoint communication up to 100m Sourcing PNP outputs for status signals O1 and O2 The basic ...

Page 94: ...gnal name Pin no Description Wire colour P 3 Power supply ground White AIN 2 Analogue input AIN Green P 1 Power supply 12 48VDC Nom Yellow Brown Signal cable Cable 2 Internal connectors J5 8 Signal name Pin no Description Wire colour O J5 1 Status Outputs Positive supply Max 30VDC Red O1 J5 2 Status Outputs Output 1 PNP sourcing max 25mA Grey O2 J5 3 Status Outputs Output 2 PNP sourcing max 25mA P...

Page 95: ... easy to unplug compared to the B2 module with cable glands The connector layout Continued next page PWR Power input M12 5pin male connector Signal name Description Pin no JVL Cable WI1000 M12F5T05N Isolation group P Main supply 12 48VDC Connect with pin 2 1 Brown 1 P Main supply 12 48VDC Connect with pin 1 2 White 1 P Main supply ground Connect with pin 5 3 Blue 1 O Output supply Control voltage ...

Page 96: ...scription Pin no JVL Cable WI1000 M12 M8T05N Isolation group Not used 1 White RS232 TX RS232 interface Transmit terminal Leave open if unused 2 Brown 1 RS232 RX RS232 interface Receive terminal Leave open if unused 3 Green 1 GND Ground intended to be used together with the other signals in this connector 4 Yellow 1 RS485 A RS485 interface Leave open if unused 5 Grey 1 RS485 B RS485 interface Leave...

Page 97: ...d RS485 Termination is disabled OFF ON Rear side of the MAC00 B4 expansion module Main fuse 10Amp Replace only with Schurter type 3402 0040 11 or Littlefuse type 451 10A OFF OFF OFF OFF ON OFF ON OFF TT1031GB Input type setup only switch 1 4 Balanced or push pull output connected to the A and B input One of the motors connected to an RS232 line must have this switch set to ON but only at one The l...

Page 98: ...male 5 pin connector loose wire ends 0 35mm 22AWG and foil screen Length 5m 197 inch WI1000 M12F5T05N X Same as above but 20m 787 inch WI1000 M12F5T20N X Cable with M12 male 5 pin connec tor loose wire ends 0 35mm 22AWG and screen See also type RS232 M12 1 5 5 WI1000 M12M5T05N X Same as above but 20m 787 inch WI1000 M12M5T20N X Cable with M12 female 8 pin connector loose wire ends 0 22mm 24AWG and...

Page 99: ...ated communication covering RS232 RS485 Full RS232 protocol support for use with standard serial cable Full RS485 protocol support for multipoint communication up to 100m 6 high speed I O channels that individually can be used as inputs or outputs Each channel can when used as output source up to 300mA Dual supply The main supply can be removed but the control circuitry is kept active and position...

Page 100: ...ir Cylinder Mode the analogue input is used as a trigger input For a functional description please refer to Analogue input page 70 continued Only MAC400 800 P AIN1 2 AIN1 2 P P CVI Self healing fuse Itrip 750mA GND P GND CVO GND IO1 IO2 IO3 IO4 IO5 IO6 O1 RX O2 TX GND Rx GND Tx Overvoltage protection and Dipswitch setup Control Supply PNP Output source driver or Input Asynchronous serial interface...

Page 101: ...rom the serial interface RS232 or RS485 or they can be operated from the user program stored in the motor RS485 Interface A B and GND Serial balanced interface for connection to a PC or a controller The protocol is sim ilar to the RS232 or USB interface which means that all registers parameters in the motor can be monitored or changed The RS485 is recommended for longer distanc es or in noisy envi...

Page 102: ...hich may require 48VDC in order to reach maximum motor speed See also the general power supply description Power Supply page 59 Only MAC400 800 TT1137GB MAC50 141 Motor with MAC00 B1 B2 or B4 MAC400 Motor with MAC00 B41 P P P P CVI Power Supply Power Supply Control Volt Mains 115 or 230VAC Control voltage Only MAC50 141 with B2 or B4 Optional O Main supply Max 32VDC It is recommended that a separa...

Page 103: ... 800 TT1138GB MAC motor MAC00 B41 MAC motor MAC00 B41 MAC motor MAC00 B41 Make sure that all involved units are connected to the same potential Make sure that all involved units are connected to the same potential Make sure that all involved units are connected to the same potential Analogue input connection at the MAC motor mounted with a MAC00 B41 module Note screenonly connected to signalsource...

Page 104: ...he same time 2 Use screened cable 3 Ensure that GND is also connected 4 Ensure that all units have a proper connection to safety ground earth in order to refer to the same potential 5 The RS232 interface cable length should not exceed 10 metres Connectors To see the specific connector pin out please see the chapter Expansion MAC00 B41 con nector description page 105 A finished RS232 cable also exi...

Page 105: ...ease see the chapter Expansion MAC00 B41 con nector description page 105 A finished RS485 cable also exist Please see Cables for the MAC00 B41 page 107 Only MAC400 800 Central Controller for example a PC MAC50 141 with B1 B2 or B4 RS485 network with 2 x MAC140 and 1 x MAC400 mounted with MAC00 B1 B2 B4 and B41 modules MAC50 141 with B1 B2 or B4 MAC800 Motor with MAC00 B41 Power supply A A A A P P ...

Page 106: ... 6 6 O N O N O N 3 3 3 7 7 7 4 4 4 8 8 8 OFF OFF OFF OFF ON OFF ON OFF OFF ON OFF ON OFF OFF OFF OFF ON OFF ON OFF OFF ON OFF ON TT1139GB Dip Switch setting Input type setup for all common output types The Dip switch is located at the rear side NPN NPN NPN NPN NPN NPN PNP PNP PNP PNP PNP PNP NPN NPN NPN NPN NPN NPN PNP PNP PNP PNP PNP PNP Dipswitch 9 10 RS485 termination see communication chapter ...

Page 107: ...1 o r B 2 GND Dip Switchsetting Ifused theB terminalmustbeconnectedinthesamemannerastheA terminal NPN Output switch TT1140GB Signal source PLC MAC motor with MAC00 B41 expansion module Ground Warning Never connect voltages higher than 5V directly to the A or B terminals since this can damage the inputs Thenegativeinputterminals and mustbeleftunconnected Ax Bx 1 5 2 6 O N 3 7 4 8 ON OFF ON OFF ON O...

Page 108: ...he input since this will damage the input permanently Use a proper resistor as indicated in the table below Only MAC400 800 Balanced or push pull output connected to the A and B input TT1142GB B A Signal GND Twisted pair cable is recommended From internal Control circuitry RS422 outputs balanced External pulse source GND Format Quadrature Puls dir A B A1 or A2 A 1 o r A 2 B1 or B2 B 1 o r B 2 Dip ...

Page 109: ...ain supply 12 48VDC Connect with pin 1 2 White 1 P Main supply ground Connect with pin 5 3 Blue 1 CVI Control and user output supply 12 30VDC DO NOT connect 30V to this terminal 4 Black 1 P Main supply ground Connect with pin 3 5 Grey 1 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...

Page 110: ...X RS232 interface Transmit terminal Leave open if unused 2 Brown 2 RS232 RX RS232 interface Receive terminal Leave open if unused 3 Green 2 GND Ground intended to be used together with the other signals in this connector 4 Yellow 2 RS485 A RS485 interface Leave open if unused 5 Grey 2 RS485 B RS485 interface Leave open if unused 6 Pink 2 USB D USB interface Positive data terminal 7 Blue 2 USB VBUS...

Page 111: ...X USB Interface cable Connects directly from MAC00 B41 to a PC with a USB Com port Length 5m 197 inch USB M12 1 5 8 picture comming soon X Cable Ø5 5mm with M12 female 5 pin connector loose wire ends 0 35mm 22AWG and foil screen Length 5m 197 inch WI1000 M12F5T05N X Same as above but 20m 787 inch WI1000 M12F5T20N X Cable with M12 male 12 pin straight connector loose wire ends WI1000 M12M12T05N X S...

Page 112: ...108 JVL Industri Elektronik A S User Manual Integrated Servo Motors MAC050 800 ...

Page 113: ... and Mac Talk debug window From section 4 3 16 to section 4 3 20 Survey over Communication specific objects and manufacturer specific objects in the DS301standard Communication objects are the general information about the set tings in the module where the Manufacturer specific object are the settings of input output and the motor parameters This section also covers the settings of the trans mit a...

Page 114: ... CiA CAN in Automation is a non profit society the object of the society is to pro mote CAN Controller Area Network image and to provide a path for future develop ments of the CAN protocol CiA specifications cover physical layer definitions as well as application layer and device profile descriptions In order to receive the CANopen standard is it necessary to obtain a membership of the society The...

Page 115: ... a higher software level and it use the DS 301 communication but is making the device independent of the manufacturer If the devices using only the DSP 402 it is possible that some general data can be lost The CAN bus with real time capabilities work in accordance with the ISO11898 stand ard The major performance features and characteristic of the CAN protocol are de scribed below Message oriented...

Page 116: ...ng an appropriate triggering strategy The CAN protocol therefore deploys a routine to ensure that the message with the highest priority at any given time is sent without any destruction of message contents Short block length The maximum data length of a CAN message is limited to 8 bytes This data length is usu ally sufficient to transmit the information occurring in the lowest field area in a CAN ...

Page 117: ...wires cross section the table below have some recommendations for networks with less than 64 nodes Recommended bus cable cross section are according to CiA The bus wires may be routed in parallel twisted and or shielded depending on EMC re quirements The layout of the wiring should be as close as possible to a single line struc ture in order to minimize reflections The cable stubs for connection o...

Page 118: ...tor The CanOpenExplorer program shall use a special dongle for communication with the PC see section 4 3 17 for further information about the dongle The PC has to be provided with a CANopen communications module In section 4 3 46 there is a sur vey of cables JVL can supply for the CAN bus The MacTalk program can be used to debug the CAN bus and make the initial set up on the motor see section 1 1 ...

Page 119: ...be received at the selected Baud rate but not necessarily executed at the same time The Baud rate setting can only be done in the hardware it is not possible to set this by using the MacTalk software Baud rate Dip Switch no SW1 10 9 8 1000 kbit OFF OFF OFF 500 kbit factory default OFF OFF ON 250 kbit OFF ON OFF 125 kbit OFF ON ON 100 kbit ON OFF OFF 50 kbit ON OFF ON 20 kbit ON ON OFF 10 kbit ON O...

Page 120: ...N 40 OFF ON OFF ON OFF OFF OFF 10 OFF OFF OFF ON OFF ON OFF 41 OFF ON OFF ON OFF OFF ON 11 OFF OFF OFF ON OFF ON ON 42 OFF ON OFF ON OFF ON OFF 12 OFF OFF OFF ON ON OFF OFF 43 OFF ON OFF ON OFF ON ON 13 OFF OFF OFF ON ON OFF ON 44 OFF ON OFF ON ON OFF OFF 14 OFF OFF OFF ON ON ON OFF 45 OFF ON OFF ON ON OFF ON 15 OFF OFF OFF ON ON ON ON 46 OFF ON OFF ON ON ON OFF 16 OFF OFF ON OFF OFF OFF OFF 47 OF...

Page 121: ...OFF 107 ON ON OFF ON OFF ON ON 75 ON OFF OFF ON OFF ON ON 108 ON ON OFF ON ON OFF OFF 76 ON OFF OFF ON ON OFF OFF 109 ON ON OFF ON ON OFF ON 77 ON OFF OFF ON ON OFF ON 110 ON ON OFF ON ON ON OFF 78 ON OFF OFF ON ON ON OFF 111 ON ON OFF ON ON ON ON 79 ON OFF OFF ON ON ON ON 112 ON ON ON OFF OFF OFF OFF 80 ON OFF ON OFF OFF OFF OFF 113 ON ON ON OFF OFF OFF ON 81 ON OFF ON OFF OFF OFF ON 114 ON ON ON...

Page 122: ...witches an the line termination are off CAN bus connectors The MAC00 FC2 FC4 are not using 9 pin D sub connectors and none of the cables JVL supplies are provided with 9 pin D sub but the PIN configuration is also shown in table below On the next page are there drawings off the 9 pin D sub and the 5 pin style connector Signal Description MAC00 FC2 MAC00 FC4 D sub Reserved Pin 1 CAN_L CAN_L bus lin...

Page 123: ...front view TT1096GB 1 4 3 2 5 2 3 4 1 Female front view 9 pin D sub connector Male front view Female front view 5 1 2 3 4 5 5 4 3 2 1 6 7 8 9 9 8 7 6 BUS1 Primary CANopen connector M16 cable gland supporting screen Expansion module MAC00 FC2 front plate PWR Power M12 5pin male connector including P P I O M16 cable gland Available signals RS232 Interface general I O s such as analogue input AIN O1 ...

Page 124: ...for connection details Output connector See table for connection details Input connector See table for connection details Mounting hole used to fit the connector board to the rear plate Mounting hole used to fit the connector board to the rear plate CANopen input connector signal from last node in the chain CANopen output connector signal to next node in the chain Overview MAC00 FC2 connectors Bus...

Page 125: ...ound Pink black NC 8 Reserved Black white CV 9 Secondary supply Used during emergency stop Light green CV 10 Secondary supply Used during emergency stop White Digital Outputs Internal connector J4 Signal name Pin no Description Wire colour O 1 Supply for outputs Must be connected to an ext supply Red white O1 2 Digital output 1 PNP output Green white O2 3 Digital output 2 PNP output Yellow black N...

Page 126: ...d 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 Interface connector incl analogue input How to connect the MAC00 FC2 RS232 interface PC RS232 COMport GND Rx Tx 1 2 3 5 Screen terminated to the GND terminal Green Yellow Red Blue Screen JVL cable WG04xx standard I O cable 24 wire MAC00 FC2 internal connector bard Sc...

Page 127: ... supply 12 48VDC Connect with pin 2 1 Brown 1 P Main supply 12 48VDC Connect with pin 1 2 White 1 P Main supply ground Connect with pin 5 3 Blue 1 CV Control voltage 12 48VDC 4 Black 1 P Main supply ground Connect with pin 3 5 Grey 1 Note P and P is 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 ove...

Page 128: ...A I O terminal A SW3 DIP 2 ON and DIP3 OFF AIN Analogue input SW3 DIP2 OFF and DIP 3 ON O2 output 2 AIN is the analogue input Re member to use the GND terminal with AIN 5 Grey 3 1 when used as AIN IOB I O terminal B SW3 DIP 4 OFF IN1 input 1 SW3 DIP 4 ON O1 output 1 6 Pink 3 IO I O ground to be used with IN1 NL PL O1 O2 7 Blue 3 IOD I O terminal D SW3 DIP 6 OFF NL negative limit input SW3 DIP 6 ON...

Page 129: ... 2 Dip 3 I O terminal A DIP2 OFF and DIP3 ON O2 output 2 IOA Dip 4 I O terminal B DIP4 ON Output 1 DIP4 OFF Input 1 IOB Dip 5 I O terminal C DIP5 ON O1 output DIP5 OFF PL positive limit input IOC Dip 6 I O terminal D DIP6 ON O Output supply DIP6 OFF NL Negative limit input IOD SW3 ON OFF Function Dip 1 X RS232 interface Enable Dip 2 Dip 3 X X O2 output 2 Dip 4 X Input 1 Dip 5 X O1 output Dip 6 X O...

Page 130: ...e module see from section 4 3 11 to section 4 3 13 And the power supply has to be connected to the motor as shown in section 3 2 5 PC PC with a CAN adaptor and software that can communicate with this module or if the CanOpen Explorer software is used the PCAN USB Dongle from Peak system that is connected to a USB port on the PC Peak systems web page are www peak system com here are a list of distr...

Page 131: ... Modules MAC00 FC2 FC4 4 Select here on the the manufacturer specific register 5 Select thereafter the object 0x2012 Object 0x2012 contains the motor parameters 6 Point to the sub register 0x02 which is the register which determines in which mode the motor will operate TT1074GB 4 5 TT1075GB 6 ...

Page 132: ...hen click on sub register 0x02 and write 0 in the window and it will switch to passive mode Now it is possible to change the value in the register and change the speed and distance for the motor If using other software the test could be described as using object 2012h Sub register Name Width Unit Operation Value 02h Mode_Reg 16 bit Set up the motor in position mode 02h 05h V_SOLL 16 bit Counts sam...

Page 133: ...le to write a new value either in decimal or in hex using a 0x prefix like 0x185 to enable the first TPDO on node 5 by clearing the high bit If the Add to list checkbox is checked the object will be added to the user SDO list as a write SDO Pressing A performs a read and Adds it to the user SDO list pane lower right as a read SDO The SDOs in the user SDO pane can be rearranged by dragging them wit...

Page 134: ...imit exceeded 1 One of the error counters in the Error Management Logic reached the error warning limit of 96 BOFF Bus Off Status 0 CAN controller is not in the bus off state 1 CAN controller is in the bus off state LEC Meaning Description 000 No error The latest transfer on the CAN bus has been completed successfully 001 Stuff error More than 5 equal bits in a sequence have occurred in a part of ...

Page 135: ... MAC00 FCx tab See the figure below And example of an error message are shown in the figure above 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 TT1098GB ...

Page 136: ...ter 1004 Reservation of PDOs 0 X Reserved numbers of PDOs 1 X Reserved numbers of syncPDOs 2 X Reserved numbers of asyncPDOs Manufac tur er device name 1008 VISIBLE STRING X JVL A S Manufac tur er hardware version 1009 VISIBLE STRING X 1 0 Manufac tur er software version 100A VISIBLE STRING X Example Version x x Guard time 100C UNSIGNED16 Inform about the Guard time in milli seconds Is only mandat...

Page 137: ...Generic error Limit switch error Errorcode 1003h Generic error Internal communication error Errorcode 1004h Generic error Queue overflow in communication queue The EMCY object 1001h are sent as an 8 bit header an have the following structure Byte 0 1 Shows which Generic error the module is sending Byte 2 Error register In the error register it is indicated to which error class the error belongs Mo...

Page 138: ...s queue between the module and the motor In MAC00 FC2 FC4 none of the error control is enabled then the modules are started up because if there is any fault in the system it is impossible to get in contact with the module After the module has started up and there is communication between the mas ter and the slave then turn on the wanted error control mechanism in the object Dic tionary see section...

Page 139: ...ub Index Type Read only Default Description Command 2010 0 UNSIGNED 8 Execute a MAC00 FCx command Module parameters 2011 0 UNSIGNED 8 X 8 Subindex count 1 UNSIGNED 8 X Input status IN1 IN4 NL PL 2 UNSIGNED 8 Output 3 UNSIGNED 8 X Motor Status 4 UNSIGNED 16 X Last Motor Error 5 UNSIGNED 8 Output setup 6 UNSIGNED 8 0x3F Input active level 7 UNSIGNED 8 Input setup 8 UNSIGNED 8 Setup bits Motor parame...

Page 140: ... output 1 and 2 On the MAC00 FC2 module the outputs are connected via J4 and on the MAC00 FC4 module the outputs are connected via the M12 connectors marked I O 4 4 26 Object 2011h Subindex 3 Motor status With this object the status of the motor can be monitored Bit 6 Equals 1 if the velocity is decreasing Bit 5 Equals 1 if the velocity is increasing Bit 4 Equals 1 if the motor is at the commanded...

Page 141: ...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 4 4 30 Object 2011h Subindex 7 Input setup With this object the dedicated function of the inputs can be enabled When the corre sponding bit is 0 the input functions as a normal input When the corresponding bit is 1 the dedicated function of the i...

Page 142: ...ead of reading the position SCAN_V_IST When this bit is 1 the V_IST is scanned all the time The transmit PDO22 will then send the last scanned velocity instead of reading the velocity Endless relative When this bit is 1 the endless relative position mode is used when doing relative positioning in DSP 402 When using this mode absolute positioning can no long er be used Error action 0 set motor in p...

Page 143: ...escription 00 Number of entries UNSIGNED8 Read 253 01 PROG_VERSION VISIBLE_STRING Read 120 02 MODE_REG UNSIGNED16 Write 0 Passive mode 1 Velocity mode 2 Position mode 3 Gear mode 4 Analog Torque mode 5 Analog Velocity mode 6 Analog Velocity Gear mode 7 11 Reserved 12 Torque zero Search 13 Sensor type1 Zero search 14 Sensor type2 Zero search 03 P_SOLL UNSIGNED32 Write Encoder counts The commanded p...

Page 144: ... entry in the PDO communication parameter Record The COB ID register is sub in dex 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 Sub index Hex Name Data type Read Write Default HEX Unit Description 1E MAX_P_IST Long int Read Encoder counts Software position limit negative 20 ACC_EMERG Word Write Counts sample2 The maxim...

Page 145: ...eive PDO 23 This PDO sets a new operating mode for the motor PDO Sub index Type Description Default Access type 21 1 Receive COB ID Nodeid 0x80000200 r w 1 Transmit COB ID Nodeid 0x80000180 r w 22 1 Receive COB ID Nodeid 0x80000300 r w 1 Transmit COB ID Nodeid 0x80000280 r w 23 1 Receive COB ID Nodeid 0x80000400 r w 1 Transmit COB ID Nodeid 0x80000380 r w 24 1 Receive COB ID Nodeid 0x80000500 r w ...

Page 146: ...n be read Transmit PDO 23 With this PDO the actual torque can be read Transmit PDO 24 With this PDO the value of the analog input can be read Byte 0 1 2 3 4 5 6 7 Data Output data Reserved Reserved Reserved Reserved Reserved Reserved Reserved Object 2011h sub 2 Byte 0 1 2 3 4 5 6 7 Data P_IST Motor Status Inputs Reserved Reserved Object 2012h sub 10 2011h sub 3 2011h sub 1 Byte 0 1 2 3 4 5 6 7 Dat...

Page 147: ...ssing time for the PDOs Note that Transmit PDO21 is faster if P_IST scanning is enabled See object 2011h subindex 8 Note that Transmit PDO22 is faster if V_IST scanning is enabled See object 2011h subindex 8 If the received PDOs are transmitted faster than the internal processing time an internal queue overflow occurs See emergency object If the SYNC object interval is smaller that the processing ...

Page 148: ...ality described in DSP 402 is supported But all the mandatory functions are supported The following operation modes is supported Profile position mode Velocity mode Homing mode Precondition Before the DSP 402 mode can be used the firmware in the FCx module must be updat ed to at least version 1 3 The start mode of the motor must be set to passive No power up zero searches must be selected If absol...

Page 149: ... 0 Motor status When HW inputs or motor status change See formula 6 in sec tion 4 3 40 Digital_outputs_numbers_of_entries 60FE 0 2 Digital_outputs_Physical_outputs 60FE 1 HW output 0 Imm See formula 7 in section 4 3 40 Digital_outputs_Bit_mask 60FE 2 HW output 0 Imm See formula 7 in section 4 3 40 Device control Abort_connection_option_code N U 6007 0 Error_code N U 603F 0 Controlword 6040 0 Statu...

Page 150: ...ion_factor At homing Factors Position_notation_index N U 6089 0 0 Postion_dimension_index N U 608A 0 0xAC Velocity_notation_index N U 608B 0 0 Velocity_dimension_index N U 608C 0 0xA4 Accelleration_Notation_index N U 608D 0 0 Accelleration_dimension_index N U 608E 0 0 Position_encoder_resolution_ number_of_entries RO 608F 0 2 Position_encoder_resolution_ Encoder_increment 608F 1 4096 or 8000 Not C...

Page 151: ...F_Upd Acceleration_ factor Acceleration_factor_Divisor RPM 6097 2 60 CF_Upd Accele ration_factor Polarity Bit7 InvPos Bit6 InvVel 607E 0 CF_Upd Position_factor Velocity_factor SampleFreq 520 833 or 770 Not CF_Upd Velocity_factor Acceleration_ factor Homing_Torque 2100 0 T_HOME 500 in V2 0 30 in V2 1 1 023 At start of homing Module Parameters Inputs status 2011 1 See section 4 3 24 Outputs 2011 2 0...

Page 152: ...ample for a MAC50 141 For and MAC800 shall 4096 be chanced to 8000 Velocity_encoder_factor 2 in section 4 3 39 This factor is used to convert the user unit into the internal unit counts sec The factor is adjusted via object 6094h Example 1 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 ...

Page 153: ... is adjusted via object 6097h Example 1 We have a MAC800 motor with 8000 counts revolution We want the user unit of the acceleration to be in RPM s The parameters should be set as follows Acceleration_factor formula Velocity_encoder_factor Velocity_encoder_factor_Numerator 16 Velocity_encoder_factor_Divisor SampleFreq Velocity_encoder_factor Object 6094sub1 16 Object 6094sub2 Samplefreq Velocity_e...

Page 154: ...or as and object Position_factor_Numerator 5 in section 4 3 39 Position_factor_Numerator formula or as and object Acceleration_factor Object 6097sub1 16 Object 6097sub2 Samplefreq Samplefreq Accelerationr_factor 8000 16 0 003598 RPM s 60 770 770 Object Name Calculated value Value 6097h subindex 1 Acceleration_Encoder_Factor_ Numerator 389 56 3 5 8000 0 013913 13913 6097h subindex 2 Acceleration_En...

Page 155: ...ted and can be done even though the operation mode is enabled The other exception is when changing from profile position mode into velocity mode 4 4 42 Profile position mode This mode can be used for positioning where a movement profile can be set up The ac celeration and maximum velocity can be programmed In this mode both absolute and relative moves are supported The type of move is se lected vi...

Page 156: ...1h subindex 7 The sensors should be connected to the appropriate inputs NL and PL The torque limit used during homing is selected via object 2100h The unit of this is ob ject is the same as other torque objects e g Object 6072h There are also 4 manufacturer specific methods These are listed in the table below Please note that you should always use a home offset object 607Ch when using torque homin...

Page 157: ...040h 60FFh Controlword Target velocity pv Controls the state machine and the target velocity pv 7 6040h 60FEh Controlword Digital outputs Controls the state machine and the digital outputs PDO no Mapping object index Mapping object name Event driven Comment 1 6041h Statusword Yes Shows status 2 6041h 6061h Modes of operation Yes Shows status and the current mode of operation 3 6041h 6064h Statuswo...

Page 158: ...Cable Ø5 5mm with M12 female 5 pin connector loose wire ends 0 35mm 22AWG and foil screen Length 5m 197 inch WI1000 M12F5T05N X Same as above but 20m 787 inch WI1000 M12F5T20N X Cable with M12 male 8 pin connector loose wire ends 0 22mm 24AWG and screen Length 5m 197 inch WI1000 M12M8T05N X Same as above but 20m 787 inch WI1000 M12M8T20N X CANopen cable with M12 male 5 pin connector loose ends and...

Page 159: ...owest byte first Every object is described and classified in the object dictionary or index and is accessible though the network They are addressed using a 16 bit index so that the object dictionary may contain a maximum of 65536 entries Index 0001 001F Static data types contain type definitions for standard data types like boolean integer floating point etc These entries are included for referenc...

Page 160: ...olean Integer32 the value for the sub index is always zero For complex object dictionary entries such as arrays or records with multiple data fields the sub index refers to fields within a data structure pointed to by the main index Index counting starts with one The DS 301standard is the application and the communications profile for a CANopen bus and is the interface between the devices and the ...

Page 161: ... it received The PDOs correspond to entries in the Device Object Dictionary and provide the inter face to the application objects Data type and mapping of application objects into a PDO is determined by a corresponding PDO mapping structure within the Device object Dic tionary Number and length of PDOs of a device is application specific and have to be specified within the device profile Write PDO...

Page 162: ...of different process data during operation The MAC00 FC2 FC4 module use only static mapping 4 4 50 SDO Service Data Objects SDO can access all entries in the object directory but they are normally used in the in itialization during the boot up procedure Some SDOs characteristic are Confirmed transfer of objects Data transfer exchange is always non synchronous Values greater than 4 bytes are transf...

Page 163: ...ype 0 normal transfer 1 expedited transfer Size indica tor 0 data set size is not indicat ed 1 data set size is indicated Multiplexer It repren sents the index sub index of the data to be transfer by the SDO Upload 2 Initiate upload request 2 Initiate upload response Only valid if e 1 and s 1 otherwise 0 If valid it indicates the number of bytes in d that do not contain data Bytes 8 n 7 do not con...

Page 164: ... sub index not used always 0 Reserved for further use always 0 Upload e 0 s 0 d is reserved for further use e 0 s 1 d contains the number of bytes to be uploaded Byte 4 contain the lsb and byte 7 contain the msb e 1 s 1 d contain the data of length 4 n to be uploaded the encoding depends on the type of the data ref erence by index and sub index not used always 0 Reserved for further use always 0 A...

Page 165: ...043h General parameter incompatibility reason 0606 0000h Access failed due to an hardware error 0607 0010h Data type does not match length of service parameter does not match 0607 0012h Data type does not match length of service parameter too high 0607 0013h Data type does not match length of service parameter too low 0609 0011h Sub index does not exist 0609 0030h Value range of parameter exceeded...

Page 166: ...cept Start Remote Node can be initiated by the local application A general NMT protocol Where CS is the NMT command specified The Node ID of the NMT slave as assigned by the NMT master in the Node Connect protocol or 0 If 0 the protocol addresses all NMT slaves Start Remote Node This is an instruction to transition from the Pre Operational to Operational communica tions state The drive can only se...

Page 167: ... Services There exist two possibilities to perform Error Control Node Guarding Life Guarding Heartbeat With Node Guarding the CANopen master sends to each slave an RTR telegram Re mote Transmit request with the COB ID 1792 700h node ID The slave responds with the same COB ID with its communications state This means either Pre Operational Operational or stopped The CANopen slave also monitors the i...

Page 168: ...ucer cyclically sends its communications state to the CAN bus One or more Heartbeat Consumers receive the indication The relationship between producer and consumer is configured via the object dictionary The Heartbeat Consumer guards the reception of the Heartbeat within the Heartbeat Con sumer time If the Heartbeat is not received within the Heartbeat Consumer Time a Heartbeat Event will be gener...

Page 169: ... from 0 the Heartbeat Protocol starts on the state transition from Initialising to Pre operational In this case the Boot up Message is regard ed as first heartbeat message If the Heartbeat producer time is not 0 the heartbeat pro tocol is used In MAC00 FC2 FC4 none of the error control is enabled then the modules are started up because if there is any fault in the system it is impossible to get in...

Page 170: ...ections of the DeviceNet specifications for additional infor mation 1 Volume II Section 3 12 Position Controller 2 Volume II Section 6 24 Position Controller Supervisor Object 3 Volume II Section 6 25 Position Controller Object 4 Volume II Section 6 14 Parameter Object 5 Volume I Appendix H DeviceNet Error Codes 6 Volume I Appendix J Data Type Specification The expansion module MAC00 FD4 can be mo...

Page 171: ...00 FD4 Dip switch settings Dip 1 6 Node id setting Dip 7 Node id set by software address range 0 63 TT1017GB Mini dip switch SW1 SW2 Dip 8 9 Baud rate Dip 1 2 Line termination Baud rate setting 125k to 500k OFF ON M12 external connectors Dip Switches placed on the rear side of the module Rear side of the MAC00 FD4 expansion module Dip switch location on the MAC00 FD4 Expansion module Basic MAC mot...

Page 172: ...1 OFF OFF ON OFF ON ON 43 ON OFF ON OFF ON ON 12 OFF OFF ON ON OFF OFF 44 ON OFF ON ON OFF OFF 13 OFF OFF ON ON OFF ON 45 ON OFF ON ON OFF ON 14 OFF OFF ON ON ON OFF 46 ON OFF ON ON ON OFF 15 OFF OFF ON ON ON ON 47 ON OFF ON ON ON ON 16 OFF ON OFF OFF OFF OFF 48 ON ON OFF OFF OFF OFF 17 OFF ON OFF OFF OFF ON 49 ON ON OFF OFF OFF ON 18 OFF ON OFF OFF ON OFF 50 ON ON OFF OFF ON OFF 19 OFF ON OFF OFF...

Page 173: ...AC00 FD4 The Baud rate can be set according to the following table X Not used For future purposes set in position off Baud rate Dip Switch no SW1 10 9 8 7 1 6 125 kbit X OFF OFF X See table above 250 kbit X OFF ON X See table above 500 kbit X ON OFF X See table above Reserved X ON ON X See table above ...

Page 174: ...r to 1 for a description of the responses 4 5 4 Object class 100 H Each instance has 2 attributes 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 Byte 7 6 5 4 3 2 1 0 0 Enable Hard stop Smooth stop Direction vel mode Incremental Load Data 1 Command Data 1 2 Comm...

Page 175: ... H 4 Get Set BYTE Set the output level 241 F1 H 5 Get Set BYTE Input active level 242 F2 H 6 Get Set BYTE Input setup 243 F3 H 7 Get Set BYTE Output setup 244 F4 H Attribute ID Access rule Data type Description Parameter mapping 1 Get USINT The total number of supported attributes 2 Reserved 3 Get BYTE Motor status 245 F5 H Attribute ID Access rule Data type Description Parameter mapping 1 Get USI...

Page 176: ... With this object the dedicated function of the inputs can be enabled When the corre sponding bit is 0 the input functions as a normal input When the corresponding bit is 1 the dedicated function of the input will be enabled When the end limit inputs NL or PL are enabled and one of these is activated the error action will be executed The error action is defined in instance 3 attribute 3 4 5 10 Ins...

Page 177: ...le Endless relative When this bit is 1 the endless relative position mode is used for incre mental positioning When using this mode absolute positioning can no longer be used Error action Determines the action in the event of an error Bit6 set to 0 will set the mo tor in passive mode in case of an error Bit6 set to 1 will stop motor by setting velocity to zero in the event of an error 4 5 13 Insta...

Page 178: ...1 1 3 5 6 7 4 5 17 Object class 37 Position Controller This object class is the position controller object as defined in the DeviceNet standard The following attributes are supported for instance 1 1 2 3 6 7 8 10 11 12 13 14 17 20 21 25 45 48 49 52 54 55 58 The range for attribute 25 Torque is 0 1023 The following additional manufacturer specific attributes are supported Attribute ID Access rule D...

Page 179: ...y for the module Interface Control PWR Power supply MAC50 141 12 48V and MAC400 800 24V I O Digital inputs and outputs Voltage range 5 28 32 V BUS1 DeviceNet Interface M12 Male connector BUS2 DeviceNet Interface M12 Female connector Basic MAC motor with MAC00 FD4 module inserted TT1019GB MAC00 FD4 expansion module Basic MAC motor MAC050 to 800 Power supply Internal power supply processor and encod...

Page 180: ...1 P Main supply ground Connect with pin 3 5 Grey 1 Note P and P is 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 BUS1 DeviceNet interface M12 5 pin male connector Signal name Description Pin no Cable user supplied Isolation group Drain Shield for the DeviceNet interface in...

Page 181: ...Ground also used with analogue input 4 Yellow 1 IOA I O terminal A SW3 2 ON and SW3 DIP3 OFF AIN Analogue input SW3 2 OFF and SWDIP 3 ON O2 output 2 AIN is the analogue input Remem ber to use the GND terminal with AIN 5 Grey 3 1 when used as AIN IOB I O terminal B SW3 4 OFF IN1 input 1 SW3 4 ON O1 output 1 6 Pink 3 IO I O ground to be used with IN1 NL PL O1 O2 7 Blue 3 IOD I O terminal D SW3 6 OFF...

Page 182: ...erface transmit output ON Enable Tx Dip 2 Dip 3 I O terminal A DIP2 ON and DIP3 OFF AIN Analogue input IOA Dip 2 Dip 3 I O terminal A DIP2 OFF and DIP3 ON O2 output 2 IOA Dip 4 I O terminal B DIP4 ON Output 1 DIP4 OFF Input 1 IOB Dip 5 I O terminal C DIP5 ON O1 output DIP5 OFF PL positive limit input IOC Dip 6 I O terminal D DIP6 ON O Output supply DIP6 OFF NL Negative limit input IOD SW3 ON OFF F...

Page 183: ...mm with M12 female 5 pin connector loose wire ends 0 35mm 22AWG and foil screen Length 5m 197 inch WI1000 M12F5T05N X Same as above but 20m 787 inch WI1000 M12F5T20N X Cable with M12 male 8 pin connector loose wire ends 0 22mm 24AWG and screen Length 5m 197 inch WI1000 M12M8T05N X Same as above but 20m 787 inch WI1000 M12M8T20N X DeviceNet cable with M12 male 5 pin connector loose ends and screen ...

Page 184: ...ns but with the following hardware differences Note IP65 on MAC400 800 Both modules are delivered without any cables as standard Optionally the MAC00 FP2 module can be delivered with cable in selected lengths Also cables for the MAC00 FP4 with M12 connectors are available The first part of this section deals with the common features of both modules Please see the latter pages for specific informat...

Page 185: ...Switch placed on the rear side of the module Dip switch location on the MAC00 FP2 Expansion module Basic MAC motor housing Internal circuit boards 1 2 4 5 7 8 9 0 6 3 Dip 1 7 Address setting address range 0 127 TT0946GB Dip 8 Address set by software Mini dip switch SW1 Dip 9 10 Line termination Both set to ON Term enabled Both set to OFF Term disabled Notes SW1 default setting All switches set to ...

Page 186: ...be placed here The register must be in the range 1 255 Direct register This register can be used to execute a FlexMac2 command When writing to this Register the command will be executed immediately The bit 0 6 is the command and bit 7 is not used If the same command is to be executed twice bit 7 can be toggled The command is accepted when the Last direct register in the input data has the same val...

Page 187: ...this to 1 if reading from a 32 bit register and 0 if reading from a 16 bit register Bit 3 Auto write When this bit is 1 the data written in write data 0 3 is transferred to the MAC motor immediately regardless of the write toggle bit Bit 2 Auto read When this bit is 1 the data in read data 0 3 is updated all the time re gardless of the read toggle bit Bit 1and Bit 0 should be 0 Input setup Bit 6 R...

Page 188: ...In position this bit is 1 when the motor has reached its commanded position Bit 0 Error this bit is 1 when a motor error has occurred Input status Bit 5 PL Positive limit input Bit 4 NL Negative limit input Bit 3 0 INx user inputs Last direct register See Direct register page 182 for details Address Name Description 0 Read data 3 MSB Data read from register 1 Read data 2 2 Read data 1 3 Read data ...

Page 189: ...e read in output data 5 for other purposes Absolute Relative mode 1 When this mode is selected the inputs have the following functions IN1 Selects the absolute position in position register 1 IN2 Selects the absolute position in position register 2 IN3 Moves relative the distance in position register 3 IN4 Moves relative the distance in position register 4 The action is executed when an inactive t...

Page 190: ...r should run again the user must manually set a new velocity Passive mode When the end limit is activated the actual mode will be changed to passive In passive mode the motor is short circuited and can be ro tated In firmware version 1 4 or higher the end limit action is also active if the Profibus is go ing off line but it needs to be online before it goes off line before the feature is enabled I...

Page 191: ...o change Command 96 Sub command N N Register N Register N Register N Register 0 P1 8 V1 16 A1 24 L1 1 P2 9 V2 17 A2 25 L2 2 P3 10 V3 18 A3 26 L3 3 P4 11 V4 19 A4 27 L4 4 P5 12 V5 20 T1 28 Z1 5 P6 13 V6 21 T2 29 Z2 6 P7 14 V7 22 T3 30 Z3 7 P8 15 V8 23 T4 31 Z4 N Command N Command 0 No operation 16 Start search zero 1 Reset error 17 No operation 2 P_SOLL 0 18 No operation 3 P_IST 0 19 Reserved 4 P_F...

Page 192: ...es of FastMac commands Change velocity mode and activate register V1 32 8 FastMac command 40 Activate register P5 and change to position mode 64 4 FastMac command 68 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 ...

Page 193: ...erface connector See table for connection details Output connector See table for connection details Input connector See table for connection details Mounting hole used to fit the connector board to the rear plate Mounting hole used to fit the connector board to the rear plate Profibus input connector signal from last node in the chain Profibus output connector signal to next node in the chain Over...

Page 194: ...N4 4 Digital input 4 Violet white NL 5 Negative limit input If not used do not connect Grey PL 6 Positive limit input If not used do not connect Grey black IO 7 I O ground Shared with the output ground O Pink black NC 8 Reserved Black white CV 9 Secondary supply Used during emergency stop Light green CV 10 Secondary supply Used during emergency stop White Digital Outputs Internal connector J4 Sign...

Page 195: ... and tighten the nuts Screw the wires into the module The red wire must go into the B terminal and the green must go into the A terminal The input and output terminals can be swapped if re quired The is no difference between input and output on the board which means that it is purely hard wired Attach the circuit board to the rear plate with the two screws REMEMBER to use the spring washers includ...

Page 196: ... these requirements the MAC motor equipped with a MAC00 FPx module offers a secondary supply input called CV If the main supply at the P terminal is removed the internal control circuitry can be kept alive by maintaining a supply at the CV terminal Interface connector incl analogue input How to connect the MAC00 FP2 RS232 interface PC RS232 COMport GND Rx Tx 1 2 3 5 Screen terminated to the GND te...

Page 197: ...onnect with pin 5 3 Blue 1 CV Control voltage 12 48VDC 4 Black 1 P Main supply ground Connect with pin 3 5 Grey 1 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 BUS1 Profibus DP interface M12 5 pin male connector Signal name Description Pin no Cable user su...

Page 198: ...ut 4 Yellow 1 IOA I O terminal A DIP 2 ON and DIP3 OFF AIN Analogue input or S2 input DIP2 OFF and DIP 3 ON O2 output 2 PNP 25mA 5 Grey 3 1 when used as AIN IOB I O terminal B DIP 4 OFF IN1 input 1 DIP 4 ON O1 PNP 25mA output 1 6 Pink 3 IO I O ground to be used with IN1 NL PL O1 O2 7 Blue 3 IOD I O terminal D DIP 6 OFF NL negative limit input DIP 6 ON O output supply 8 Red 3 Cable Screen Some stan...

Page 199: ...F5T05N X Same as above but 20m 787 inch WI1000 M12F5T20N X Cable with M12 male 8 pin connector loose wire ends 0 22mm 24AWG and screen Length 5m 197 inch WI1000 M12M8T05N X Same as above but 20m 787 inch WI1000 M12M8T20N X Profibus DP cable with M12 male 5 pin connector B coded loose ends and screen Length 5m 197 inch WI1026 M12M5S05R X Same as above but 15m 591 inch WI1026 M12M5S15R X Profibus DP...

Page 200: ...it Definition List GSD_Revision 1 Vendor_Name JVL IND EL Model_Name MAC00 FP Revision 0 0 Ident_Number 0x06BC Protocol_Ident 0 Station_Type 0 Hardware_Release 1 1 Software_Release 1 2 9 6_supp 1 19 2_supp 1 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 ...

Page 201: ..._Text_Ref 1 EndExtUserPrmData ExtUserPrmData 2 IN2 Input level Bit 1 1 0 1 Prm_Text_Ref 1 EndExtUserPrmData ExtUserPrmData 3 IN3 Input level Bit 2 1 0 1 Prm_Text_Ref 1 EndExtUserPrmData ExtUserPrmData 4 IN4 Input level Bit 3 1 0 1 Prm_Text_Ref 1 EndExtUserPrmData ExtUserPrmData 5 NL Input level Bit 4 1 0 1 Prm_Text_Ref 1 EndExtUserPrmData ExtUserPrmData 6 PL Input level Bit 5 1 0 1 Prm_Text_Ref 1 ...

Page 202: ...x0 0 0 0 0 0 0 0 0 0 0 0 0 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 ...

Page 203: ...S1 and FS4 can be mounted on the standard MAC mo tors MAC50 MAC95 MAC140 MAC141 MAC400 800 Both modules offer the same functions but with the following hardware differences Note IP65 on MAC400 800 Both modules are delivered without any cables as standard Optional the MAC00 FS4 module can be delivered with cables in 5 or 20m length The pages in the first part of this section concern the common feat...

Page 204: ...5 Grey 1 Note P and P is 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 COM Interface RS485 M12 5pin female connector Signal name Description Pin no JVL Cable WI1000M12 M5T05N Isolation group Leave open 1 Brown 1 Leave open 2 White 1 RS485 A RS485 interface positive termina...

Page 205: ...en 1 GND RS232 Ground also used with analogue input 4 Yellow 1 A Multifunction I O terminal A Maximum 5V 5 Grey 1 A Multifunction I O terminal A Maximum 5V 6 Pink 1 B Multifunction I O terminal B Maximum 5V 7 Blue 1 B Multifunction I O terminal B Maximum 5V 8 Red 1 Cable Screen Some standard cables with M12 connector offers a screen around the cable This screen is at some cables fitted to the oute...

Page 206: ...ch SW1 SW2 Dip 1 2 Line termination OFF ON M12 external connectors Dip Switches placed on the rear side of the module Rear side of the MAC00 FS4 expansion module Dip switch location on the MAC00 FS4 Expansion module Basic MAC motor housing Internal circuit boards Both set to ON Term enabled Both set to OFF Term disabled SW1 default settings all set in position ON SW2 default settings Both switches...

Page 207: ...IO1 8pin Male IO2 8pin Female COM 5pin Female PWR 5pin Male X RS232 Interface cable Connects directly from MAC00 R4 to PC Length 5m 197 inch RS232 M12 1 5 5 X Cable Ø5 5mm with M12 female 5 pin connector loose wire ends 0 35mm 22AWG and foil screen Length 5m 197 inch WI1000 M12F5T05N X Same as above but 20m 787 inch WI1000 M12F5T20N X Note1 Cable with M12 male 5 pin con nector loose wire ends 0 35...

Page 208: ...erface makes it possible to handle a secondary motor configured as slave which means that the communication protocol always makes sure that the slave follows the master motor In case of an error in either the slave or master any further motion is stopped in both motors The modules contain no intelligence microprocessor meaning that all functionalety is controlled via the basic motor where the modu...

Page 209: ... PNP source outputs The outputs are galvanic isolated from all oth er terminals and circuits Only MAC400 800 P AIN1 2 P P CVI1 CVI2 P GND O1 RX O2 TX IO1 4 GND GND Rx IGND Tx Control Supply Asynchronous serial interface Power supply P 12 32V 12 32V CVI1 CVI2 RS485 Interface 4 20mA output 4 20mA Input Status outputs Supply output to slave motor RS485 Termination dipswitch Internal supply ON OFF RS2...

Page 210: ...ls and circuits RS485 Interface A B and IGND Serial balanced interface for connection to a PC or a controller The protocol is sim ilar to the RS232 or USB interface which means that all registers parameters in the motor can be monitored or changed The RS485 is recommended for longer distanc es or in noisy environments RS232 Interface Rx Tx and IGND Serial unbalanced interface for connection to a P...

Page 211: ...order to reach maximum motor speed See also the general power supply description Power Supply page 59 Only MAC400 800 TT1168GB MAC50 141 Motor with MAC00 B1 B2 or B4 MAC400 Motor with MAC00 Px P P P GND CVI1 Power Supply Power Supply Control Volt Mains 115 or 230VAC Control voltage Only MAC50 141 with B2 or B4 Optional O Main supply Max 32VDC It is recommended that a separate supply line is used f...

Page 212: ...that GND is also connected 4 Ensure that all units have a proper connection to safety ground earth in order to refer to the same potential 5 The RS232 interface cable length should not exceed 10 metres Connectors To see the specific connector pin out please see the chapter Expansion MAC00 B41 con nector description page 105 A finished RS232 cable also exist Please see Cables for the MAC00 B41 page...

Page 213: ...f a second motor with a syncronous movement is needed the MAC00 P5 offers the posi bility to connect 2 MAC motors in a master slave configuration The 5pin M12 male connector located at the MAC00 P5 is the master slave connector By connecting the 5 pins in the master motor to the equivalent pins in the slave motor all communication and also 24V supply is taken care of in the slave motor Beside thes...

Page 214: ...rey 3 AOUT 4 20mA output Negative terminal 4 Yellow 3 O Supply term to the error output Apply 24VDC 5 Green 1 OUT1 Error output PNP ouput 6 Brown 1 P CVI1 Control supply input 12 28VDC Consump tion typical 350mA 24VDC and 700mA 24VDC if a slave motor is connected At MAC00 P5 the CVI1 is not present but CVI1 is internally hardwared to P 7 Hvid 0 P Main ground to be used with CVI1 and CVI2 8 Black y...

Page 215: ...er with the other signals in this connector 3 Blue 4 RS485 A RS485 interface Leave open if unused 4 Black 4 RS485 B RS485 interface Leave open if unused 5 Grey 4 SLV Slave connector M12 5pin male connector Signal name Description Pin no JVL Cable WI1005 M12F5TF5T 03P Isolation group see note RS485 A RS485 Modbus Positive terminal 1 1 4 RS485 B RS485 Modbus Negative terminal 4 4 4 CVI2 Supply outpu...

Page 216: ...ting 8pin male COM M12 con 5pin Female SLV M12con 5pin Male X RS232 Interface cable Connects directly from MAC00 P5 to a PC Length 5m 197 inch RS232 M12 1 5 5 X RS485 Interface cable Connects directly from a master to a slave motor Length 3m 197 inch WI1005 M12F5TF5T03P X Cable with M12 female 5 pin straight connector loose ends Length 5m 197 inch WI1000 M12F5T05N X Same as above but 20m 787 inch ...

Page 217: ...an external PLC or computer Please note that it is also possible to change or read parameters such as position speed etc during operation using the serial interface Applications typically include Replacement for pneumatic cylinders Dispenser systems Turntables Simple pick and place systems Machine adjustment setup All of the modules offer the same functions but with the following hardware differen...

Page 218: ... programming firmware offers 100 flexibility since almost any function in the motor can be controlled using simple user friendly commands that are built together as a sequential program The user interface of both types of firmware setup is shown below Note If MacTalk is used off line no motor connected all tabs can be seen by selecting Show hidden pages in the View menu 4 9 3 How to set up the des...

Page 219: ...ss S to download the selected firmware The progress counter will now rise from 0 to 100 Show all files tart Step 4 When the download process is finished the status shows Also has changed to the actual downloaded version meaning that the firmware in the module is now changed permanently Done Current version Step 5 The on line information shown in the lower right corner of the MacTalk main window wi...

Page 220: ... which is 67 108 863 counts or if the application requires that the motor mostly moves in only one direction meaning that sooner or later it will pass the maximum limit of counts mentioned above Typical applications for the two program types are Relative Absolute XY tables Pick and place robots Valve actuators Endless relative Dispensers for film labels etc Dosing pumps Turntables Torque controlle...

Page 221: ...n if the program must be paused Paused means that the actual program line executed is temporarily paused When paused the single step feature can be used to debug the program Stop Use this button if the program must be stopped MAC00 RxP menu Main menu for creating a new program Verifying program size and other basic details for the MAC00 RxP module MAC00 RxP Status texts The message means that ther...

Page 222: ...hecksum of the complete program downloaded into the module The checksum is unique and can be used to verify whether the program in the module matches the original program or not The number of program lines used in the source program MacTalk Specify the program type actually used Enable input filter Skip initialization advanced Enables an oversampling filter at the inputs IN1 to IN8 This feature ca...

Page 223: ...ogramming can be started Press the button at line 1 and a tool box will pop up TT0983GB Press the first button to create the first program line The box will pop up Select command Choose the desired command In this example it is desired to wait for an input to be activated before further program execution Choose to wait until input 5 is high and press OK 1 2 3 Continued The command is inserted at t...

Page 224: ...e the second program line Choose the movement type needed Relative Move x counts forward with reference to the actual position Absolute Move to the x position with reference to the zero search position 5 6 The relative move command just entered is converted into a program line 7 Now the program is finished Press the button Now the program will be transfered and stored permanently in the module The...

Page 225: ...omplete motor setup package 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 TT0985GB Now the program is running continuously The actual program line which is executed is shown by the small red arrow By choosing the Pause button the program is paused After it is paused it is po...

Page 226: ...ode such as position or velocity mode Use Initiates any motor movement relative or absolute Use Set a certain state at one or multiple digital outputs Use Unconditional jump from one program line to another Use Conditional jump from one program line to another Input dependent Use Inserts a delay in the program specified in milliseconds Use Wait for a certain state at one or multiple digital inputs...

Page 227: ...n make the source code easier to read This can be very important if other programmers have to review or work on the code or if the program is only worked on infrequently Icon Dialogue Function Sets the operating mode for the motor When the program encounters a program line with this command the motors operating mode will be set to the specified mode This allow you to use different operating modes ...

Page 228: ...ese memory registers refer to the sections on the Save position and Set position commands Note that if you specify a velocity motor register no 5 V_SOLL will be over written with this velocity value Also if you specify an acceleration motor register no 6 A_SOLL will be overridden with the acceleration value you specified Register no 49 P1 is always over written by this command If the Wait for in p...

Page 229: ...or taken from three memory registers in the RxP module For further information on using these memory registers refer to the sections on the Save position and Set position commands Note that motor register no 5 V_SOLL will be over written with the value specified in the New velocity field Also if you specify an acceleration motor register no 6 A_SOLL will be over written with the acceleration value...

Page 230: ...r can be taken from one of three memory register in the RxP module For further information on using these memory registers refer to the sections on the Save position and Set position commands Note that if you specify a velocity motor register no 5 V_SOLL will be over written with this velocity value Also if you specify an acceleration motor register no 6 A_SOLL will be over written with the accele...

Page 231: ...position and Set position commands Note that if you specify a velocity motor register no 5 V_SOLL will be overwritten with this velocity value Also if you specify an acceleration motor register no 6 A_SOLL will be over written with the acceleration value you specified If the Wait for in position option is checked the program will wait until the motor has finished the movement before proceeding to ...

Page 232: ...asured in encoder counts and can either be entered directly or can be taken from one of three memory register in the RxP module For further information on using these memory registers refer to the sections on the Save position and Set position commands Note that if you specify a velocity motor register no 5 V_SOLL will be over written with this velocity value Also if you specify an acceleration mo...

Page 233: ...R4 4 9 10 9 Set outputs Icon Dialogue Function Sets one or more outputs on the RxP module When setting a single output you can specify the length in milliseconds of a pulse to send out on that output When setting multiple outputs you can specify whether to set each output high low or leave it in its current state ...

Page 234: ...he next line in the program If the condition is met the command jumps to the specified program line If the condition is not met the program proceeds to execute the next line in the program When input type is set to single the command can test a single input for one of four possible conditions the input is low the input is high the input has transitioned to low Falling Edge or the input has transit...

Page 235: ...t met the program proceeds to execute the next line in the program When input type is set to Multiple Multiple inputs can be tested for being either high or low The Operand setting determines whether one or all of the inputs must meet their test criterion If set to And all inputs must match their test settings If set to Or only one input need to match its test setting Inputs that are set to Don t ...

Page 236: ...13 Wait for x ms before continuing Icon Dialogue Function Causes the program to pause for a number of milliseconds before continuing The longest pause that can be specified is 65535 milli seconds The shortest pause that can be specified is 0 milliseconds Note that this command over writes Timer 1 in the RxP modules memory ...

Page 237: ... Waits for a specified input condition to occur The next line in the program will not be executed until the input condition has been met If Input type is set to Single the command will wait for one of four things to happen on the specified input that the input tests as high that the input tests as low that the input transitions from high to low Falling Edge The input is tested with 30 microsecond ...

Page 238: ...n the program will not be executed until the input condition has been met If Input type is set to Multiple multiple inputs can be tested for being either high or low The Operand setting determines whether one or all of the inputs must meet their test criterion If set to And all inputs must match their test settings If set to Or only one input need to match its test setting Inputs that are set to D...

Page 239: ...ister in the motor against a specified value before either jumping to another line in the program or moving on to the next line in the program If the condition is met the command jumps to the specified program line If the condition is not met the program proceeds to execute the next line in the program The value can either be entered as native motor units or it can be entered as generic engineerin...

Page 240: ... or it can be entered as generic engineering units The dialogue shown provides an example register no 10 P_IST or Actual position depending on your preference must be less than 0 revolutions before the program can continue The position that the register is tested against can be specified as an integer number of encoder counts or it can be specified as a non integer number of revolutions Icon Dialo...

Page 241: ...s are also sometimes referred to as FlexMAC com mands The advantage of these commands is avery low communications overhead FastMAC FlexMAC are described in detail in section 4 5 7 However a brief summary is in order If Mode is set to one of Passive Velocity or Position the motor will switch into that mode Also one of the passive motor registers will be activated in the sense that its value will be...

Page 242: ...ts of registers but as an example you can activate four different sets of registers each controlling position velocity acceleration torque load factor and in position window all with a single command For further details refer to section 4 9 7 Icon Dialogue Function MacTalk RxP module programs are sent to the motor in a compact binary format which is then interpreted by the RxP modules firmware The...

Page 243: ...ey are specified Operands arguments can be either integer constants or registers The caption of the dialogue box shows the resulting expression in traditional in fix format It is continuously updated as you type in the expression Note that if you write a value to a register using this command that value is always measured in native motor units Conversion from generic engi neering units is only sup...

Page 244: ...vides an alternative method of entering ata into the dialogue by selecting simple list with short firmware names Instead of selecting for example 3 Requested position to access register no 3 you can simply type P_SOLL If you wish to enter a constant you simply enter the digits the dialogue will not mistake the constant for a register number If you are in doubt about a register name look at the exp...

Page 245: ...et the program proceeds to execute the next line in the program Any two registers can be compared to each other but the command does not do anything beyond comparing the register numerical values as measured in native motor units To ensure comparisons are meaningful it is preferable to compare registers that hold the same type of information in the same binary format In the example above two posit...

Page 246: ...0 to 800 Power supply Analogue input Multifunction I O setup as serial data Status outputs Asynchronous interface Power ground P is not connected in the MAC00 Rx module This GND is only available at the MAC00 R3 and R4 At the MAC00 R1 the P is used as ground for AIN A B 2 channel differential Transceiver MAC00 R4 offers a common I O ground IO and ICM OCM are not present ICM IN1 O1 O O2 O3 O4 OCM I...

Page 247: ...er parts of the MAC00 R1 or R3 IN OUT 1 2 6 7 8 9 15 14 13 12 11 10 3 4 5 IN5 ICM IN4 IN3 IN2 IN1 IN8 IN7 IN6 OCM O1 O4 O2 O3 O User Inputs Common ground The inputs must be supplied from a PNP source output 5 24V User outputs PNP source type 24V 300mA per output Connector DSUB 15pin male High Density type Use JVL programming cable type RS232 9 1 for connecting to PC MAC00 B1 1 2 3 5 7 Gnd PC Gnd R...

Page 248: ...ion through sealed compression cable glands Addition of a Zero switch input for locating a mechanical zero point of the actuator when used in position related modes Miniature connectors internal for all signal lines including RS232 485 interface and zero search switch Molex 3 96mm connector for power supply Full RS232 protocol support Note The basic MAC motor is only equipped with a low voltage se...

Page 249: ...reen black IN3 Digital input 3 Violet IN4 Digital input 4 Violet white IN5 Digital input 5 Grey IN6 Digital input 6 Grey black IN7 Reserved Pink black IN8 Reserved Black white ICM Input ground This ground is used for IN1 to IN8 Light green NC Reserved for future features Do not connect this wire White Digital Outputs including analogue input Internal connector J4 Signal name Description Wire colou...

Page 250: ...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 Interface connector How to connect the RS232 interface of the MAC00 R3 PC RS232 COMport GND Rx Tx 1 2 3 5 Screen terminated to the GND terminal Green Yellow Red Blue Screen JVL cable WG04xx standard I O cable 24 wire MAC00 R3 interna...

Page 251: ...d Connect with pin 5 3 Blue 1 Unused Future option 4 Black P Main supply ground Connect with pin 3 5 Grey 1 Note P and P is each available at 2 terminals Make sure that both terminals are connected in order to split the supply current between 2 terminals and thereby avoid an overload of the connector COM Interface RS232 and RS485 M12 5 pin female connector Signal name Description Pin no JVL Cable ...

Page 252: ...gital input 5 1 White 2 IN6 Digital input 6 2 Brown 2 IN7 Digital input 7 3 Green 2 IN8 Digital input 8 4 Yellow 2 O3 Digital output 3 PNP output 5 Grey 2 O4 Digital output 4 PNP output 6 Pink 2 AIN Analogue input 10V also used for zero search sensor 7 Blue 1 GND Ground for AIN This ground is shared with the main ground 8 Red 1 Cable Screen Some standard cables with M12 connectors offer a screen a...

Page 253: ...with M12 female 5 pin connector loose ends 0 35mm 22AWG and screen Length 5m 197 inch WI1000 M12F5T05N X Same as above but 20m 787 inch WI1000 M12F5T20N X Cable with M12 male 5 pin connec tor loose wire ends 0 35mm 22AWG and screen Length 5m 197 inch WI1000 M12M5T05N See also type RS232 M12 1 5 5 X Same as above but 20m 787 inch WI1000 M12M5T20N X Cable with M12 female 8 pin connector loose wire e...

Page 254: ...250 JVL Industri Elektronik A S User Manual Integrated Servo Motors MAC050 800 ...

Page 255: ...JVL Industri Elektronik A S User Manual Integrated Servo Motors MAC050 800 251 5 Appendix ...

Page 256: ...ver at 231 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 Speed range 0 4000 RPM Digital resolution 0 477 RPM Acceleration range 248 397 364 RPM sec Addressing Point to point on...

Page 257: ...nds special commands with high security Communication Baud rate 19200 bit sec 19 2kBaud Position range 67 000 000 Speed range 0 3000 RPM Digital resolution 0 3606 RPM Acceleration range 250 444 675 RPM sec Addressing Point to point on RS422 Up to 32 units on the same serial RS232 RS485 interface with built in expansion module Ad dress range 1 254 Number of parameters Standard 85 With MacRegIO soft...

Page 258: ...e 19200 bit sec 19 2kBaud Position range 67 000 000 Speed range 0 3000 RPM Digital resolution 0 3606 RPM Acceleration range 250 444 675 RPM sec Addressing Point to point on RS422 Up to 32 units on the same serial RS232 RS485 interface with built in expansion module Ad dress range 1 254 Number of parameters Standard 85 With MacRegIO software 156 Only for experts Speed variance Max 4 RPM variance be...

Page 259: ...e Torque 24V 4000 4000 4000 TT0911GB RPM RPM RPM RPM Operation above 4000 RPM can be done but the losses in the motor make it impossible to operate in this area cyclicly Please note that 2800 RPM is the maximum recommended speed for the MAC141 MAC050 Torque versus speed MAC095 Torque versus speed MAC140 Torque versus speed MAC141 Torque versus speed Conditions Supply voltage 24 or 48VDC Ambient te...

Page 260: ... 283 142 4 0 2 0 1 0 0 3 0 0 2000 2000 3000 3000 4000 Peak torque Average torque 4000 TT0992GB RPM RPM Operation above 3000 RPM can be done but the losses in the motor makes it impossible to operate in this area cyclicly Please be aware that an overspeed error will occur if the speed gets equal or higher than 3600 RPM MAC400 Torque versus speed MAC800 Torque versus speed Conditions Supply voltage ...

Page 261: ...r the internal circuitry microprocessor etc is typically 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 er Only MAC050 to 141 1000 100 80 60 40 20 0 2000 3000 4000 TT0954GB RPM Operation above 4000 RPM can be done but the losses in the motor make it impossible to operate in ...

Page 262: ... 0 05 1 5 0 0 002 47 15 1 86 58 7 2 31 Max Ø6 35 0 0 013 0 25 0 0 0005 5 5 0 22 Max 20 57 0 810 15 0 0 6 47 15 1 86 58 7 2 31 Max All dimensions in mm inch Shown without expansion module Rear Connections Front Shaft 4 x Ø5 2 0 2 Max 1 574 0 062 AC Brushless Servo Motor Digital Drive Standard NEMA23 MAC50 A1 111 2 4 38 MAC95 A1 131 5 5 18 MAC140 A1 150 5 5 93 MAC141 A1 172 0 6 77 TT0902GB M2 5 moun...

Page 263: ...ri Elektronik A S User Manual Integrated Servo Motors MAC050 800 259 5 4 Physical Dimensions 5 4 2 Physical dimensions MAC400 Download CAD drawings from www jvl dk default asp Action Details Item 426 Only MAC400 ...

Page 264: ...0 Shown with a MAC00 FP2 Profibus module mounted 3 5 0 14 6 0 24 63 64 2 5 63 64 2 5 Ø70 0 0 03 2 76 0 0 0018 80 3 15 80 3 15 d 90 3 54 30 1 18 a 3 0 12 37 1 46 Model 8 0 31 l 3 0 12 4xØ5 5 0 217 All dimensions in millimetres inches 6 0 24 119 5 4 71 l a MAC800 D1 D2 MAC800 D3 175 6 89 13 8 0 54 19 8 0 78 201 6 7 94 40 1 57 TT0989GB Ø70 0 0 03 2 76 0 0 0011 MAC800 D4 D5 209 8 23 48 8 1 92 MAC800 D...

Page 265: ...ference to the flange of the motor The curves are based on a continous speed of 3000 RPM If the speed is lowered the lifetime will increase inversly proportional Example A motor is having a radial load of 200N placed with center 10 mm from the flange According to the curve the lifetime will be 19000 hours at 3000 RPM If the speed is lowered to 300 RPM 10 times lower than the curve is specified at ...

Page 266: ...rence to the flange of the motor The curves are based on a continous speed of 3000 RPM If the speed is lowered the lifetime will increase inversly proportional Example A motor is having a radial load of 200N placed with center 15 mm from the flange According to the curve the lifetime will be 102000 hours at 3000 RPM If the speed is lowered to 300 RPM 10 times lower than the curve is specified at t...

Page 267: ...d of 3000 RPM If the speed is lowered the lifetime will increase inversly proportional Example A motor is having a radial load of 200N placed with center 20 mm from the flange According to the curve the lifetime will be 68000 hours at 3000 RPM 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 680000 hours of opera...

Page 268: ...low The module has to be fastened firmly with the stainless screw M2 5x10 make sure that the washer and the sealing ring are mounted on the screw Fasten the lid firmly with the 4 screws and make sure that they are closed tight to the motor Make sure that the used cable size are suitable for the cable glands Ensure that the blind plug is fastened firmly TT1095GB Make sure that the used cable size a...

Page 269: ...arked The Essential Health and Safety Requirements are specified in the Directive s appendix 1 To ensure compliance with these requirements it is advantageous to use various standards which are described later Overall the most important requirement is to fulfil the Machinery Directive s requirements regarding safety integration which in brief can be described as follows 1 st priority the machine s...

Page 270: ... control system s safety related components can be implemented related standards can be used 5 7 2 EN 60204 1 DS EN 60204 1 is applicable for the general requirements of a machine s electrical systems This standard defines several stop categories paragraph 9 2 2 Stop functions in DS EN 60204 1 There are three categories of stop function as follow Stop category 0 stopping by immediate removal of po...

Page 271: ... such failure or disturbances The required measures and the extent to which they are implemented either individually or in combination depend on the level of risk associated with the respective application paragraph 4 1in DS EN 60204 1 The electrical control circuits shall have an appropriate level of safety performance that has been determined from the risk assessment at the machine The requireme...

Page 272: ...tion regarding the components failure rates MTTF mean time to failure must be obtained from the component manufacturer For a more detailed description of the principles and requirements above see the rele vant standards The following drawings illustrates examples of the design of safety circuits for an emer gency stop and enclosure system stop category 0 which fulfils the requirements of category ...

Page 273: ...articular it may be necessary to take component run down into account and therefore it is essential to ensure that access cannot be obtained to hazardous areas until the rotating part has come to a standstill Alternatively the en closure can be equipped with an electro mechanical lock that only allows the enclosure to be opened when the rotational movement has stopped The latter solution must be i...

Page 274: ...nd have been chosen to provide the most simple cabling as possible Other components and solutions can of course be used 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 ...

Page 275: ...rly Torque 300 Velocity 0 Acceleration 0 Load 1 00 In position window If set too low it can cause the motor to remain stationary Please note that if an expansion module is mounted it can overrule some of these pa rameters Disable the expansion module by setting I O type Pulse input in order to disable the internal communication between the module and the motor After the fault diagnosis correction ...

Page 276: ...the MAC motor may not be able to handle the actual load Use the filter optimise function or contact your nearest JVL representative Problem After power up the motor oscillates and there is no communication The LOAD parameter value is set too high and is causing the total supply current to rise above the limit which the power supply can handle This situation can typically oc cur if the motor is dis...

Page 277: ...lk program The motor shall be terminated the MAC B1 B2 and B4 expansion modul contain this feature Opto isolation is recommended and al ways use screen cable The interface cable should not exceed more than10 meters Make sure that GND is also connected The special RS 232 multidrop solution used with the products covered by this manual al lows more than two systems to be connected using the same wir...

Page 278: ...wn resitor enabled In the JVL documentation this system is called TXPD for TX data resistor Pull Down TXPD is enabled by setting DIP switches on the expansion modules find the module in section 4 of this user manual The baud rate and the address factory setting are set to 19200 baud and address 1 Opto isolation is recommended and always use screen cable The interface cable should not exceed more t...

Page 279: ...t tells it when to change transmit listen direction On the MAC00 xx modules the direction is controlled by monitoring activity on the RS 232 transmit signal and drive the RS 485 line for one byte time at 19200 baud after the last activity was detected On the MAC00 xx modules the direction is controlled by monitoring activity on the RS 232 transmit signal and drive the RS 485 line for one byte time...

Page 280: ...use a text terminal program like Windows Hyper Terminal to communicate on any of these protocols Depending on the type of MAC00 xx module mounted on the motor the MacTalk chan nel can be made available as RS 232 or RS 485 and on the wireless modules as a Blue Tooth serial port or a virtual COM port over TCP IP Note that the MAC00 xx modules drive the RS 232 and RS 485 lines in a slightly non stand...

Page 281: ...0 to 57600 baud The FastMac protocol can not be used to reset the basic motor perform save in the mo tors flash memory enter or exit Safe Mode read the motors sample buffer or read a block of registers from the motor These operations are not available through register reads and writes This implies that intelligent modules cannot be used to reset the motor from their fieldbusses Capabilities of the...

Page 282: ...ere 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 See the Technical Manual for the MAC50 141 and the Technical manual for the MAC800 for accurate bit des...

Page 283: ... 1 Set the motor to Safe Mode the mode register register 2 must be 15 2 Send a special command telegram of 58 58 58 FF 00 AA AA where the FF 00 is the motor address As usual this can be FF 00 to address any motor or the address of a specific motor followed by a bitwise inverted byte E g 04 FB 3 Wait for 10 milliseconds for a reply If a reply of 11 11 11 is received it means the motor can not chang...

Page 284: ...xecution typically for calculations These local memory variables are much faster to use than the registers in the basic motor since they are not transmitted over the relatively slow serial line These module register are available over the MacTalk protocol and over the fieldbusses On the MacTalk protocol the module registers are addressed differently for each mod ule type The general idea is that e...

Page 285: ...is back inside the limits set This is to handle the situations where the motor is moved outside the position limits while working in another mode like Velocity mode If the user answers Yes to the prompt MacTalk will write the value 4000 hex where only bit 14 is set Bit 14 will be cleared automatically by the MAC800 firmware as soon as the actual position is again in side the position limits If bit...

Page 286: ...ling are XXXX XXXX XXXX To use the functions to manipulate factory defaults and or user flash three steps must be taken 1 Set the motor into Safe Mode by writing the value 15 to the mode register register 2 2 Write one of the values described below to the mode register 3 Wait for the mode register to automatically change away from that value this will typically take a few tens of milliseconds but ...

Page 287: ...city Gear mode 7 11 Reserved for special purposes 12 Torque zero search 13 Sensor type 1 zero search 14 Sensor type 2 zero search 3 P_SOLL 32 bit Encoder counts The commanded position 5 V_SOLL 16 bit Counts sample Desired velocity 1RPM 2 097 counts sample 6 A_SOLL 16 bit Counts sample The maximum allowed acceleration 1000 RPM s 4 026 Pulses Sample 7 T_SOLL 16 bit The maximum allowed torque 1023 30...

Page 288: ...ication from errors the data is transmitted twice First the data byte is transmitted and then an inverted version 255 x is transmitted 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 34 INPOSCNT Word Samples The number of samples the motor ha...

Page 289: ...to register 3 32 bit to the MAC motor with address 7 Transmit 52h 52h 52h 07h F8h 03h FCh 04h FBh 70h 8Fh 82h 7Dh 03h FCh 00h FFh AAh AAh Response 11h 11h 11h Controller sends MAC motor response Write Address RegNum Len Data End Accept Block Name Protected 1 Example Description Write No 52h 52h 52h Write command Address Yes 07h F8h Address 7 The address of the MAC motor RegNum Yes 05h FAh RegNum 5...

Page 290: ...h 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 Controller sends MAC motor response Read Address RegNum End Write Address RegNum Len Data End Block Name Protected 1 Example Description Read No 50h 50h 50h Read command Address Yes 07h F8h Address 7 The address of the MAC motor RegNum Yes 05h FAh RegNum 5 The register number to read En...

Page 291: ...ommand reads register 35 ERR_STAT from motor 8 Transmit 50h 50h 50h 08h F7h 23h DCh AAh AAh Response 52h 52h 52h 00h FFh 23h DCh 04h FBh 10h EFh 00h FFh 00h FFh 00h FFh AAh AAh The motor responded with ERR_STAT 0010h meaning In Position Setting the maximum speed This command sets the maximum speed to 1000 RPM 2097 pulses sample 2097 831h This is done by writing to register 5 V_SOLL Transmit 52h 52...

Page 292: ...eturns the inter nal encoder signal back to the 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 MAC motor IN OUT 9 pole connector MAC00 B1 Jetter JX2 SV1 9 pole co...

Page 293: ...tion 0 zero R12102 the SV1 must be able to to control the axis very close to actual position 0 R12109 12110 yyy P gain Please also follow the instructions in the JX2 SV1 user manual Remark If the MAC motor is supplied by 24VDC the setup for the MAC motor must be 3000 RPM even though the MAC itself is not allowed to run more than 2000 RPM at this voltage Do not worry the SV1 module controls and lim...

Page 294: ...on the rear side of the MAC00 B1 module must be switched to posi tion off 5 12 6 How to set up the MAC motor for the JX2 SM2 The following illustration shows how to set up the MAC motor Remember to select the Save in flash button after the setup is done in order to save the changes permanently MAC motor IN OUT 9 pole connector MAC00 B1 Jetter JX2 SM2 9 pole connector Pin 1 A Pin 1 STEP Pin 2 A Pin...

Page 295: ...0 CS Passes through the CS module and connects to the basic MAC motor MAC00 R3 Passes through the R3 module and connects to the basic MAC motor Optional If the Molex connector is cut off the cables can also be used for MAC00 B2 Connects to the 3 pole screw terminal named power MAC00 FP2 Connects to the 2 pole screw terminal named power WG0402 2m or WG0420 20m I O cable with 12 twisted pairs 24 wir...

Page 296: ...ors during deceleration of high inertias See also www jvl dk PSU48 240 A compact switch mode power supply with 240W output power at 48VDC The power supply is UL and CSA approved It is protected against overvoltage overtem perature and short circuit or overload of the output The power supply can either be mounted on a DIN rail or wall mounted See also the data sheet LD0047 xx which can be downloade...

Page 297: ... laws of the Member States relating to electromagnetic compatibility was manufactured in conformity with the following national standards that implements a harmonised standard Manufacturer Hereby declare that Company Name Address Telephone E mail Web JVL Industri Elektronik A S Blokken 42 DK 3460 Birkerød Denmark 45 45 82 44 40 jvl jvl dk www jvl dk Product No Name Type alone or combined with one ...

Page 298: ... laws of the Member States relating to electromagnetic compatibility was manufactured in conformity with the following national standards that implements a harmonised standard Manufacturer Hereby declare that Company Name Address Telephone E mail Web JVL Industri Elektronik A S Blokken 42 DK 3460 Birkerød Denmark 45 45 82 44 40 jvl jvl dk www jvl dk Product No Name Type alone or combined with one ...

Page 299: ...JVL Industri Elektronik A S User Manual Integrated Servo Motors MAC050 800 295 5 15 UL Certificate of Compliance ...

Page 300: ...296 JVL Industri Elektronik A S User Manual Integrated Servo Motors MAC050 800 ...

Page 301: ...21 124 154 166 175 177 179 180 189 190 192 195 204 208 210 213 244 249 271 284 288 290 292 Connector Kit MAC00 CONKIT1 58 292 DSUB 79 88 122 192 213 246 2 91 Interface connection 69 M12 79 91 92 94 105 107 110 123 124 154 166 176 177 179 180 193 195 210 213 247 249 288 Power Supply 58 59 62 66 292 User I O 58 D Damping 46 Declaration of Conformity 293 DeviceNet 4 174 176 177 179 Introduction 166 D...

Page 302: ...tion Features 4 10 Overall description 5 6 IP42 79 213 252 IP67 78 79 89 91 94 107 110 123 154 1 66 176 179 180 193 195 212 213 244 247 249 252 J Jetter JX2 SM2 290 Jetter JX2 SV1 288 290 Jetter PLC 288 290 JX2 SM2 290 JX2 SV1 289 L LOAD parameter 23 43 44 48 272 Low frequency damping 46 M M12 79 91 92 94 105 107 110 123 124 154 166 176 177 179 180 193 195 210 213 247 249 288 MAC00 B1 B2 B4 Expans...

Page 303: ...ly grounding 66 Prefuse 67 Technical data 254 Torque curves 256 Using 115V supply 67 MacTalk 4 6 13 14 18 23 26 30 43 44 58 67 70 71 75 81 84 90 97 100 116 144 208 214 219 252 271 283 284 Coil mode register overview 23 24 Introduction 12 Main Features 4 Master Slave Output Data MAC00 FP2 FP4 Expansion Modules Output data Master Slave 182 Mechanical zero search 12 20 23 26 30 58 70 79 80 96 See als...

Page 304: ...les 192 RS485 69 79 95 204 244 245 247 252 291 MAC00 B1 B2 B4 85 101 Rx fixed formats 214 RxP Graphic programming 214 216 S Saving retrieving disk files 14 Serial communication 75 78 252 MAC050 141 283 287 Serial Interface 69 89 244 284 Multifunction I O 75 Signal levels 69 Servo filter adjustment 43 48 Additional adjustment 48 Adjusting the LOAD parameter 43 Current filter adjustment MAC050 141 o...

Page 305: ...6 Index JVL Industri Elektronik A S User Manual Integrated Servo Motors MAC050 800 301 Sensor type 26 Sensor type 1 28 Sensor type 2 28 Starting a zero search 26 Torque 26 27 Zero point offset 29 ...

Page 306: ...6 Index JVL Industri Elektronik A S User Manual Integrated Servo Motors MAC050 800 302 ...

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