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1. 123 ANINP OFFSET J Jo o o 124 ELDEGN OFFSET 125 ELDEGP_OFFSET 126 PHASE COMP S 127 AMPLITUDE J 128 MANI NOM 129 MANALPHA J S e 130 UMEAS 131 LNOM J 132 PH SOLL J ASOL J S 134 B SOL J S J 135 IC soL S 136 IX_SELECT 137 IA IST S S 138 IBIST 0 S CIST 140 IA OFFSET 141__ IBOFFSET S 42 I OFFSET J jf Velocity of external encoder Pulse In in counts per sample T11525GB JVL Industri Elektronik A S User Manual Integrated Servo Motors MACO50 3000 36 5 12 Internal registers Only MACSO 141 sse em MacReglo Default Access fate 1455 JUAVAL Lg jo o o LLL 146 147 UC VALS 48 Jj bL p oL Y 1449 KB J J J J 450 KIC 51 U SUPPLY y y 152 MINU SUP J j p 154 SERIALNUMBER 32 cc nem SERIALNUMBER HWVERSION CHECKSUM 3201 m hi word of en ECKSUM UV HANDLE EMEN 0 SET UV ERR Bit 1 UV GO PASSIVE Bit 2 unused Bit 3 UV VSOLLO INV OUTPUT Bit 0 INV INPOSOUT Bit 1 INV ERROROUT Bit 2 INVROTDIR Bit 3 OTUSERCTRL Bit 4 OSUSERCTRL 162 INDEXOFFSET pj Jp j Jj 163 P NEW 32bit 164 h wordofP
2. eRxP Special command T HW 1 funct Command Input selection Encoder setup Input function Motor resolution Input inact Select this to enable Input the extended encoder operation Modbus setup a Master Slave seh TT1272 01GB Finish the encoder setup Click Reset position to by clicking Save in flash set the overall position to store the new setup counter to zero permanent Following sequence is recommended for setup of the extended encoder operation Enable the extended encoder option at the Advanced tab 2 Move the mechanics to the desired position where the zero point shall be and press Reset position After doing this the actual motor position will be set to 0 3 Finish the setup by pressing the Save in flash in order to store the settings perma nently in the motor JVL Industri Elektronik A S User Manual Integrated Servo Motors MACO50 3000 69 2 11 2 11 8 70 Absolute Multiturn Encoder The actual position value of the motor can always be seen in the status area of MacTak as shown below Status Motor status Actual mode Passive Actual veloc The actual position of the motor Actual position 18878110 Counts gt otor load mea Regenerative load Temperature Inputs Bus voltage Control voltage Volts Velocily of input Cts Smp Analogue input amp IN1 Volts slanue inni 7 TT1273 01GB Extended encoder operation W
3. Shap codice acid ga bo paar range optional position s Sat veloci to D i offset and hysteresis is Motos bers 24 f Cours 3 The motor status T handry 1nbermedust poseer DC woke ken can be monitored here Ful iuge Mns specified here PCR eur 18 Weta Cornet Zero Search Zero search can also be used During zero search the Analogue to position mode will be set inactive See also the Zero Search chapter TTII8IGB The following setup parameters can be necessary or convenient to use in the Analogue to position mode Startup Mode Select Analogue to Position Mode in this field Analogue to position parameters This area is used to define the range and offset for the motor movement versus the analogue input see curve on the previous page Profile data In this mode the motor movement is fundamentally controlled from the external signal source but via the 4 parameters specified in Profile da ta field it is possible to add limitations to speed etc Velocity The velocity field can be used to limit the maximum speed of the motor Example if an external encoder is producing a frequency which theo retically should give a MAC motor speed of 10000 RPM the speed can be limited to 4000 RPM max allowed speed for the MAC The motor will be unstable and go in error in a short time since it is not able to run at 10000 RPM Note that no pulse
4. M 166 h wordofFILTERID 167 HARDWARELIM Bit 0 HW NEG Bit 1 HW PLIM POS Bit 2 HW IN1 Bit 3 HW IN2 Bit 4 HW IN3 Bit 5 HW IN4 Bit 6 HW IN5 Bit 7 HW IN6 Bit 8 HW ANINP HOMING DONE Bit 0 set every time a zero search has completed Not cleared by firmware except after reset 111526GB 368 JVL Industri Elektronik A S User Manual Integrated Servo Motors MACO50 3000 5 12 Internal registers Only MAC5O 141 t Emme Em acon _ MacReglo Name Name Default Access 169 GROUP ID J a 1 91 171 MONITOR CPP 172 MONITOR REG S f o 173 MONTOR REG2 p p e Jj o 174 MONITOR ACT J 03 S o jo ooo ooo ooo o 175 MONTOR SRC 0j p P o ERES REI 9 77 MONTOR SAV 178 SSI_BITS1 ao SCENE ENABLE Bit 1 SSI DIR Bit 2 551 POS SYNC Bit 3 551 RESET Bit 4 551 NOCHECK Bit 15 SSI ERROR CNTL l 1 a Bit 1 OUTPUT O2 ee 11 EE 182 UART1 SETUP Selects what protocol to run on the RS422 lines that can be used for Pulse In Pulse Out or Serial Data The selection in this register is used only if the lowest two bits in Reg36 CNTRL BITS are set to Serial Data Values of Reg182 UART1 SETUP 0 Autodetect i
5. 0 message is sent from the module firmware whenever it receives a status byte from the motor where the error bit is set it then reads register 35 from the motor When the error is no longer present the module will send a NoError EMCY object once JVL Industri Elektronik A S User Manual Integrated Servo Motors MACO50 3000 4 5 Expansion Module MACOO FC2 FC4 The EMCY object 1002h is sent as an 8 byte message and has the following structure CANopen CANopen CANopen error code error code 8 bit error MSB 10 LSB 02 register EMCY object 1002h is sent when any of the HW end limits are active No additional in formation in bytes 3 7 The EMCY object 1003h is sent as an 8 byte message and has the following structure Byte 0 Byte 1 Byte 2 Byte3 Byte4 Byte5 Byte6 Byte7 o qp or error code error code 8 bit error MSB 10 LSB 03 register EMCY object 1003h is sent when internal communication between the module and the motor has been disconnected The EMCY object 1004h is sent as an 8 byte message and has the following structure CANopen CANopen CANopen error code error code 8 bit error MSB 10 LSB 04 register EMCY object 1004h is sent in case of overflow in the communications queue between the module and the motor In MACOO 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 i
6. Hardware description Connector Power Serial interface User I O 0 0606060000000000000000000000000000000000000009 e e e e ccoo ecce ecce ecce e e e e ccoo ccoo ccoo e e e e ecc c ecc c ecc c ecc c e e e e ecce ecce ecce ecce e e e e ccoo ccoo e e e e econo ecce ecce ecce e e e e ecc ecce ecce ecce e e e e econo ecce ecce e e e e ccoo ccoo ccoo e e e e ccoo ccoo ccoo e e e e e e e e ccoo ecce ecce ecc e e e e ecce ecc ecce ecce e e e e ecce ecce ecce ecce e e e e ecce ecce ecce ecce e e e e ecc cc ccoo econo ecce ecce ecc c ecc
7. on om ore on o m on om Jor ore on ow o oe ore on on o rm om Jor fore on ow on on ore on n or on o ffon ow on ose on orton on m rm o jore on 9 ore on n m on o fo o oeo e om o or oo nr o foro fore o om on orr oe orm on ow Jor on fore o so om on oro on or o foro foro on on on o oro on on for ow o e se om on orr n o rm om Jor on for ow m om o orr n orm on om for enon oer st on on orr n m forr om jenes on on ss on o orr o on on om Jor on o o ore se om om on oe orm rm om fo on on oroe on sr om o ow ore or on on on fof on ore se fom on on or on rm Jorn on fof on on se on on on o on om fo on fon eo fom on on on o rr fofo on or orf foro or or JVL Industri Elektronik A S User Manual Integrated Servo Motors MACO50 3000 211 4 6 Expansion Module MACOO FD4 The Baud rate can be set according to the below table Dip Switch no SW1 125 kbit x OFF a See table above Reserved ON See table above X Not used For future purposes set in position off 212 JVL Industri Elektronik A S User Manual Integrated Servo Motors MACO50 3000 4 6 Expansion Module MACOO FD4 4 6 4 IO messages The JVL MACOO FD module offers 8 byte I O These bytes are organized in a standard frame specified by the ODVA organisation Depending on what
8. Gub 0x10 12T 0 0 0 Output 02011 11081 i Output 0x201 2 0x2 H Sub 0511 I2TLIIM Output 02011 0 Q0 5 Sub 0x12 UIT 0 0x0 02012 12345 Ox 162 JVL Industri Elektronik A S User Manual Integrated Servo Motors MACO50 3000 4 5 Expansion Module MACOO FC2 FC4 Press W on the keyboard and the following screen appears Write Value Object Indes 02012 Sub Index O02 Value D 0 0 Add to list Cancel TT1076GB 7 Type 02 in the window and press OK 8 Click on the sub register 0x05 which is the register to choose which velocity the mo tor will run in Press W on the keyboard type 100 in the window and press OK 100 is in Counts Sample 9 Click on the sub register 0x03 which is the register to choose which distance the motor shall run Press on W on the keyboard type 20000 in the window and type OK 20000 is in Encoder Counts Now shall the motor shaft rotate slowly until the motor has counted 20000 Encoder pulses If you want to stop the motor when 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 201 2h Sub register Width Operation Value Set up the motor V_SOLL 16 bit Counts sample Sets up the desired velocity 100h The motor rotates the P SOLL
9. Resyncronize position after passive mode Modbus setup Master Slave setup Select Paired Master in the Modbus setup Process input Analog input selection ANINP3 Select ANINP3 in as process input this is the Analog input filter setting 4 20mA input at the P4 5 module Max slope 65535 Filter factor 0 Rotary table setup Rotary table selection No selection 264 JVL Industri Elektronik A S User Manual Integrated Servo Motors MACO50 3000 4 9 Expansion module MACOO P4 P5 Master setup continued 6 Goto the Registers tab and define the desired working range by entering a number in P2 after following formulars For linear applications spindle actuator P2 WR SP GR CPR 32 52428 Notes WR Working range in mm SP Spindle pitch linear motion per spindle revolution GR Gear ratio between motor and spindle if any Set to 1 00 if none Counts per motor revolution MAC400 1500 and 3000 8192 CPR 800 8000 CPR For rotary applications P2 WR 360 GR CPR 32 52428 Notes WR Working range in degrees GR Gear ratio between motor and output shaft if any set to 1 00 if none Counts per motor revolution MAC400 1500 and 3000 8192 CPR 800 8000 CPR NS MacTalk Noname CUNT UNI Setting up the Master motor in MacTalk File View Qfhne MACOO RxP Setup Update M an s van
10. Multiple Cancel Input Input condition Input 1 Low Input 2 High nput 3 Falling Edge nput4 Rising Edge nput5 nput 5 Input 7 Input 8 Motor Error In Position Function Tests for an input condition 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 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 transitioned to high Rising Edge If transitions are tested for the transition must have taken place during the last 30 microseconds After pressing the OK button the dialogue will disappear and the mouse cursor will change The next program line that you click on will then become the destination for the jump command JVL Industri Elektronik A S User Manual Integrated Servo Motors MACO50 3000 29 4 10 Expansion Module MACOO R1 R3 R4 4 10 10 12Conditional jump multiple input Dialogue Function Input type Operand OK Single r And fe Cancel Input 1 High Don t Input 2 High Don t care Input 3 High Low Don t care Input 4 High Low f Don
11. 10VDC AIN analogue Input GND ground 2kOhm potentiometer Note screen only JVL typeno POT2K connected to signal source This example only covers 0 10V but other configurations do of course also exist such as 0 5V or 10V Connected to a zero search switch MAC motor Make sure that all involved units are M ACO0 B1 B2 or B4 connected to the same Zero search switch potential v AIN analogue Input Power supply GND ground 10 32VDC TT1055GB The GND used with the AIN isnot equal for all modules See the specific hardware description of the actual module to makesure that the intended GND terminal is used Note Do not apply voltages higher than 32V to the analogue input AIN 4 2 5 General Analogue input AIN description when using MACOO Bx When a MACOO BI B2 or B4 module is mounted the MAC motor the analogue input is available in the same manner as in the basic motor itself The analogue input can be used for several applications and the function of the analogue input is determined by the mode in which the motor is set to operate Typically the input is used for controlling the velocity torque or position of the motor but the input is also used as digital input for Zero search or in Air Cylinder Mode where it is used as trigger input for the movement done by the motor For further information concerning physical connections see the individual chapters for e
12. High speed serial RS485 module MACOO FS1 and FS4 Introduction The MACOO FS and FS4 are used for high speed RS485 communication typically in multi axis systems They are capable of running at Baud rates up to 460kbit All the registers of the MAC motor can be read and written The modules includes a few inputs and outputs 2 of which can be defined as end limit inputs These can be read from the RS485 interface The MAC motor is controlled by writing to the internal registers in the motor The expansion modules MACOO FS and FS4 can be mounted on the standard MAC mo tors MAC50 MAC95 MACI40 MACI41 MAC400 800 Both modules offer the same functions but with the following hardware differences class I O Power supply RS232 485 MACOO FS1 IP42 DSUB 15 pole 3 pole Phoenix DSUB 9 pole IP67 IP65 M12 connector 8pin M12 connector M12 connector MACOO FSA4 male and female 5pin male 5pin female Note IP65 on MAC400 800 Both modules are delivered without any cables as standard Optional the MACOO FS4 module can be delivered with cables in 5 or 20m length The pages in the first part of this section concern the common features of both modules Please consult the last pages in this section to see specific information about each module such as example connection diagrams JVL Industri Elektronik A S User Manual Integrated Servo Motors MACO50 3000 4 8 4 8 2 Expansion Module MACOO FS1 FS4 General description MACOO
13. recommended didi Output A LN AS 2 1 Al this example Al Leave unconnected 2 7k 102Pin4 BI BI Leave unconnected 102Pin2 GND ty i E HE Ei oe Output B q 31 WW gt Fd 1 1 E Important The negative inputterminals A1 and B1 mustbe leftunconnected If possible avoid connecting the terminals to the cable since internal capacitances in the cable can interfere Continued at next page JVL Industri Elektronik A S User Manual Integrated Servo Motors MACO50 3000 143 4 3 Expansion module IMACOO B41 Step 2 Now the motor need to be setup in gear mode and the Multifunction I O must be setup as pulse input in order to accept the applied encoder signal This is done in the MacTalk windows software See illustration below SE MacTalk Noname File View coco Offline MACOD RxP Setup Updates Help 6 234 base Open Save Filter setup Main Registers Advanced Filter parameters Tests Scope Startup mode 37 Error handling Passive Change actual mode Max Follow errors 0 Counts Velocit i Function errors 0 Counts Position Rot table Min 0 Counts Position Rot table Max 0 Counts Error acceleration 0 5 torque V Inputs utputs que direct mi Output 1 01 User controlled Output 2 02 User controlled Invert In position output 0
14. IP67 protection cap for M12 WI1000 M12MCAP1 male connector Important Please note that the cables are a standard type They are not recommended for use in ca ble chains or where the cable is repeatedly bent If this is required use a special robot cable 2D or 3D cable See also Accessories page 394 where additional MI 2 connectors are shown WI1000 M12FCAP1 248 JVL Industri Elektronik A S User Manual Integrated Servo Motors MACO50 3000 4 7 4 7 17 Expansion Module MACOO FP2 FP4 GSD file for the MACOO FP2 and FP4 The GSD file must be used to configure the PLC or master controller used for the Profi bus communication The file is shown here but is also available on disc Please contact your nearest JVL representative GSD file COM PROFIBUS V 3 3 GSD Xport Time Stamp 01 31 00 12 36 39 Profibus DP lt Unit Definition List gt GSD Revision Vendor Name JVL IND EL Model Name MACOO FP Revision 0 0 Ident Number 0x06BC Protocol Ident 0 Station Type 0 Hardware Release l l Software Release l 2 9 6 supp 19 2 supp 93 75 187 5 500 5 3M 6M supp I2M supp l MaxTsdr 9 6 60 MaxTsdr 19 2 60 MaxTsdr 93 5 60 MaxTsdr 187 5 60 MaxTsdr 500 100 MaxTsdr 1 5 150 MaxTsdr 3 250 MaxTsdr 6 450 MaxTsdr 12 800 Implementation Type VPC3 Bitmap Device DPLINK Slave Specif
15. 4 5 53 MACOO FC2 How to connect the RS232 interface This has to be done if MacTalk is used in the CAN Open configuration The illustration below shows how to connect the MACOO FC2 directly to a PC COM port The drawing is based on standard cables from JVL type WG0402 WG0410 or WG0420 See also Accessories page 394 for a complete list of cables and connectors If the MAC motor is connected to the same RS232 line as other motors the terminal TX PD should only be connected at one of the motors If one of JVL s standard RS232 cables RS232 9 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 How to connect the MAC00 FC2 RS232 interface Remember to connect TX PD Red to TX Green in order to achieve Interface connector stable communication JVL cable WG04xx incl analogue input PC RS232 standard I O Screen terminated cable 24 wire to the GND terminal If the RS232 lines are extended through another cable this cable Screen must be must also be screened connected to Connector main ground Cable Female 9pin DSUB MAC00 FC2 internal At PC Male 9pin DSUB connector bard TTO973GB If JV s standard programming cable type RS232 9 I or n is used between the shown connector and the PC the RX and TX signals must be swapped Tx to pin 2 and Rx to pin 3 JVL Industri Elektronik A S User Manual Integrated Se
16. 50 141 85 GSD file 249 H Hardware Connector overview 84 Power supply 85 86 88 90 93 94 96 100 102 103 Serial interface 106 User I O 107 110 112 113 High frequency damping 55 Home sensor 35 Homing mode 187 In position output 4 Inputs See also AIN Analogue input 107 108 Multifunction I O 5 7 20 21 23 28 31 110 113 116 119 124 125 128 130 135 140 142 148 264 265 Pulse inputs 21 23 31 84 110 111 119 128 135 314 345 Quadrature input 6 7 21 23 31 110 111 Introduction Features 4 12 Overall description 5 6 IP42 117 274 314 IP67 116 117 127 129 132 149 152 204 20 7 208 226 231 232 246 248 270 273 274 306 309 311 314 J Jetter JX2 SM2 393 Jetter JX2 SV 391 393 Jetter PLC 391 393 JX2 SM2 393 JX2 SV1 392 L LOAD parameter 25 52 53 57 346 Low frequency damping 55 M MI2 117 129 130 132 147 149 152 204 205 207 208 226 227 231 232 246 248 268 274 309 311 391 MACOO B I B2 B4 Expansion Modules 117 120 125 127 129 132 134 140 142 149 259 262 264 268 269 272 273 Overall description 117 133 258 General analogue input AIN 121 137 General hardware aspects 118 134 259 MACOO B2 with cables 128 MACOO B4 cables 132 149 270 273 Multifunction 124 140 Power supply 120 136 261 RS232 122 138 262 263 RS485 123 139 304 MACOO CONKITI 395 MACOO CS Expansion module 116 JVL Industri Elektronik A S User Manual Integ
17. 6 using addressing RS232 Rx DE 5 7 Teri Bode A ol 4 5485 idl ac eee Re4n5 B4 Signal ground for RS232 and RS485 RS232 Interface between MAC motor and a PC 00 1 ME TX e 3 7 Use JVL programming cable type RS232 9 for connecting to PC 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 level at the power supply input P Power Analogue input EH d P Main power 12 48 32 VDC tm AIN Analog input zero switch input P Power ground also for AIN Notes 50 141 P is main supply terminal Apply 12 48VDC MAC800 P is the control supply terminal Apply 12 32VDC max 32V Do not apply higher voltages than 32VDC to the AIN terminal TT0900GB JVL Industri Elektronik A S User Manual Integrated Servo Motors MACO50 3000 253 4 8 IO1 Basic O s Expansion Module MACOO FS1 FS4 Expansion module MACOO FS4 front plate PWR Power supply M12 8pin male N 3 MI2 5pin male connector including connector including Digital inputs to 4 and X P primary supply and CV OI O2 IO supply 3 secondary supply and P 102 Extended O s COM MI2 8pin female PF a RS485 Communication connector including MI2 Spin fema
18. A NEESLICOLILILILILOMECGLILILLEDEICALA eee aid id al n 127 Node id will be the same as for the motor JVL Industri Elektronik A S User Manual Integrated Servo Motors MACO50 3000 159 4 5 4 5 13 160 Expansion Module MACOO FC2 FC4 Bus termination If the MACOO FC2 FCA is the last device on the CAN bus the module have a build in ter minator of 120 ohm The dip switch SW2 is used to enable termination When both switches are on the termination is enabled In order to guarantee perfect operation of the CAN bus bus terminating resistors must be provide at both ends of the bus cable The figure below shows the termination selection Dip 1 2 Line termination Both set to ON Term enabled Both set to OFF Term disabled SW2 Default Switchl 2 OFF TT0971GB The factory default settings are OFF on both dip switches an the line termination are off CAN bus connectors The MACOO FC2 FCA 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 ND Pe oO l Reserved error line Optional CAN ext supply On the next page are there drawings off the 9 pin D sub and the 5 pin style connector CAN_SHLD Optional CAN Shield Pin 5 MEN JVL Industri Elektronik A S User Manual Integrated Servo Motors MACO50 3000 4 5 4 5 14 4 5 15 Expansion Module MACO
19. BO Bus output The internal DC bus is connected to this terminal PD Power Dump output Behind this terminal is placed a switch IGBT transistor which connect the terminal to the internal bus ground if the voltage become higher than 400VDC The internal power dump can absorb up to 9W continuously and 2 5kW peak which is considered as appropriate for most applications However should a situation occur in which the connected load inertia is too large or the deceleration too fast the internal power dump will not be able to absorb all the returned energy and will report the error message regenerative overload In this situation the only possible solutions are as follows Decrease the acceleration deceleration parameter 2 Lower the attached load inertia 3 Connect an external power 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 not lower than 68 Ohm since the output can be damaged Also avoid short circuit of the output C A U TIO N Risk of electric Shock Disconnect all power and wait 5 min before servicing JVL Industri Elektronik A S User Manual Integrated Servo Motors MACO50 3000 99 3 2 Power Supply 3 2 26 Power supply circuitry only MAC1500 amp 3000 The MACI500 amp MAC3000 supply is split into 2 individual
20. Message 10 Low AC voltage Type Motor action Unrecoverable error Motor is set in passive mode Error condition The mains supply is not connected or the mains voltage is too low Please note that this message is only available in MAC400 and MAC800 since MACO50 141 do not include AC supply Possible cause of this error The mains supply is not connected correctly he external fuse has blown Solutions to avoid error Make sure that the external fuse is OK and that the mains sup ply is connected correctly according to the chapter Power Sup ply page 85 How to return to normal Reset the motor clear the error bit s in register 35 or cycle the operation power See also the chapter Under Voltage Handling page 51 Error bit Firmware name Bit 9 UV ERR Error message do not exist since bits are used for other status purposes 44 JVL Industri Elektronik A S User Manual Integrated Servo Motors MACO50 3000 2 Error messages and error handling 2 7 10 Error message Phase error only 5 to 141 Message Message 12 Phase error Type Motor action Unrecoverable error Motor is set in passive mode Error condition The motor phase current has been measured to be Out of Range and the motor driver is shut down to prevent permanent failure Please note that this message is only available in MACO50 to MAC141 Possible cause of this error The servofilter control loop is unstabl
21. used with motor current loop present 0 R 195 EMK A not Na Word used with motor current loop present 0 R 196 EMK B not Na Word used with motor current loop present 0 R 197 EMK C not Na Word used with motor current loop present 0 R 198 U BUS DNE GEM ZUGE The actual voltage of the internal DC bus updated every voltage 0 H 100 us One count corresponds to 0 888V 199 U BUS OFFSET not Word Factory offset used to calibrate the measurement of present R Regi98 U_BUS 200 TCO CV1 not Na Word used by JVL only to monitor internal timing gt present 0 R 201 TCO CV2 not Na Word used by JVL only to monitor internal timing gt present 0 R gt 00 15146 388 JVL Industri Elektronik A S User Manual Integrated Servo Motors MACO50 3000 5 12 Internal registers Only MAC400 to 3000 FF ld Fl 00 MacReglo Name Name Default Access 202 MY_ADDR not Na Word The motor address used for the MacTalk protocol The present 0 RW motor will respond to telegrams with this address or the broadcast address 255 MY_ADDR can also be used for the Modbus protocol if selected in Reg213 UART1_SETUP Further MY_ADDR can be read and used by the fieldbus modules for CANopen DeviceNet and Profibus to define their address on the fieldbus if not selected by DIP switches on the MACOO xx module 203 MOTOR_TYPE not Na Word Value read from factory flash memory to identify the type
22. 24 or 48VDC Ambient temperature 20 C Torque setting 10096 Load setting 1 0 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 MACI4I Peak Torque 48V Average Torque 48V Peak Torque 24V Average Torque 24V Speed versus supply voltage Speed in RPM Restricted area motor ete will be 50 95 140 MACI4I Max 2800 RPM 48VDC Supply Voltage VDC Operation below 12 is not recommended TT0O911GB Operation above 2800 RPM is not recommended 320 JVL Industri Elektronik A S User Manual Integrated Servo Motors MACO50 3000 Torque Curves MAC400 Torque versus speed Conditions Supply voltage 90 240VAC Ambient temperature lt 40 C Torque setting 300 max Load setting 1 0 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 1000 2000 3000 4000 gt 3600RPM Overspeed error ae Peak torque Average torque Oz Inch TT0992GB gt 3600RPM Overspeed error JVL Industri Elektronik A S User Manual Integrated Servo Motors MACO50 3000 321 5 2 Torque Curves um MAC402 Torque
23. 4 to see the connector Mains 230VAC layout 710496 Opto isolation is recommended The last unit at each end of the line must be terminated The M AC00 B1 B2 and B4 contain this feature See the individual module descriptions Each unit connected must be setup with an address via The M acTalk program If only one unit is connected no address is needed JVL Industri Elektronik A S User Manual Integrated Servo Motors MACO50 3000 123 4 2 4 2 8 4 2 9 124 Expansion Module MACOO B1 B2 B4 Input type setup for all common output types The Dip switch is located at the rear side on all 3 module types MACOO BI B2 and B4 Dip Switch setting Balanced or push pull output connected to the A and B input pNP OFF NPN eme OFF PNP mNJ OFF Dipswitch 5 6 only at MACOO B4 Please consult the B4 chapter 4 NPN sink output connected to the A and B input ON v var3 OFF Pe sme OF P pn OFF l l 4 Dipswitch 5 6 only at MACOO B4 Please consult the B4 chapter E PNP source output connected to the A and B input m39 OFF ON ca ON TT0937GB 1 Dipswitch 5 6 only at MACOO B4 Please consult the B4 chapter J General description Multifunction 1 0 when using a Bx module The function of the Multifunction I O is equal to that of the basic motor with the excep tion that the Bl B2 or B4 mod
24. 6097h subindex 1 Acceleration factor Numerator 8000 6097h subindex 2 Acceleration factor Divisor 60 Acceleration factor formula Acceleration factor Numerator 16 Acceleration_factor Acceleration factor Divisor SampleFreq SampleFreq JVL Industri Elektronik A S User Manual Integrated Servo Motors MACO50 3000 4 5 Expansion Module MACOO FC2 FC4 or as and object Object 6097sub1 16 Acceleration_factor _ Object 6097sub2 Samplefreq Samplefreq notice that the samplefrequens is differens in MACO50 141 The Acceleration factor in example I is calculated to l 8000 16 Accelerationr_factor 0 003598 RPM s 60 770 770 Example 2 We have a MAC800 with 8000 counts rev and the same belt drive as in the above ex ample under Position Factor We want the user unit of the acceleration to be in mm s The parameters should be set as follows Name _ _ Calculated value Value Acceleration Encoder Factor 389 56 3 5 8000 Acceleration Encoder Factor The Acceleration factor in example 2 is calculated to Accelerationr_fact eee ccelerationr factor E 1000000 770 770 Feed constant factor 4 in section 4 3 39 Feed constant factor formula Feed constat Feed Feed constant factor Feed constant Shaft revolutions or as and ob
25. 8908 s voz 0909000 0 0 L v2 ZZ0 0 0 0110 ZLS000 0 0 0 0 0 sv6 ol vc lego V voz 58 2 283 238 2 9 378 128 61 5 063 50 7 1 996 134 0 5 0 2 5 278 0 02 0 00079 Only MAC3000 and brake Nm 7 LTO219 12GB sL 0 0 8 Download CAD drawings from www jvl dk default asp Action Details amp ltem 426 JVL Industri Elektronik A S User Manual Integrated Servo Motors MACO50 3000 3 9 Life time 9 9 1 Life time of ball bearings in MAC141 The curve below can be used to determine the relation between the radial load at the motor output shaft and where the load is placed at the shaft with reference 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 the lifetime will increase 10 times giving a total of 190000 hours of operation Expected ball bearing life time V S distance Life time hrs 1000000 100000 Distance mm TT 150GB JVL Industri Elektronik A S User Manual Integrated Servo Motors MACO50 3000 333
26. 9 9 9 5 2 334 Life time Life time of ball bearing in MAC400 The curve below can be used to determine the relation between the radial load at the motor output shaft and where the load is placed at the shaft with reference 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 the lifetime will increase 10 times giving a total of 1020000 hours of operation Expected ball bearing life time V S distance Life time hrs 1000000 100N n 200N 300N 400N 100000 i 500N Distance mm TT1 14866 JVL Industri Elektronik A S User Manual Integrated Servo Motors MACO50 3000 9 9 Life time 5 5 3 Life time of ball bearing in MAC800 The curve below can be used to determine the relation between the radial load at the motor output shaft and where the load is placed at the shaft with reference 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 20 mm from the flange Acco
27. Accept Block description BlockName Protected 1 Example Descripion O2h FDh Len 2 The number of data bytes E8h 17h 03h FCh AAh AAh Command termination 11h 11h 11h Accept from MAC motor 1 Protected means that these data must be sent twice first non inverted and then inverted Example Writing 600 258h to register 5 16 bit to the MAC motor with address 8 Transmit 52h 52h 52h 08h F7h O5h FAh O2h FDh 58h A7h 02h FDh AAh AAh Response l Ih I Ih l Ih Example 2 Write 230 000 38270h 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 OO0h FFh AAh AAh Response 1 1h 11h 1th 358 JVL Industri Elektronik A S User Manual Integrated Servo Motors MACO50 3000 9 11 9 11 3 MacTalk communication Reading from a register Controller sends MAC motor response lt Read gt lt Address gt lt RegNum gt lt End gt lt Write gt lt Address gt lt RegNum gt lt Len gt lt Data gt lt End gt Block description Block Protected Name 1 Description es 07h F8h Address 7 The address of the MAC motor es 05h FAh RegNum 5 The register number to read es es es es No address of the master 05h FAh RegNum 5 ee be the same as 04h FBh Len 4 The length will always be 4 E8h 17h 03h FCh 00h FFh 0Oh FFh The data read from the register Data 1000 AAh AAh Command termination
28. Digital Outputs including analogue input Internal connector J4 Description upply for outputs Must be connected to an ext supply Red white Positive supply terminal 12 to 48VDC ire colour ed black reen black iolet iolet white rey rey black ink black lack white ight green hite Signal name Z 2 Z Z T J Z Z UJ lt Z O Description Wirecolow Digital inputi Red blakk Digitalinputs let Digitalinputs Vioetwhie INS DigitalinputS rey Digitalinput6 Greyblack Reseved Pinkblakk Reserved Blackwhite Input ground This ground is used for INT to ING Lightgreen Reserved for future features Do not connect this wire White __ Wire colour Signal name CD Green white Yellow black Blue white range white Brown white O lt Output ground This ground is used together with 1 4 Digital output 1 PNP output Digital output 2 PNP output Digital output 3 PNP output Digital output 4 PNP output RO O1 Digtaouputi PNPouput O2 Digtalouput2 PNPoutput SS AIN Analogue input 10V also used for Zero search sensor GND O ground This ground is shared with the input ground Interface Internal connector J1 Signal name Desc
29. Integrated Servo Motors MACO50 3000 175 4 5 4 5 33 176 Expansion Module MACOO FC2 FC4 The table below shows default value of the COB ID Access Type Description mE COB ID Nodeid 0x80000200 aH ee COB ID Nodeid 0x80000180 22 1 Receive COB D Nodeid 0x80000300 1 Temi Nedeidsoxe0000280 fw transmit oos Nodeids0x60000080 ftw 1 transmit cos Nedeidsoxe0000880 Remark Some PLC s count PDO s starting from Other PLC s count from 0 If counting from 0 please subtract from the above mentioned PDO numbers Receive PDOs The PDOs 1 20 are reserved for use with the DSP 402 CANopen motion control profile The following receive PDOs are available Receive PDO 21 This PDO can be used to update the position The data in the PDO is written directly to the position register and if the motor is in position mode it will start moving to that po sition pte o 1 2 8 6 LT Receive PDO 22 With this PDO it is possible to update the velocity acceleration and torque Bre 0 2 a a4j 5 e 7 V SOLL A SOLL T SOLL MODE REG Object 2012h sub 5 2012h sub 6 2012h sub 7 2012 sub 2 Receive PDO 23 This PDO sets a new operating mode for the motor 2013h sub 0 Object Add 96 to the FastMac command number For example command 23 becomes 119 dec imal JVL Industri Elektronik A S User Manual Integrated Ser
30. JVL cable type WI1000 M1I2F5TO5N Power and syncronisation connection between master and slave JVL cable type WI 1005 MI2F5TF5TO3P TTII96GB Master Slave SLV Connector SLV Connector Pin serial data A Connected to Pin serial data A Pin 2 serial data B Connectedto 2 serial data B Pin 3 Supply ground Connected to Pin 3 Supply ground Pin 4 P supply Connected to Pin 4 P supply Pin 5 Screen Connected to Pin 5 Screen Important The cable must be made with twisted pair wires for the Data A and lines and 2 JVL Industri Elektronik A S User Manual Integrated Servo Motors MACO50 3000 267 4 9 Expansion module MACOO P4 P5 Expansion module MACOO P4 front plate CNT PWR Basic O s Power supply MI2 I2pin female M12 5pin male connector including AB connector including 4 20mA in and out j P supply and CVII and 2 outputs and 2 A s output supply and P analogue inputs COM 5 SLV Communication ww 5 E Slave Connector MI2 5pin female p M12 5pin male connector including ay connector including RS232 and Slave eu 7 RS485 and CVI2 supply RS485 interface for the slave motor TTII95GB 4 9 11 Expansion IMACOO P4 connector description The MACOO P4 offers IP65 protection when used at MAC400 or MAC800 MI2 con nectors which makes it ideal for process control and automation applicati
31. Message Message 21 PWM Locked Type Motor action Unrecoverable error Motor is set in passive mode Error condition An unrecoverable error has occured and the motor output driver is shut down in order to prevent any further damages This error always takes place in combination with one or more other errors These errors can be one of following Peak error motor over current Bit 12 The motor current has been significantly higher than allowed during normal opera tion Internal Encoder Error Bit 15 The internal encoder has a fault Invalid Filter settings Bit 16 The actual filter used is an old version or corrupted because wrong values have been trans fered to the motor Control voltage unstable Bit 17 The 24V control voltage has been unstable Possible cause of this error This error is always followed by other error messages See indi vidual description of these errors See also error condition above Solutions to avoid error See other error messages that follows this error How to return to normal This error type is not software resetable Cycle the control volt operation age 24VDC Error bit Firmware name Bit 20 PWM LOCKED 2 7 20 Error message Modbus Com Error only MAC400 to MAC3000 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 possibl
32. The servo filter or Load parameter is not adjusted to a stable motor operation and the motor tends to oscillate causing en ergy to flow forward and backward from to the motor In all situations the motor will start to work as a generator that generate energy backward into the drive 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 Reset the motor clear the error bit s in register 35 or cycle the operation power Error bit Firmware name Bit 3 UIT ERR Error message 5 6 and 7 do not exist since bits are used for other status purposes 2 7 7 Error message Position Limit Exceeded Message no Message 8 Position Limit Exceeded Error condition The actual position of the motor is outside the value s specified in the position limit min or position limit max specified in the error handling area of the main tab in MacTalk Possible cause of this error The motor has been commanded outside the value s specified in the position limit min or position limit max registers Be aware that the error can happen even if the motor is in pas sive mode and the motor is forced outside this range Solutions to avoid error Set the position limits descriped above to more re
33. The status outputs Ol and O2 indicate the actual status of the MAC motor Each output is an NPN type which means that the load must be placed between the output and a positive supply Note that several of the expansion modules for the MAC motor offer PNP output source output For further details about a specific expansion module please see other sections of this manual Ol This output functions as an In Position or at velocity output depending on which mode is selected The position interval can be setup using the MacTalk pro gram 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 may change Please check the description of the actual module to make sure how the outputs are configured JVL Industri Elektronik A S User Manual Integrated Servo Motors MACO50 3000 09 3 4 User 1 0 Multifunction I O s of the MAC motor User I O Twisted pair cable is recommended Connector cable part Warning Do not connect voltages Manufacturer AMP P Housing 770602 8 2 54mm pitch gt 5V to the multifunction I O Crimp contacts 770601 Internal Multifunction I O
34. When the configuration is done by channels other than MacTalk such as Ethernet Profi bus CAN open etc or just a simple interface connection to the basic motor the follow ing description must be followed Start the Enc Quick Index Zero search Write the decimal value 26 into the MODE REG register 2 This will immidiately start the Zero search The value is expressed in 32 bits unsigned Set the Zero search velocity Write the velocity value into the register V HOME register 40 Notice that the sign will determine the Zero search direction A velocity expressed as 100 RPM must be written as 277 1 RPM 2 77 The value is expressed in 32 bits signed Concerning setting of Zero search position see Making a Zero point offset page 38 JVL Industri Elektronik A S User Manual Integrated Servo Motors MACO50 3000 37 2 6 Mechanical Zero search 2 6 11 Making a Zero point offset Common for all the Zero search modes it can optionally be chosen to define the ze ropoint as a value other than zero position 0 When is it useful to use the zero point offset fitis desired that the position interval under normal operation is always convenient positive values from 0 to n instead of a mixture of negative and positive values This can occur if the zero point sensor is placed a long distance away from the normal po sitioning interval or inside the normal positioning interval fan automatic move to an initial position is
35. Word 3 0000 Value 0 2 Next step is to set the motor into velocity mode by writing register 2 1 Word 0 0381 Set the bits in the structure and get register 3 P_IST actual position Word 023F Register 2 MODE use command message 31 32 Word 2 0001 Value 1 velocity mode Word 3 0000 Value 0 3 Now we set the velocity depending on which direction we want to use we set either positive or negative value we will set register 5 V SOLL for this purpose Word 0 0381 Set the bits in the structure and get register 3 P_IST actual position Word 053F Register 5 MODE use command message 31 32 Word 2 07D0 Value 2000 velocity mode appx 957 RPM scaling 2 1 x RPM Word 3 0000 4 Now the motor runs CW looking on the shaft If we want to go the other way we send Word 0 0381 Set the bits in the structure and get register 3 P_IST actual position Word 053F Register 5 MODE use command message 31 32 Word 2 F830 Value 2000 velocity mode appx 957 RPM scaling 2 1 x RPM Word 3 FFFF 5 f a motor stop is desired now there is several ways one way is to set velocity 0 Word 0 0381 Set the bits in the structure and get register 3 P_IST actual position Word 053F Register 2 MODE use command message 31 32 Word 2 0000 Value 0 Word 3 0000 JVL Industri Elektronik A S User Manual Integrated Servo Motors MACO50 3000 223 4 6 224 Expansion Module MACOO
36. esen RW encoders 226 P_MULTITURN not Na Word The full multi turn position read directly from the absolute present 0 RW encoder if mounted 227 AIFILT MAXSLOPE not Na Word present 0 RW 228 AIFILT FILTFACT not Word RW 229 P_QUICK P wo NI actual position of the internal encoder Much like 7 but updated every 100us P_IST is updated only once every 1 3ms or 2 6 ms for OUTLOOPDIV 2 230 XREG_ADDR not a Address of extended registers XREGs present RW A positive value will write the contents of Reg231 XREG_DATA to that register A negative value will cause the value of that XREG to be writen to XREG_DATA After the reading or writing operation has completed XREG_ADDR will be set to zero The first NN XREGs are used for configuration of the switchboard for hardware signals that can be routed in several ways through the FPGA in MAC800 HW 1 8 and later or MAC400 HW1 And later XREG_DATA not Word Data to or from extended registers See XREG_ADDR for present RW description TT1516GE 390 JVL Industri Elektronik A S User Manual Integrated Servo Motors MACO50 3000 5 13 Connecting to other equipment 5 13 1 Connecting the MAC motor to a Jetter PLC type Nano B C D In many applications a PLC is used as the central intelligence To adapt the MAC motor in such types of applications an axis module on the PLC is often used The illustration below shows how to connect the M
37. mode T C Pare he Change schusl mode False etur 0 Count 7 Velocity i Furchori eni 0 Counts Go Online 3 Gew ae Penlon lei mn o Couris Pn enden del Ponas mex Pn Mika rone baig f Analogue torque dieci 1 S Me Output 1 01 everti 2002 1 0 Type T ens ipn mocks R6 Wor ides alter pean search Zero peach poaition of Count Zeno peach welocity 50 APH Zane reach torque a ert r XXI nardi Vv NEM et og zT In position w Cons ILL e Rs Underegkage gt Set ence bit In petition cound 3 Samples z fe Undervullage Golo eter direction Set velocity to 0 he Resncronize position alter passive mode ee ee Motor 255 Working affine Presse the Online bulton to able communication with mol TT1152GB As seen in the bottom info line the motor is disconnected and the filedata is currently present 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 overwrit
38. 15 MAC800B m mcer mu m mU mamme remm present 0 R serial number of the motor 205 HW VERSION not Na Word Bits 23 20 Value read from factory flash memory to present 0 R identify the Main version of the bootloader Bits 19 16 Value read from factory flash memory to identify the Minor version of the bootloader Bits 7 4 Value read from factory flash memory to identify the Main version of the PCB controller board hardware Bits 3 0 Value read from factory flash memory to identify the Minor version of the PCB controller board hardware The remaining bits are reserved 206 LCS mee joo n _ checksums ofthe present 0 R checksums of the firmware and the bootloader 207 USEROUTVAL not Word The values of bits 1 0 are output to the standard InPosition and ErrorOut hardware signals if the corresponding bits 9 8 USER_INPOS and USER ERROR in Reg39 HW SETUP are set Word Counts the number of communication errors that have present 0 H occurred on the MacTalk serial interface Errors can be framing errors and protocol data errors 209 INDEX IST not 0 8191 Word present Or R 0 7999 210 HW PLIM not Na Word Hardware position limits used by the MACOO FSx present R module wp 029600 1219200 2238400 3257600 42115200 W Actual single turn position of the internal encoder valid for both incremental and absolute encoders 0 W 211 COMMAND REG
39. 210 Reserved for future purposes 21 COMMAND J P 0 0 O 22 FELDBUS ADDR P Poo 213 FELDBUS SPEED 214 Reserved for future purposes aise Reserved for future purposes 216 fe Reserved for future purposes 217 Reserved for future purposes 218 Reserved for future purposes 219 Reserved for future purposes 220 te Reserved for future purposes 21 te Reserved for future purposes 222 te Reserved for future purposes te Reserved for future purposes 224 Reserved for future purposes 225 Te Reserved for future purposes 226 te Reserved for future purposes 27 Reserved for future purposes 228 Te Reserved for future purposes 229 fe Reservedifor future purposes 230 Reserved for future purposes 231 Reserved for future purposes sate Reserved for future purposes Reserved for future purposes 234 Reserved for future purposes 255 Reservedfor future purposes 296 J Reserved for future purposes ts Reserved for future purposes esate Reserved for future purposes 239 Reserved for future purposes 240 _ Reserved for future purposes aad Reservediforfuture purposes 242 te Reserved for future purposes 24g Reserved for future purposes 244 Reserved for future purposes 45 te Reserved for futur
40. 36 CNTRL_BITS not Na Word present 32 RW Bit 0 RECORDBIT Set by the user to start or continue the sampling of register values using the Classic scope system This bit will clear itself when the sample buffer has been filled Bit 1 REWINDBIT If set the index into the sample buffer will be zeroed and sampling will continue if in progress This bit is typically set together with RECORD above Bit 2 RECINNERBIT If set the samplinG7scope system samples at 100 microseconds between samples instead of the normal 1 3milliseconds Normally used only for internal JVL development and service purposes Bit 3 RELPOSPSOLL Bit 4 RELPOSPFNC These two bits select what happens if one of the general purpose position registers P1 through P8 is activated by a FastMac command If one of these is set this activates a relative movement rather than the absolute position move that happens if none of these bits are set If RELPOSPSOLL is set alone the value of the selected P1 P8 register is added to the target position register Reg3 P SOLL If RELPOSPFNC is set the value of the selected P1 P8 is added to an internal variable that will generate the movement leaving P SOLL unchanged This is used for endless relative movements since it will not cause any overflow of the target position but note that the actual position will wrap around at 2 31 2 147 483 648 counts without problems for the movement Note that these
41. 4 7 Expansion Module MACOO FP2 FP4 Expansion module MACOO FP4 front plate BUS1 lt PWR Primary Profibus DP di Power connector MI2 5pin male MI2 5pin male il A connector including connector including N P P and secondary Profibus DP interface V supply optional vO BUS2 NP WU MI2 8pin female Secondary Profibus DP e UM T connector including connector bi RS232 Interface MI2 5pin female Selectable 1 such connector including hat as analogue input OI Profibus DP interface O2 INI NL PL TT 1008GB 4 7 15 Expansion MACOO FP4 hardware description The MACOO FP4 offers IP67 on MACO50 141 protection and M12 connectors which make it ideal for automation applications where no additional protection is desired The M12 connectors offer solid mechanical protection and are easy to unplug compared to the FP2 module which has cable glands The signals available are restricted compared to the FP2 module since only 4 I O terminals are available The 1 05 connected to these 4 terminals must be selected by a small dip switch The connector layout PWR Power input M12 5 pin male connector Main supply 12 48VDC Connect with pin 2 JVL Cable WI1000M12 Isolation F5TO5N group 1 Main supply 12 48VDC Connect with pin 1 P Main supply ground Connect with pin 5 Control voltage 12 48VDC Main supply ground Co
42. COM1 COM2 8pin 5pin Female Female RS232 Interface cable Connects directly from MACOO R4 to PC Length 5m 197 inch Cable 5 5mm with M12 female 5 pin connector loose wire ends 0 35mm 22AWG and foil screen Length 5m 197 inch Same as above but 20m 787 inch Cable with M12 male 5 pin connec tor loose wire ends 0 35mm 22AWG and screen See also type HS232 M12 1 5 5 Cable with M12 female 8 pin connector loose wire ends 0 22mm 24AWG and screen Length 5m 197 inch Cable with M12 male 8 pin connector loose wire ends 0 22mm 24AWG and screen Length 5m 197 inch JVL Order no WI1000 M12F5TO5N WI1000 M12F5T20N WI1000 M12M5TO5N WI1000 M12F8TO5N WI1000 M12M8TO5N Protection caps Optional if connector is not used to protect from dust liquids IP67 protection cap for M12 female connector IP67 protection cap for M12 male connector WI1000 M12FCAP1 WI1000 M12MCAP1 Important Please note that the cables are a standard type They are not recommended for use in ca ble chains or where the cable is repeatedly bent If this is required use a special robot cable 2D or 3D cable 132 JVL Industri Elektronik A S User Manual Integrated Servo Motors MACO50 3000 4 3 Expansion module MACOO B41 MACOO B4 I seen from rear side TTII33GB 4 3 1 Expansion module MACOO B41 overall description The expansion module MACOO B4 can ONLY be mounted in the MAC4
43. I OFE 2 ON 4 20mA supplied from external source TTII64GB 260 JVL Industri Elektronik A S User Manual Integrated Servo Motors MACO50 3000 4 9 Expansion module MACOO P4 P5 4 9 5 General power supply description The MACOO P5 module can only be used in the MAC400 motor The diagram below shows how to connect power to a MAC400 motor mounted with a MACOO P5 Please notice that the voltage connected to CVII and P only MACOO P4 must stay in the range 12 32VDC Precautions must therefore be taken if the system also contains 50 95 140 or 141 which may require 48VDC in order to reach maximum motor speed See also the general power supply description Power Supply page 85 Typical power supply connection to a MAC140 and a MAC400 mounted with a MACOO BI1 B2 or B4 and Px modules Make sure that all Power supply involved units are connected to the same potential control voltage Bus voltage It is recommended that a separate supply Power line is used for each motor Supply Control voltage Only MAC50 141 with B2 or B4 Optional The terminal P do not exist on MACOO P5 MAC400 M otor Use only CVI1 with Px P Max 32VDC Supply pos Control Volt CVI1 Mains 115 or 230VAC M ain supply TT1168GB JVL Industri Elektronik A S User Manual Integrated Servo Motors MACO50 3000 261 4 9 Expansion module MACOO P4 P5 4 9
44. MACOO FPx section for a description of the FastMac commands 4 6 15 Instance 3 Attribute 5 Module command When writing to this attribute it is possible to execute some special commands on the MACOO FDx module The following commands are available Number Function o Reset limit error 218 JVL Industri Elektronik A S User Manual Integrated Servo Motors MACO50 3000 4 6 Expansion Module MACOO FD4 4 6 16 Object class OxF Parameter This object class is the parameter class defined by the DeviceNet standard The attributes that are mapped into this object are from object class 0x64 and 0x65 Instance 0 239 is mapped to the value attribute in object class 0x64 from the correspond ing instance Instance 240 255 is mapped to attributes from object class 0x65 Refer to the description of this object class for the mappings 4 6 17 Object class Ox24 Position Controller Supervisor This object class is the Position controller supervisor object as defined in the DeviceNet standard The following class attributes are supported 1 2 3 6 32 33 The following attributes are supported for instance 1 3 5 6 7 4 6 18 Object class Ox25 Position Controller This object class is the position controller object as defined in the DeviceNet standard The following attributes are supported for instance 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
45. OOh FFh 23h DCh 04h FBh I Oh EFh OOh FFh OOh FFh OOh 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 83 1h This is done by writing to register 5 V SOLL Transmit 52h 52h 52h 08h F7h O5h FAh O2h FDh 3I h CEh 08h F7h AAh AAh Response Ih l Ih l Ih Reading the actual position This command reads register 10 P IST from motor 8 Transmit 50h 50h 50h O8h F7h OAh F5h AAh AAh Response 52h 52h 52h OO0h FFh OAh F5h 04h FBh 08h F7h BDh 42h 03h FCh O0O0h FFh AAh AAh The position was 245 000 3BD08h 360 JVL Industri Elektronik A S User Manual Integrated Servo Motors MACO50 3000 9 12 Internal registers 5 12 1 Internal registers in the MAC motors In order to control the operation of the motor a larger number of registers exist These are accessible via the serial communication channels or via one of the industrial bus modules such as the Ethernet modules Profibus or CAN open modules The general windows installation and monitor program MacTalk also have access to most of these registers MacTalk offers a more user friendly and easy to understand interface It may however be necessary to access the registers directly in for example systems using one of the many industrial bus modules as mentioned above For this purpose the next pages show the compl
46. Prepare the relative distance to move by writing it to one of the general purpose P through P8 position registers 3 Execute a FastMac command that activates the Px register See the section for your specific MACOO xx interface module on how to execute FastMac commands This type of relative movement will set P SOLL target position IST actual posi tion Px in a safe way that avoids the type of error described in option 3 below Note that P SOLL and P IST will sooner or later exceed the operating range if this method is used repeatedly so you will need to use the relative position offset method described for the absolute encoder in Extended Encoder operation Option 2 relative moves using P FNC Prepare for relative movements using by executing FastMac command 118 96 22 This only has to be done once after start up It selects what will happen when a position register one of P through P8 is activated by FastMac command 2 Prepare the relative distance to move by writing it to one of the general purpose P through P8 position registers 3 Execute a FastMac command that activates the Px register See the section for your specific MACOO xx interface module on how to execute FastMac commands This type of relative movement will not change PSOLL so no wrap around handling is needed JVL Industri Elektronik A S User Manual Integrated Servo Motors MACO50 3000 7 2 11 Absolute Multiturn Encoder O
47. RS422 outputs balanced Connector Manufacturer AMP Twisted pair cable is recommended 770602 8 2 54mm 0 1 pitch TT0927GB The Multifunction I 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 Man Registers Advanced Filter parameters Tests Scope Startup mode T Eror handing Passive V Change actual mode Follow enor 0 Courts Veloci p Function error Courts Gea dipl 4 The pulse inputs are GearFalon Position limit mem 0 Counts only used in Gear Analogue velocity Position limit max Counts and Analogue Velocity Analogue velocity wih deadband s Gear mode 7 Analogue velocity gear Error acceleration RPM S 3 estne pul V Input Output nalogue torque direct Invert Output 1 101 Analogue gea C Col inavel Output 2 02 C Analogue bi position 101 User controlled 102User controlled Profile data 140 Type Pulse Input Max velocity 100 Acceleration iH dit iw Fas at fit Torque 300 n Fast m ba Invert pulse input direction The pulse input can be set to fast The input format The Multifunction I O s or slow bandwith which means quadrature or pulse are setup as inputs 2 5MHz or 150kHz Also the and direction can be direction of movement can be inversed selected here TT0928GB See also the descriptions of Gear and Analog Velocity
48. Registers Advanced Filter parameters Tests Scope Startup mode SJ Error handling C Passive v Change actual mode Position limit min o Counts Pigs Position limit max 0 Counts The pulse output can i s S7 Inputs Outputs be useful one of Analogue velocity Invert Output 1 01 these 4 modes s ae oe Melacity analogue torque 102 User controlled Analogue torque direct 120 Type C Analogue gear C Coil Analogue input offset 0 00 Volts C Analogue bi position j V Undervoltage handling Profile data z Min voltage 15 Volt Tenue Underyoltage gt Set error bit Load 1 0000 ED Unit Undervoltage gt Go to passive O EON Undervoltage gt Set velocity to 0 oes The Multifunction O s TT0929GB are setup as outputs in this field See also the respective mode descriptions for further details about functionality 12 JVL Industri Elektronik A S User Manual Integrated Servo Motors MACO50 3000 3 4 3 4 7 User 1 0 Multifunction 1 0 used as serial communication interface The Multifunction I O can be set up as a serial communication interface When this configuration of the Multifunction I O is selected the A and B channels func tion as a receive and transmit channel via which commands to the MAC motor can be transmitted from for example a PC or PLC This feature can be used in all modes of operation The communication protocol is described in the MAC motor Techn
49. The axis is not controlled by the drive and can easily be moved by hand or external mechanics 1 Velocity mode The drive will attempt to run the motor at a constant velocity selected by Reg5 V SOLL without violating the maximum torque or acceleration 2 Position mode The drive will at all times attempt to move the actual motor position to the position selected by Reg3 P SOLL without violating the maximum velocity torque or acceleration 3 Gear Position mode 4 Analogue torque mode 5 Analogue velocity mode 6 Analog Velocity Gear mode 7 Manual current mode 8 Step response test mode 9 Internal test mode 10 Brake mode 11 Stop mode 12 Torque based zero search mode 13 Forward only zero search mode 14 Forward backward zero search mode 15 Safe mode 16 Analogue velocity with deadband mode 17 Velocity limited Analog Torque mode 18 Analogue gear mode 19 Coil mode 20 Analogue bi position mode 21 Analogue to position mode 22 Internal test mode 23 Internal test mode 24 Gear follow mode 25 IHOME mode 256 257 258 JVL Industri Elektronik A S User Manual Integrated Servo Motors MACO50 3000 371 5 12 Internal registers The target position that the drive will attempt to Velocit RW counts reach in position related modes P NEW not present 2431 Word Encoder Used to update both P_IST and P_SOLLina 0 RW counts single atomic opera
50. X HS232 interface receive input IO C T R GND RS232 Ground also used with analogue input DIP 4 OFF default IN1 input 1 I O terminal B DIP 4 ON O1 PNP 25mA output 1 m is I O ground to be used with IN1 NL PL O1 O2 LN AN Cable Screen Some standard cables with M12 connector offer a screen around the cable This screen on some cables is fitted to the outer metal at the M12 connector When fitted to the MACOO FP4 module this means that the screen will have contact with the complete motor housing and thereby also the power ground main ground DIP switch default setting The Dip switches are default set to the following positions DIP1 TX PD ON DIP2 AIN to IOA terminal ON DIP3 O2 to IOA terminal OFF DIP4 O1 to IOB OFF DIP5 O1 to IOC ON DIP6 O to IOD ON Isolation groups The MACOO FPA offers optical isolation at the digital inputs and outputs IN1 NL PL and O1 2 The table shows a number for each pin This number refers to the isolation group to which the pin is connected Isolation group 1 means that the terminal refers to the main ground P GND and the motor housing Isolation group 2 means that the terminal refers to the Profibus DP interface ground DGND Isolation group means that the terminal refers to the I O ground IO DIP 6 OFF NL terminal D negative limit input DIP 6 ON default O outp sup DIP 2 ON default and DIP 3 OFF defa
51. an incremental encoder This mode is very powerful if the MAC motor is used to upgrade a step motor system or if the motor is 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 6 JVL Industri Elektronik A S User Manual Integrated Servo Motors MACO50 3000 Overall description Analogue Velocity Mode The motor velocity is controlled by a voltage applied at the OV analogue input This mode can be used in several applications but typical applications include main taining variable but constant speed in feeding mechanisms or as a slave driver in multi axis systems with a master position controller for several axes Analogue Velocity with deadband Mode Same function as Analogue Velocity Mode but a deadband around zero is inserted The deadband is 600mV This feature is useful if a potentiometer or similar device is used to control the speed of the motor since the motor will be stationary if the input voltage is almost at zero Analogue Velocity Gear Mode This mode is similar to Gear mode but it is possible to increase or decrease the po sition of the motor by adjusting the voltage applied to the OV input A typical ap plication is feeding mechanisms that require on the fly adjustment Velocity
52. cmo ades em o Digital I O When HW inputs or Motor motor status change Digital_inputs 60FD status See formula 6 in sec tion 4 3 40 i Imm See formula 7 Digital outputs Bit mask 60FE 2 HW output in section 4 3 40 Device control option code ew Jo T T o Ew ee ew o gt 1 a e um aik code Jesa a mace ot operation amp o 1 A l mode ot asy Jea Jo 1l 1l d Profile Position parameters Postion acualvae _ Joa Sere en o vA eere mee deme fe ee a IE Sofware poston mi o Postion window or Poston actor me Postion eos o wes e Samorreq 000 Im Nu ew o Pee vy wu ew o vw we veia imm Acceleration Wwwnseewe wu ew ls l Continued on next page 180 JVL Industri Elektronik A S User Manual Integrated Servo Motors MACO50 3000 4 5 Expansion Module MACOO FC2 FC4 COB ID Motor Initial Scalefactor to Update hex register Value motor write Profile velocity mode Velocity_sensor_actual_value 6069 oo V_IST BusyRead O OOO SO o v
53. e RS232 TK 4 120 al it n gt 1 O Terminator 211 I 17 5 RS485 A 4 O ol RSA85 Signal ground 9 J for RS232 and RS485 TT0938GB Use JVL programming cable type RS232 9 for connecting to PC All inputs have a common ground ICM and all the outputs uses OCM as ground O is the supply terminal for the output circuitry and must be supplied with a voltage from 6 32VDC The outputs are short circuit protected The input and output circuitry are optically isolated from each other and also from the other parts of the MACOO RI or JVL Industri Elektronik A S User Manual Integrated Servo Motors MACO50 3000 305 4 10 Expansion Module MACOO R1 R3 R4 4 10 14 Expansion MACOO RS hardware description The illustration below shows the I O connections on the MACOO R3 expansion module The MACOO R3 expansion module is an industrial interface that mates with the standard MAC motor and offers a number of feature enhancements including Protection IP67 if mounted on basic MAC motor IP67 type 50 141 Direct cable connection 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 b
54. it is possible to single step through each program line which can be a useful feature to debug the program since the action in each line can be closely observed 4 Set output 1 high 5 Jump 1 12 MacTalk Noname Whenthe program is finished it can File View Motor MACOD RxP Setup Updates Help be saved on the harddisc or flo i STOP te amp b amp s disc Please be aware that when a x Open Save SaveinHash Reset position Clear errors Reset motor Filter setup STOP Motor saving the program it is the complete d see program including the overall setup Main Registers Advanced Filter parameters Tests Scope MACOO AxP of the motor such as servofilter I O MACUD Fix Programmable pem setup etc Everything is stored file Transfer Stat san 3top i Single Step ug alls Cause with the extension MAC Later it can be opened and restored in the motor 1 wart until input b high Move Rel dist 10000 Counts acc 1500 RPMs vel 2000 RPM 3 Wait 500 ms 4 Set output 1 high 5 Jump to 1 TT0985GB 4 10 8 General programming hints When a program is built and saved the following hints may be useful to ensure that the program behaves as expected When transferring the program to the module it is saved permanently in the memory and the program will be executed each time the motor is switched on 2 Before making a
55. listed according to impor tance Startup Mode Select Gear Mode in this field Gear Factor This field defines the ratio between incoming pulses and the motor movement If the preferred motor direction needs to be reversed the sign in the output field must be inverted Example 1024 must be 1024 to reverse the direction of movement Input Outputs The 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 Multifunction I O general description page 10 Continued next page JVL Industri Elektronik A S User Manual Integrated Servo Motors MACO50 3000 21 2 2 Gear Mode Profile data In gear mode motor movement is fundamentally controlled from the external signal source but via the 4 parameters specified in Profile data field it is possible to add limitations to speed etc Velocity The velocity field can be used to limit the maximum speed of the mo tor Example if an external encoder is producing a frequency which theoretically should give a MAC motor speed of 10000 RPM the speed can be limited to 4000 RPM max allowed speed for the MAC The motor will be unstable and go in error within some time since it is not able to run at 10000 RPM Note that no pulses are los
56. not Na Word 1 Reset 2 Save to flash and reset present 0 W 128 255 Execute FastMac commands 212 UARTO SETUP MacTalk Na Word Baudrate 0 HW 213 UART1 SETUP Serial data Na Word 0 RW 214 EXTENC BITS not Na Word present 0 RW 215 INPUT LEVELS not Word present 0 RW 216 ANINP1 not Na Word present 0 RW 217 ANINP1 OFFSET not Na Word present 0 RW 218 ANINP2 not Na Word present 0 RW 219 ANINP2 OFFSET not Na Word present 0 RW 220 ANINP3 not Na Word present 0 RW 221 ANINP3 OFFSET not Na Word present 0 RW 5 230400 baud This register selects the type of protocol to use on the Serial Data interface See section XX Supports setup of signals used for label dispenser functionality with the MACOO B41 module TIIDI5GE JVL Industri Elektronik A S User Manual Integrated Servo Motors MACO50 3000 389 9 12 Internal registers me emt Ease emm MacReglo Name Name Default Access 222 IOSETUP not Na Word Selects what hardware analogue input signal that goes to present 0 RW the main ANINP register and controls some filtering signal conditioning 223 ANOUT1 not Na Word The value written here by the user or by the firmware will a mem ee be output to the 4 20 mA hardware output on the MACOO P5 P4 modules 4 ANOUT1 OFFSET not Na Word Offset that is added to ANOUT1 before writing to RR o 08 Fc 225
57. or motor start stop 4 Inputs RS422 3 5 30V 4 Inputs RS422 3 5 30V 8 Inputs 5 30V 8 Inputs 5 30V 8 Inputs 5 30V 3 Inputs NO iso RS422 3 5 30V RS422 3 No Opto isol Opto isol Opto isol Opto isol Opto isol For indicating the motor status or as output from the program Digital user outputs Ext connector type 2 Outputs DSUB PNP 10 32V Plug 25mA able 2 Outputs MI2 PNP 10 32V Conn 25mA 4 Outputs PNP 10 32V Plug 300mA 4 Outputs PNP 10 32V Gland 300mA 4 Outputs PNP 10 32V Conn 300mA All these modules offer IP67 protection class Please notice that the final protection class is limited by the actual motor used Can be ordered without cable eg MACOO CS or with cable in lengths of 2 10 or 20 metres eg MAC CS 10 JVL Industri Elektronik A S User Manual Integrated Servo Motors MACO50 3000 TTI175 02GB Protection class Integrated brake IP42 IP67 1 1 4 Setup save open The complete setup can be either saved or reloaded from a file using these buttons Startup mode The basic functionality of the MAC motor is set up in this field System control Use these buttons to save data permanently reset the motor etc De es Mim BACK Setup ep La ae e Coen 5 Min deban Fikes Tesis Scope HACIO FaF Ertir harir ot moe wein iT Paride haee oki mac
58. 1 IEEE 802 15 4 Full Duplex Full Duplex MACOO EWA RS232 RS422 3 Motor stat MI2 IP67 WLAN module 19 2kbaud RS485 19 2k X No RS422 3 No PNP 10 32V Conn 1 Full Duplex Fieldbus modules MAC00 FC2 CAN Open module w cable glands MAC00 FC4 CAN Open module w M12 connectors MACOO FD4 RS232 DeviceNet module 19 2kbaud w M 12 connectors Full Duplex MACOO FP2 RS232 Profibus DP w cable glands 9 2kbaud Full Duplex 19 2kbaud Full Duplex 19 2kbaud Full Duplex MACOO FP4 Profibus DP RS232 19 2kbaud Full Duplex w M 12 connectors Full Duplex Opto isol 5 30V 4 Inputs Opto isol 5 30V 4 4 Inputs Opto isol 5 30V 4 6 Inputs Opto isol 5 30V 4 Inputs Opto isol 5 30V 4 2 Outputs M12 IP67 PNP 10 32V Conn 25mA 4 2 Outputs Cable IP67 PNP 10 32V Gland 25mA 2 Outputs M12 IP67 PNP 10 32V Conn 25mA 4 1 All these modules offer IP67 protection class Please notice that the final protection class is limited by the actual motor used 2 Can be ordered without cable eg MACOO CS or with cable in lengths of 2 10 or 20 metres eg MAC CS 10 3 Either pulse input pulse output or serial must be chosen Not all of them at the same time 4 Only a total of 4 I O terminals are available Continued next page JVL Industri Elektronik A S User Manual Integrated Servo Motors MACO50 3000 1 3 Expansi
59. 1 Protected means that these data must be sent twice first non inverted and then inverted OOh FFh Address 0 the Data Y Y This will always be 0 because this is Address Y Y Y Y Example 1 Reading the value of register 5 from MAC motor with address 8 Transmit 50h 50h 50h 08h F7h O5h F6h AAh AAh Response 52h 52h 52h OOh FFh O5h F6h O4h FBh 58h A7h 02h FDh OOh FFh OO0h FFh AAh AAh The value of register 5 was 500 258h Example 2 Reading the value of register 3 from MAC motor with address 8 Transmit 50h 50h 50h 08h F7h O3h FCh AAh AAh Response 52h 52h 52h OOh FFh O5h F6h 04h FBh 70h 8Fh 82h 7Dh 03h FCh OOh FFh AAh AAh The value of register 3 was 230 000 38270h JVL Industri Elektronik A S User Manual Integrated Servo Motors MACO50 3000 359 9 11 MacTalk communication 9 11 4 Application examples Setting mode Position mode This command writes to register 2 MODE REG on motor 8 Transmit 52h 52h 52h 08h F7h O2h FDh O2h FDh OI h FEh OOh FFh AAh AAh Response Ih Ih Ih Setting position 100 000 This command writes 100 000 to register 3 P SOLL on motor 8 Transmit 52h 52h 52h 07h F8h O3h FCh O4h FBh AOh 5Fh 86h 79h 0 h FEh OO0h FFh AAh AAh Response 1h 11h 1th Reading the motor status This command reads register 35 ERR_STAT from motor 8 Transmit 50h 50h 50h 08h F7h 23h DCh AAh AAh Response 52h 52h 52h
60. 105 106 CVO and GND Each of the high speed IO s can be used as either an input or as an output The l O s can be read or set from 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 environments e RS232 Interface Rx Tx and GND and USB interface Serial unbalanced interface for connection to a PC or a controller The protocol is similar to the RS485 interface which means that all registers parameters in the mo tor can be monitored or changed RS232 is not recommended for long distances gt 10m and USB is not recommended for distances 72m The MAC motor uses binary communication protocol which makes it possible to ac cess all the internal registers Please consult MacTalk communication page 357 for further details Hardware overview MACOO B41 seen from rear side Interconnect to motor Contains all internal signals between module and motor Setup dipswitch M ain fuse 10Amp Ae Pca Multifunction I O setup Replace only with E Am o RS485 termination Schurter type i 3402 0040 11 or Littlefuse type 451 10A Default switch setting Di
61. 17 Expansion Module IMACOO B1 B2 B4 MACOO B4 dip switch setup The 6 pole dip switch is placed on the rear side of the MACOO B4 module The following illustration shows how to set up the switch MACOO B4 Dip switch settings Main fuse 10Amp Mini dip switch Dip Switch for Input type setup Dip 5 RS232 TxPD Dip 6 RS485 Term Default switch setting Replace only with Rear side of the MACOO B4 Schurter type expansion module 3402 0040 I 1 or Littlefuse type 451 102 As shown above Dipl 6 OFEON OFEON ON OFF Input A and B is setup for PNP outputs RS232 TxPD Transmit pull down is enabled RS485 Termination is disabled Input type setup only switch 1 4 TT1031GB Balanced or push pull output connected to the A and B input NPN sink output connected to the A and B input PNP source output connected to the A and B input RS232 TxPD setup only switch 5 One of the motors connected to an RS232 line must have this switch set to ON but only at one ON OFF RS485 Term setup only switch 6 The last motors connected to an RS485 line must have this switch set to ON but only at one ON OFF JVL Industri Elektronik A S User Manual Integrated Servo Motors MACO50 3000 131 4 2 4 2 18 Cables for the MACOO B4 Expansion Module IMACOO B1 B2 B4 The following cables equipped with 12 connector can be supplied by JVL MACOO B4 Connectors Description
62. 185 F Humidity 90 WwW 14 JVL Industri Elektronik A S User Manual Integrated Servo Motors MACO50 3000 General AlI data specified for the MAC motor only i e without any expansion module mounted AC servomotor brushless with built in 2048 PPR encoder hall sensors and 3 phase servo amplifier controller Controller capacity po 400 2 amp D8 MAC400 D5 amp D6 w brake Rated output 3000 RPM 40W OW Rated Torque RMS Peak Torque 1 28Nm 38Nm 128Nm 38Nm Imria kgoom 1034 jO36 kogom Maximum angular acceleration rad se rad seo tenth gti m Weight without expansion module e _ 23kg 12868 Audible noise level measured in 30cm distance O tobe defined dB A Backlash when brake is activate e lt Hdegees 0 3000RPM with nom torque max 3500RPM shortterm Overspeed protection trips at gt 4300RPM Motor will shut Speed range down Amplifier control system Sinusoidal wave PWM control 20kHz switching Filter 6 th order filter with only one inertia load factor parameter to be adjusted Expert tuning also available for professionals Feedback Incremental A and B encoder 8192 CPR Physical 2048 PPR Optional multiturn absolute encoder 115 230 240VAC 10 for main power circuit 18 32VDC for control circuit Consumption at 115 240VAC see power supply section Control circuitry
63. 245 253 274 30 8 394 Dual Supply 117 133 245 258 E Efficiency curves MACO50 141 323 Emergency Object 168 Error acceleration 40 Error handling 40 Error acceleration 40 Followerror 40 Functionerror 40 Position limit min and max 40 Error output 4 Ethernet 4 Expansion modules 115 MACOO BI B2 BA 117 120 125 127 129 132 134 140 142 149 259 262 264 268 269 272 273 MACOO CS 116 MACOO FC2 FCA 151 153 173 174 180 187 207 MACOO FD4 208 211 213 225 227 MACOO FP2 FP4 232 234 235 238 244 246 248 249 251 JVL Industri Elektronik A S User Manual Integrated Servo Motors MACO50 3000 401 6 Index MACOO RI R3 RA 274 276 278 281 283 305 308 309 F Features 4 Basic operating modes 6 Overall description 5 6 Filter selector basics 53 Filter set up Coil mode 25 FlexMac commands 240 Follow error 40 53 314 compensation 56 Function description 35 38 40 52 57 Function error 40 Fuse 86 Prefuse MAC800 only 98 232 294 231 239 19 27 30 32 34 G Gear mode 6 21 26 30 31 84 107 110 111 314 Gear ratio 7 23 26 183 283 CoilMode 25 85 116 119 122 123 128 130 135 138 139 148 202 204 205 227 243 246 247 260 262 269 272 304 307 30 9 310 393 Grounding 85 89 97 102 106 116 12 2 123 128 130 138 139 147 148 202 204 205 226 227 243 246 247 262 268 269 271 304 305 307 309 310 MAC800 power supply 97 Power supply grounding
64. 3 2 34 Power cable acessories for MAC1500 amp 3000 The following standard cables can be supplied by JVL 400 to 480VAC 3 phase power cable 5 m Straight M23 conn and free end Female WP3405 MAC1500 3000 Please use the illustration below when connecting the cables Input supply cable type WP3405 Input 400 480VAC ph L1 Input 400 480VAC ph L2 Input 400 480VAC ph L3 ui Yel Earth General information TT1250GB Make sure that any unused wires are isolated and stay unconnected JVL Industri Elektronik A S User Manual Integrated Servo Motors MACO50 3000 105 3 3 3 3 1 3 3 2 106 Serial interface Interface Connection The Controller Interface is based on an asynchronous serial interface 3 interface signals Rx Tx and ground are used The interface can be used directly with the serial COM port of any standard PC or PLC by using the optional cable type RS232 9 MAC which has an integrated RS232 converter Another possibility is to use one of the expansion modules for the MAC motor which also include an RS232 and RS485 con verter See also Accessories page 394 Asynchronous Serial Interface Connector located inside the Basic MAC motor 4 Ground 3 Transmit Tx 5V level 2 Receive Rx 5V level 5VDC out max 30mA Connector cable part Manufacturer JST Type ZHR 4 1 5mm pitch Crimp contacts SZH 002T P0 5 MAC400 and 800 uses 3 3V as Tx l
65. 32 bit Encoder count desired numbers of 20000 encoder pulses Sets the motor Returning the motor with higher velocity Set up the motor 200h V_SOLL unts sample Sets up the desired velocity 200h The motor rotates the P SOLL 32 bit Encoder desired numbers of 20000 count encoder pulses Sets the motor JVL Industri Elektronik A S User Manual Integrated Servo Motors MACO50 3000 163 4 5 4 5 16 164 Expansion Module IMACOO FC 2 FC4 How to use CanOpenexplorer After startup the name and details of the HW interface like PCAN USB should appear upper left When you turn on a motor CAN node after having started CanOpenexplorer the Data Window large center right there will come a message with the number 0x7xx where xx is the node ID for instance 0x704 will indicate node 4 Set the Node ID field top center to that value 4 Make sure the right EDS file is loaded The program loads a hard coded default file ei ther smc 5 eds or mac00 fc eds It is also possible to load another EDS file by writing the file name in the EDS file field top center and pressing the load button Note that the EDS view large center left panel will add the new file at the bottom but not clear the existing file s loaded Normal operation will be to select an object in the EDS view pane and press either R for read or W for write Pressing R should read the value and that is successful if no error pops up pressing
66. 33 4 3 Expansion module MACOO B41 4 3 2 Overall hardware description All internal and external main connections can be seen in the illustration below Basic MAC motor with MACOO B41 module inserted Basic MAC motor MAC400 any SN or MAC800 with SN gt 85000 Power supply l Power supply P MAC400 12 32V CVI MAC400 12 32V 2 Analogue inputs A AINI 2 or Zero Ss Lm SRI Analogue input 10V nom or up 32V Overvoltage Al Multifunction I O protection Bidirectional and Dipswitch A2 Multifunction I O 2 setup B2 Bidirectional Multifunction I O 1 Multifunction 1 0 2 PNP Output Ol source driver Status outputs O2 High speed l O s or Input lt I O channel Oo Bidirectional 2 channel differential Transceiver Asynchronous RS485 Interface gt ie Isolated HET interface Interface isolation Asynchronous serial interface RS232 Interface Isolated Se TT1136GB 4 3 3 General hardware description The 41 module offers the following external connections e Power supply P P CVI These terminals are used for the main supply of the motor A voltage between 12 and 32VDC MAC400 MAC800 MACI500 and MAC3000 must be connected Analogue inputs AINI and AIN2 The analogue inputs are used either as analogue input or digital input The primary analogue input is AIN I When used as analogue input it can c
67. 4C 9 4 switch into that mode Also one of the passive motor registers will be activated in the sense that its value will be written to the corresponding active motor register which actually controls motor behaviour In the example above the value in register no 65 V1 will be written to register no 5 V_SOLL Move operations will then take place at that velocity Function FastMAC commands 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 298 JVL Industri Elektronik A S User Manual Integrated Servo Motors MACO50 3000 4 10 Expansion Module MACOO R1 R3 R4 4 10 10 22Send FastMac command macro command Icon Dialogue Mode Command Passive Velocity NOP Reset error Position P_SOLL 0 and IN 05 0 E P_IST 0 Command P_FNC 0 and IN_POS 0 V SOLL 0 T emi n Function If Mode is set to Command the motor does not necessarily change mode but it can be ordered to carry out a series of predetermined operations Describing all the FastMAC commands is beyond the scope of this section but as an example you can activate four different sets of registers but as an example you can activate four different sets of registers each
68. 6 152 JVL Industri Elektronik A S User Manual Integrated Servo Motors MACO50 3000 4 5 4 5 4 4 5 5 Expansion Module MACOO FC2 FC4 CANopen network The CAN bus is a serial bus with multi master capabilities where different products from different manufacturers can communicate with each other This could be devices as PLCs motors sensors and actuators Message types have higher priority and are sent first for time critical applications New devices can easily be integrated on a existing bus without the need to reconfigure the entire network The devices are connected through a 2 wire bus cable and data is transmitted serially Terminator Terminator CAN H CAN Node CAN Node CAN Node master slave slave CAN network N CAN L CANopen general information CANopen is a CAN based higher level protocol The purpose of CANopen is to give an under stable and unique behaviour on the CAN network The CAN network is the hardware level of the system and CANopen is the software level CANopen is based on the communication profile described in 05 301 and it specifies all of the basic communication mechanisms CiA 05 301 contains message types on the lowest software level The DSP 402 CAN open standard defines the device profile and the functional behaviour for servo drive controllers frequency inverters and stepper motor The DSP 402 is a higher softwa
69. A S User Manual Integrated Servo Motors MACO50 3000 4 5 Expansion Module MACOO FC2 FC4 4 5 22 Object 2011h Subindex 1 Input status This object is used to read out the actual value of the inputs PL is the positive limit switch input and NL is the negative limit switch input INI IIN4 is the digital user inputs On the MACOO FC2 module are the input connected via 2 and on the MACOO FC4 module are the input connected via the MI2 connectors marked I O 4 5 23 Object 2011h Subindex 2 Outputs With this object the outputs can be controlled The value written to this object is directly shown on the outputs if the outputs are not set to use the default function see subindex 5 COE 01 and 02 are the digital user output and 2 On the 2 module the outputs are connected via 4 and on the MACOO FC4 module the outputs are connected via the M12 connectors marked I O 4 5 24 Object 2011h Subindex Motor status With this object the status of the motor can be monitored Heserved Decele Accele In position Reserved EE Discon ration ration rior nected Bit 6 Equals 1 if the velocity is decreasing Bit 5 Equals if the velocity is increasing Bit 4 Equals 1 if the motor is at the commanded position Bit 2 Equals if a limit switch has been activated Bit Equals if there is a communication error between the MACOO FC and the motor This could occur if the motor has been reset due
70. Access MacReglo Name Name Default Access 14 GEARF1 Gear Na Word The nominator used to scale gear pulses from an factor 2000 RW external encoder source Used in gear modes Input 15 GEARF2 Gear Na Word The denominator used to scale gear pulses from an 500 RW external encoder source Used in gear modes Output JJ D D 2 2 2 2 2 2 27 16 l2T Na Word The calculated power dissipated in the motor and thus 0 R an approximated value for the rise in temperature inside the physical motor See also I2TLIM Reg 17 MacTalk value is calculated as 9e zI2T I2TLIM x 100 17 I2TLIM not Na Word The limit for the value of Reg16 I2T where bit motor will change into passive mode 18 UIT Na Word The calculated power dissipated in the internal power 0 R dump brake resistors and thus a way to estimate their rise in temperature See also UITLIM Reg 19 MacTalk value is calculated as UIT UITLIM x 100 19 UITLIM not Na Word The limit for the value of Reg18 UIT where bit 3 motor will change into passive mode 20 FLWERR Na Word Encoder A measure of how far the drive is from its ideal 0 RW counts regulation goal This value is calculated differently in the various modes and can mean things like pulses from theoretical position or difference in actual velocity to V_SOLL Contact JVL for more detailed information for specific modes OE Oe 0
71. B2 or B4 to see the RS232 connector layout Expansion Module MACOO B1 B2 B4 RS232 General description when using a MACOO Bx module RS232 network with 2 x MAC140 and 1 x MAC800 mounted with M ACOO B1 B2 or B4 modules Central Make sure that all involved units are Controller connected to the same for example a PC potential Power supply Opto isolation 12 32VDC control voltage Bus voltage 412 48VDC Screen connected to GND in each end MAC50 141 Address Rx TX RS232 Power Supply Control voltage O Only MAC50 141 with B2 or B4 50 141 Power Supply Control voltage 0 Only 50 141 with B2 or B4 MAC800 Address 3 Tx PD Interface Power P Supply o Mains 230VAC Up to 7 Main supply 4 Motors Opto isolation is recommended ij At least one unit the line must be terminated The M ACOO B1 B2 TT0907GB and B4 contain this feature See the individual module descriptions Each unit connected must be setup with an address via The M acTalk program If only one unit is connected no address is needed 122 JVL Industri Elektronik A S User Manual Integrated Servo Motors MACO50 3000 4 2 4 2 7 Expansion Module IMACOO B1 B2 B4 RS485 General description when using a MACOO Bx module The RS485 offers more noise immune communication com RS485 network with 2 x MAC140 and 1 x MAC80
72. CVI2 GND This ground is hardwired internally to the main power ground P Ground intended to be used together with the ane other signals in this connector 4 RS485 pins in COM SLV is not for general use but only for master slave configuration JVL Industri Elektronik A S User Manual Integrated Servo Motors MACO50 3000 269 4 9 Expansion module MACOO P4 P5 4 9 12 Cables for the MACOO P4 The following cables equipped with connectors can be supplied by JVL MACOO0 P4 Connectors Description JVL Order no mE a P CNT COM s 4 12pin 5pin Female Female RS232 Interface cable Connects directly from MACOO P4 to a PC Length 5m 197 inch RS485 Interface cable Connects directly from MACOO P4 to a PC 4 5 with a RS485 Com port RS485 M12 1 5 5 Length 5m 197 inch Cable 5 5mm with M12 female 5 pin connector loose wire ends 0 35mm 22AWG and foil screen WI1000 M12F5TOSN Length 5 197 nea Cable with M12 male 12 pin 5 Same as above but 20m 787 inch WI1009 M12M12T20N RS485 Interface cable Con nects directly from a mastertoa WI1005 slave motor via the SLV connec M12F5TF5TOS3P tor Length 3m 197 inch IP67 protection cap for M12 g female connector WI1000 M12FCAP1 IP67 protection cap for M12 male connector WI1000 M12MCAP1 Important Please note that the cables are a standard type They are not recommended for use in ca ble chains or where the cable
73. Elektronik A S User Manual Integrated Servo Motors MACO50 3000 4 3 Expansion module MACOO B41 4 3 6 Analogue input connection at the MAC motor mounted with a MACOO B41 module Connected to a external controller Position or MAC motor M ake sure that all velocity 4M ACOO B41 involved units are controller connected to the same potential m i 51 E 10V out sen 1L 2 AIN1 analogue input Se v GND ground Note screen only connected to signal source Connected to a potentiometer WW If only 24V supply is available MAC motor M ake sure that all insert a 2 7k resistor here 4M ACOO B41 involved units are connected to the same potential Power supply See AINT e Screen analogue input yt GN D ground 2kOhm potentiometer A Note screen only JVL typeno POT2K connected to signal source This example only covers 0 10V but other configurations do of course also exist such as 0 5V or 10V Connected to a zero search switch MAC motor M ake sure that all involved units are M ACOO B41 connected to the same Zero search switch potential i AIN1 analogue input Power supply GND ground 10 32VDC TT1138GB Note Do not apply voltages higher than 32V to the analogue input AIN Using the analogue inputs AIN1 AIN2 When a 41 module is mounted in the MAC400 motor the analogue inputs is available in the same manner as in th
74. FD4 6 Now the motor is stopped at a stationary position this position we want to set to 0 SO we are using a special command Write to command register 2 1 1 The command is 247 Word 0 0381 Set the bits in the structure and get register 3 P_IST actual position Word D33F Register 211 Command use command message 31 32 Word 2 00F7 Value 247 Word 3 0000 This will set the 2 registers P IST P NEW and P SOLL P NEW per default P NEW so this will automatically set these registers to 0 P NEW has register number 163 Now return to standard position control We set the mode back to position remember velocity 0 Word 0 0381 Set the bits in the structure and get register 3 P_IST actual position Word 023F Register 2 Command use command message 31 32 Word 2 0002 Value 2 position mode Word 3 0000 Next we must set the max velocity to use Word 0 0381 Set the bits in the structure and get register 3 P_IST actual position Word 053F Register 5 MODE use command message 31 32 Word 2 0700 Value 2000 velocity mode appx 957 RPM scaling 2 1 x RPM Word 3 0000 From here we can either use the standard position controller and change the message type to Target position and maybe set the incremental bit if necessary Word 0 0381 Set the bits in the structure and get register 3 P_IST actual position Word 2121 Use target position message type
75. FS1 The MACOO FS expansion module is an industrial interface that mates with the standard MAC motor and offers a number of feature enhancements including Standard 9 pin D SUB connectors for additional reliability Addition of a Zero switch input for locating a mechanical zero point of the actuator when used in position related modes e Plugable screw terminal connector for power supply and Zero switch e LEDs to indicate Ol and O2 output status Zero switch analogue input status Input power status Full RS232 and RS485 protocol support for use with standard 9 pin DSUB e Sourcing PNP outputs for status signals Ol and O2 instead of sinking NPN The following illustration shows all the connectors on the 5 module M ACOO B1 connector descriptions IN OUT General I O O Signal ground 5 gnal g OCM ono Zo gt Status outputs Balanced pulse in or outputs used for p 4 e Default Pulse and direction signals or ia 0 02 Quadrature encoder signal B 47 02 F tont Optional these terminals can be A 20 ell O1 Maium di used for the MAC high speed lt O0 AIN A mpita t communication using RS422 A LED s for showing the output status of A A Industri Bektonik IN OUT SETUP SETUP RS232 Note The TX PD terminal must be connected to Tx pin 3 1 if the MAC motor is not
76. Gear modes for further details about functionality JVL Industri Elektronik A S User Manual Integrated Servo Motors MACO50 3000 EN 3 4 User 1 0 3 4 6 Multifunction 1 0 used as pulse outputs The Multifunction I O can be set up as pulse outputs When this configuration is selected the internal encoder signal will be available at the outputs This can be useful in modes in which the internal encoder signal must be used as feed back to external electronics for monitoring the real time position or as a part of a closed loop regulation This feature is especially relevant in the following 4 modes Velocity Position Analogue Torque and Analogue Velocity A quadrature signal 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 Multifunction I O s used as balanced pulse output User I O External pulse receiver Signal GND Termination resistors 20 270 Ohm are recommended To internal control circuitry RS422 inputs balanced Connector Manufacturer AMP Twisted pair cable is recommended Type 770602 8 2 54mmyO pitch TT0930GB The Multifunction l O s must be set up in MAC Talk to function as pulse outputs MacTalk Noname File View Motor Setup Updates Help Gs 29 lt he t D Open Save Save flash Reset position Clear errors Reset motor Filter setup STOP Motc Main
77. MACOO B41 Connectors Description JVL Order no Tt 102 COM 12pin pi i Female Female RS232 Interface cable Connects directly from MAC00 B41 to a PC RS232 M12 1 5 8 Length 5m 197 inch RS485 Interface cable Connects directly from MAC00 B41 to a PC RS485 M12 1 5 8 with a R8485 Com port Length 5m 197 inch USB Interface cable Connects directly from MACOO B41 to a PC with a USB Com port USB M12 1 5 8 Length 5m 197 inch Cable 5 5mm with M12 female 5 pin connector loose wire ends 0 35mm 22AWG and foil screen WI1000 M12F5TOSN Length 5 197 Cable with M12 male 12 Cable with M12 female 8pin Same as above but 20m 787 inch WI1000 M12F8T20N picture comming soon Cable with M12 male 8 pin connector loose wire ends 0 22mm 24AWG and screen WI1000 M12M8TOSN Length 5m 197 inch IP67 protection cap for M12 _ female connector Wl1000 M12FCAP1 IP67 protection cap for M12 male connector Wl1000 M12MCAP1 Important Please note that the cables are a standard type They are not recommended for use in ca ble chains or where the cable is repeatedly bent If this is required use a special robot cable 2D or 3D cable JVL Industri Elektronik A S User Manual Integrated Servo Motors MACO50 3000 149 4 4 Expansion module MACOO Exx4 4 4 1 Industrial Ethernet modules The documentation for the industrial Ethernet modules is very extensive and has ther
78. Mian Fumon A oe Pokey Peon kirai iram a Lour 5C Gsm Folios Function Analogue Ension Mr j Courts motor Tongue Mnaegur velocity jrah deadbeat om lend maan Inputs bra Em sccelersiion aj RPMS Pongeraentivie lasd Anaingue gea aA This field shows the actual supply voltage Cid kri UI npul NH and velocity at pulse Fuclual veloci i RPM Actual here 1 E31 Liar cidraa Bus vole can be used to limit the brposiion firak Lo F beer Ena extput 07 XT LAD input motion For example 0 Bei Daa 5 the maximum torque j 7 Poslive edge postion captum MF al or velocity edge prion capu Dinable brake 2 are Errors 0 06 i dp lim EN If a fatal error occurs Emus RO DONNE information will be in posllion uA fre index ceo displayed here ln fee rll E E 2 piton Toon LI 1 Iren motor direction Zera iic velocity EN Run Status Analogue to position Mog poston Zeo achte 100 setup nel M Undervotage Seleno bl The desired position Hyriberers T ELT UE
79. Motor COM scan Open Opens a setup file from disc and downloads the setup to the motor If no motor is con nected the setup is shown in MacTalk and can be edited and saved to disc again Save Saves the actual setup from the motor to a file If no motor is connected the actual off line settings including module setups and program will be saved Save in flash The complete current setup of the basic motor will be saved permanently in the flash memory If the motor is powered down or reset the saved setup will be used Reset position Resets the position counter to 0 The content of the position counter can be monitored in the right side of the main screen as Actual position Clear errors Clears all the errors if any Please 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 considered as a functional stop button and is available also by using the keyboard shortcut CTRL F8 Pressing the STOP button will immediately stop the motor by changing the currently running mode to passive using a fast controlled deceleration curve Using a MAC motor or a module that enables
80. Move operations Icon Each mode will be described in its own section The Move command is very flexible with five different operating modes 4 10 10 4 Move Relative Icon Dialogue Move type Relative Relative velocity change at distance x Cancel Relative set outputs C Absolute Sensor General parameters Distance 0 Counts Register 1 Acceleration Register 2 Register 3 Velocity 0 RPM W ait for in position Enter 0 in velocity or acceleration to use the current velocity or acceleration Function Performs a movement relative to the current position The distance moved is measured in encoder counts and can either be entered direct ly 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 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 position option is checked the program will wait until the motor has finished the movement before proceeding to the next program line If this option is not checked the program will start the movement then immediately start executing th
81. N1 input 1 I O terminal B SW3 DIP 4 ON O1 output 1 I O ground to be used with IN1 NL PL O1 O2 SW3 DIP 6 OFF NL negative limit input I O terminal D SW3 DIP 6 O output supply Lee eo SW3 DIP 2 ON and DIP3 OFF AIN Analogue input SW3 DIP2 OFF and DIP 3 ON 3 1 when IOA I O terminal A O2 output 2 5 used as AIN is the analogue input Re member to use the GND terminal with AIN or 17 Cable Screen Some standard cables with M12 connector offer a screen around the cable This screen on some cables is fitted to the outer metal at the M12 connector When fitted to the MACOO FC4 module this means that the screen will have contact with the complete motor housing and thereby also the power ground main ground Isolation groups The MACOO FCA offers optical isolation at the digital inputs and outputs IN1 NL PL and O1 2 The table shows a number for each pin This number refers to the isolation group to which each pin is connected Isolation group 1 means that the terminal refers to the main ground P GND and the motor housing Isolation group 2 means that the terminal refers to the CAN interface ground CAN GND Isolation group means that the terminal refers to the I O ground IO Regarding the setting of SW3 see on next page JVL Industri Elektronik A S User Manual Integrated Servo Motors MACO50 3000 205 4 5 Expansion Module MACOO FC2 FC4 The drawing be
82. PDOs enabled at the same time In the MACOO FC2 FC4 all PDOs are disabled when the mod ule is booted up the user has to choose which PDOs the application is to use and enable these The PDO configuration can be seen either in the EDS file or in the CanOpen Explorer program here the communication and the mapping parameter are shown There are two standard methods to map the PDOs in CAN Open there is an static map ping and a dynamic mapping In the static PDO mapping all PDOs are mapped in accord ance with some fixed non modifiable setting in the relevant PDO In the dynamic PDO mapping the setting for a PDO can be modified It is also allowed to have flexible combi nation of different process data during operation The MACOO FC2 FC4 module use only static mapping 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 Confirmed transfer of objects Data transfer exchange is always non synchronous Values greater than 4 bytes are transferred Normal transfer Values not more than 4 bytes are transferred Expedited transfer Basically a SDO is transferred as a sequence of segments Prior to transferring the seg ment there is an initialization phase where client and server prepare themselves for transferring the segment For SDOs it is also possible to transfer a data set of up to four b
83. Profile Data All the main para meters for the motion profile are setup in this field Motion Parameters The desired position and the in position window can be specified here Startup Mode Reset Position Error Handling Input Outputs Motor Status Inputs Reset Position Error Handling Input Outputs Use this button to reset the Use these fields to define error The functionality of the I O s is specified actual position counter limits for the position range etc here In position mode only Pulse Output or Serial Interface is relevant Motor status This field shows the actual motor load position and speed etc Inputs This field shows the actual supply voltage Errors If a fatal error occurs information will be displayed here Run Status The motor status can be monitored here Zero Search All the parameters regarding MAC motor connection information the position zero search can Always shows if the motor is on line or not be specified here See the Mechanical zero search chapter TT0926GB Select position mode in this field The counter which keeps track of the actual position can be reset us ing this button Worst case limits for the position range can be set up here Please consult the Error Handling chapter for details The multifunction I O terminals can be defined here In Position mode these terminals can either work as a quadrature output from the internal encoder or as a serial RS
84. R1 R3 R4 4 10 12 RS485 General description when using a MACOO Rx module The RS485 offers more noise in co n RS485 network with 2 x MAC140 and 1 x MAC800 pared to the RS232 interface mounted with MACOO R1 R3 or R4 modules Up to 32 motors can be con Central Make sure that all Power supply nected to the same line Controller connected to the same for example a PC potential When connecting the RS485 not interface to a central control ler the following rules must be followed Screen connected to GND in each end control voltage 12 48VDC Bus voltage Use twisted pair cable MAC50 141 2 Use screened cable Address 3 Ensure that GND is also noes Interface connected in order to as sure the same potential be Power tween all the connected Supply nodes Control voltage Only MAC50 141 4 Ensure that all units have a with R1 R3 or R4 amp proper connection to safety ground earth in order to refer to the same potential MAC50 141 5 The last unit in each end of a the network must be termi 85 nated Use termination Interface resistor in the range 20 220 Ohm between line A Power and B Supply Control voltage 6 Ensure that the supply lines Only MAC50 141 with R1 R3 or R4 are connected individually in order to minimise the voltage drop between the motors MAC800 7 Master Controller RS485 Address 3 interface 85485 If
85. RPM the reverse direction with 1 64 of Zero search x Velocity When the edge of the Zero search sensor is passed the motor stops and the zero position is found Velocity Zero search velocity 50 50 Zero search torque 1 i Acceleration specified by the general acceleration Zero search position is an optional parameter under the Profile offset See description in d data in MAC Talk other chapter Zero search velocity defines the velocity used during Zero search Sensor 1 The sign of the specified velocity status Zero search defines the zero search direction started Zero search torque is used as the trip level when the zero position is reached Time In this example the active sensor level __ is set to high Home Torque 1 active high active low Time 24 The Zero sensor must be connected to the analogue input AIN which during Zero search functions as a digital input For connection information and electrical specification see Analogue input page 107 JVL Industri Elektronik A S User Manual Integrated Servo Motors MACO50 3000 35 2 6 7 2 6 8 36 Mechanical Zero search Enc Index Zero search The internal optical encoder in the MAC motor also contains a so called index pulse which is a very short 4 counts distance which is only present active one time per mo tor revolution For applications where the working range is always less or equal one r
86. SOLL then e E jme mw mesmo oo one re TSO en er me jus me emer tee rere present 0 RW resets to 0 48 Z REG not 0 4 Word When set to 1 4 copies one of ZEROO ZEROS to INPOSWIN 9 mw menesetstb s TT1505GB JVL Industri Elektronik A S User Manual Integrated Servo Motors MACO50 3000 379 9 12 Internal registers Lu 2 MacReglo Name Default Access Name ee ee eee 1 0 RW s eem mee present 0 RW ee eem P2 0 HW e present 0 RW P3 0 RW 5 5 2 Na Word present 0 RW P4 0 RW Na Word present 0 RW POS4 Position5 Na P 0 R CAPCOM4 not Na present 0 R P6 0 R 5 present 0 POS6 Position7 Na P7 0 R CAPCOM6 not Na present 0 P8 0 CAPCOM7 not Na present 0 RW 5 9 VELO Velocity 1 Na Velocity register V1 Used with the fastmac protocol or V1 277 100RPM by the MACOO H1 3 4 nanoPLC module See also V SOLL register 5 which have the same scaling n n n n n o VEL1 Velocity 2 Na Velocity register V8 see also register 65 V2 2 100RPM 67 VEL2 Velocity Na Velocity register V8 see also register 65 V3 21 100RPM 1 V4 2 100RPM V 2 7 100RPM V6 2 100RPM V7 2 100RPM V8 2 100RPM Velocity register
87. Since the RS 485 interfaces use the standard two wire coupling data can travel in only direction at a time witch means that the line is either in a state where all nodes listen or in a state where one node transmits while all the other nodes listen Ideally the node that transmits should stop driving the lines as soon as the last stop bit in the last byte it wants to transmit has been sent out This would allow the other nodes to start transmitting as soon as possible It is a classical problem that a device that translates between RS 232 and two wire RS 485 does not have access to a hardware signal that tells it when to change transmit listen direction On the MACOO 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 MACOO 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 Depending on the data in the last byte transmitted the line may then be reased from just after the last bit has been transmitted or not until a full byte length after the last byte has been transmitted It is required that all other nodes on the RS 485 bus do not start transmitting until a full byte time has passed since the last byte of a telegram from a MACOO xx module
88. TOt e IN emm If the RS232 lines are extended through another cable this cable Screen must be must also be screened connected to Connector main ground Cable Female 9pin DSUB MACOO FP2 internal At PC Male 9pin DSUB connector bard 17096668 If JVL s standard programming cable type RS232 9 or n is used between the shown connector and the PC the RX and TX signal must be swapped Tx to pin 2 and Rx to pin 3 4 7 14 Operation with dual supply for emergency situations In many applications it is intended that positional data and other setup information is re tained during an emergency situation It is however also required by law in many coun tries that the main power for energizing the motor is removed in such a situation To meet both of these requirements the MAC motor equipped with a MACOO 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 MAC motor with module Expansion module Basic MAC motor From main supply Main supply 12 48VDC To motordriver Optional Power supply Internal supply voltages Secondary supply and control votag and communication 2 48VDC circuitry TT0976GB The CV terminal can be left open if not used JVL Industri Elektronik A S User Manual Integrated Servo Motors MACO50 3000 245
89. Word present 0 RW 134 KVFY4 not Na Word present 0 RW 135 KVFY3 not Na Word present 0 RW 136 KVFY2 not Na Word present 0 RW 137 KVFY1 not Na Word present 0 RW 138 KVFY not Na Word present 0 RW 139 KVB4 not Na Word present 0 RW 140 KVB3 not Na Word present 0 RW 141 KVB2 not Na Word present 0 RW 142 KVB1 not Na Word present 0 RW 143 KVBO not Na Word present 0 RW 144 KIFX2 not Na Word present 0 R 145 KIFX1 not Na Word present 0 R 146 KIFY1 not Na Word present 0 147 KIFYO not Na present 0 148 KIB1 not Na present 0 JJ 15116 JVL Industri Elektronik A S User Manual Integrated Servo Motors MACO50 3000 385 ul Internal registers Firmware MacTalk Range Size Description MacReglo Name Default Access Name 150 lt reserved gt not present a present meme eeu O present ae present 154 lt reserved gt not present present 156 S ORDER not Na Word An S profile can be used to modify smooth the acceleration at the present 0 RW beginning and end of a change in velocity This is useful to prevent overshoot The value of zero disables the S profile so the normal A_SOLL is used Values 1 8 can be used to select a progressively smoother S profile with 8 being the smoothest and slowest The value
90. Zero search modes Starting a Zero search If the Zero search mode is set to Disabled no Zero search is done at any time If one of the 5 modes Power up Torque Sensor type Sensor type 2 Enc index or Enc quick index is selected the respective Zero search mode will be executed every time the MAC motor is powered up The Zero search can also be initiated by sending a specific command via one of the serial interfaces please consult the technical manual LB0048 xx for more details or see the individual detailed Zero search descriptions in the next pages JVL Industri Elektronik A S User Manual Integrated Servo Motors MACO50 3000 33 2 6 Mechanical Zero search 2 6 4 Torque Zero search Torque Zero search is carried out according to the following illustration Zero search position is an optional Select the mechanical zero Offset This position is preset to the position search mode in this field counter after the zero point is found Zero search velocity defines the velocity Zero search used during Zero search The sign of the ero search made Torque specified velocity defines the zero search ine ood 15080 Pu discos search position ulzes 50 RPM E search velocity Zero search torque is used as the All trip level when the zero position is reached REL 3i E Acceleration When the torque rises is specified by higher than the value the general accel specified in the field Zero erat
91. actual motor position in a user defined working range The analogue output has a resolution of 16 bit corresponding to the rang 4 to 20mA divided into 65536 steps The output is galvanic isolated from all other terminals and circuits RS485 Interface A B and IGND Serial balanced interface for connection to a slave motor e RS232 Interface Rx Tx and IGND Serial unbalanced interface for connection to a PC or a controller All registers pa rameters in the motor can be monitored or changed RS232 is not recommended for long distances gt 10m The MAC motor uses binary communication protocol which makes it possible to ac cess all the internal registers Please consult MacTalk communication page 357 for further details 4 9 4 Hardware overview M AC0O0 P4 or MACOO P5 seen from rear side SW2 Supply select for 4 20mA output Enable the internal supply Set switch 1 to ON and set switch 2 to OFF Disable internal supply and select external supply set switch 1 to OFF and switch 2 to ON Interconnect to motor Contains all internal signals between module and motor Main fuse 10Amp Replace only with Schurter type 3402 0040 11 SW1 5485 Modbus termination resistor Resistor enabled both switches set to ON recommended Resistor disabled both switches set to OFF or Littlefuse type 451 10A Default switch setting SWI I ON 2 ON RS485 Termination is enabled SW2
92. after the setup is done in order to save the changes permanently Pie deer Hio Seti pen wet L amp 4 Open Tare Saws nieh Ren poubon Clam sn Remi moio Mie sep TOR Mari d aioi Fm gararctor Tests Tope Fiat mandy T Enca hoses Set up Startup mode cuales ee for Analog velocity in order to enable the analogue input for controlling the velocity i Emy accelaration Set up the Multifunction I O of the MAC motor from Mpi arguo tor F inqula pals as Pulse Output This setting the PLC output beret Output KO will enable the internal encoder Cod oot Ises to be present at the terminals 101 csnnoded pu conde _ A and B This signal is send back inu pasmi to the PLC module Punches erer Dotai sa Ponin imd fas x nei lle 1 U Zen mesh ern peach anode D Optional Adjust the analogue input in order to optain 0 00V at the analogue input when the PLC is transmitting what is supposed to be 0 00V Adjust the acceleration to Adjust the speed to the Zero search mode the maximum allowable in maximum allowable in Normally Disabled order to avoid that the MAC order to avoid that the MAC PLC takes care of motor itself interferes with the motor itself interferes with the zero search PLC control loop PLC control loop TT0953GB 5 13 3 Setup in Jetter JX2 SV1 Mode 2 Set up the registers as follows when
93. any external sensors involved which simplify the mechanics and the cabling This Zero search mode is similar to the Enc Index Zero search mode except that its done much faster but also with a larger tolerance since the index pulse is sampled with a tolerance of 3mS but without any delays involved the Zero search When Enc Quick Index Zero search is carried out the motor will start moving until the index pulse is met The motor will then decelerate and move backward to the point where the index pulse was detected 57 Zero search Select the mechanical zero Zero search mode Enc quckindex earn search mode using this field e index after zero search AN Dn 130000 Counts The index position is sampled in the exact position where it was sampled 3mS ES The motor then decelerates Zero search torque 100 and moves the reverse distance back to the position where the index was found Velocity J The motor reaches the position where the index pulse was found and the Zero search is Zero search position is an optional finished and the selected startup mode is used offset See description in other chapter Zero search velocity defines the velocity used during Zero search t Zero search The sign of the specified velocity Index status started defines the zero search direction Zero search torque is NOT used in this zero search mode TTII88GB Configuration via motor registers
94. available it is strongly rec ND Interface ommended a type with op tical isolation is used Power Supply Connectors Please read the individual de scription for the MACOO RI ee R3 or R4 to see the connector Opto isolation is recommended ii layout The last unit at each end of the line must be terminated Please connect a terminating resistor in the range 12 0 to 220 Ohm between the A and B lines Each unit connected must be setup with an address via The MacTalk program If only one unit is connected no address is needed 304 JVL Industri Elektronik A S User Manual Integrated Servo Motors MACO50 3000 4 10 Expansion Module MACOO R1 R3 R4 4 10 13 Expansion MACOO R1 hardware description The illustration below shows the I O connections on the MACOO RI expansion module M ACOO R1 connector descriptions IN OUT O f IN5 0 10 gt r User Inputs ing lla O Common ground ICM _t 9 User outputs The inputs must IN3 IN8 8 PNP source type be supplied from a PNP IN2 3 4 o 24V 300mA per output source output 5 24V IN7 Connector DSUB 15 male High Density type RS232 Connections SETUP RS232 Interface between MAC motor and a PC RS485 Connections 2 RS232 Note PC MACOO B1 O The TX PD terminal must be connected to Tx pin 3 1 if the MAC motor is not j 6 using addressing E RS232 Rx 2 0 7 o Qiu Q5
95. be set cor rectly JVL Industri Elektronik A S User Manual Integrated Servo Motors MACO50 3000 4 5 Expansion Module MACOO FC2 FC4 4 5 41 Velocity mode In this mode the motor runs at a selected velocity A new velocity can be selected and the motor will then accelerate decelerate to this velocity The maximum slippage error is not supported in this mode Please note The torque limit can be set via object 6072h 4 5 42 Homing mode In this mode different homing sequences can be initiated The standard homing modes from section 4 3 22 are supported The home sensor must be connected to the AIN input on the module If the end limit inputs must be active during the homing sequence they must be enabled via object 201 Ih 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 Method index Description 4 Veg Torque homing in negative direction and afterwards homing on the index pulse Torque homing in positive direction and afterwards homing on the index pulse Torque homing in negative direction Torque homing in positive direction Please note that you should always use a home offset object 607Ch when using torque homing This is to ensure that the motor mov
96. cable Description ooo M we 24V supply to encoder Black Shield Gnd and shielding See Mac manual for further details regarding the IO connection in the module 7 C o Rd Because the plug doesn t support a 24V power outlet Ol or O2 can be used to supply the power to the encoder unit be able to do this register 161 needs to be setup Bit 3 and bit 4 in register 161 indicates whether IO and IO2 are user controlled or setup as previously as 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 79 bitO and bit holds the output value but they are inverted so for IO2 to be high O bit needs to be 0 So we hold the register to the default value 179 0 and 1 2 will source power to the encoder When IO2 is O the red LED inside the motor is lit This is normally used for error indication when the IO2 isn t setup for user control JVL Industri Elektronik A S User Manual Integrated Servo Motors MACO50 3000 6 2 10 2 10 5 62 Using external SSI encoder Setup SSI using MacTalk To setup the MAC motor for reading the SSI encoder value at startup first set the I O setup for using SSI input This means that the A and B input channels are se
97. circuits with full galvanic iso lation between the circuits The control circuitry requires a voltage in the range 18 to 30VDC and the power circuity must be supplied with 3phase 400 to 480VAC Having 2 independent supply circuits offers the feature that the supply voltage for the power cir cuitry 400 480VAC can be removed for safety reasons while the control circuitry can continue operating and thus keep the position counter updated and keep other vital func tions such as communication active Pe aust os pere MACI500 amp 3000 Supply diagram manently connected if control circuitry must be keept active while main power is disconnected P Power Control Core Supply Optional Dump resistor Mains Overvolt Filter Protection Common mode 400 480VAC L 400 480VAC L 400 480VAC L3 EMERGENCY STOP and RELAY See section 5 6 2 for further information 400 480VAC 400 480VAC Three phase supply 400 480VAC 3 x 400 480VAC nominal Earth Earth TI1249GB The circuit above is Shown with an emergency relay box which can be omitted 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 100 JVL Industri Elektronik A S User Manual Inte
98. code 1 is sent before an object with the function code 3 Node address Every device is configured before network operation with a unique 7 bit long node ad dress between and 127 The device address 0 is reserved for broadcast transmis sions in which message are sent simultaneously to all devices PDO SDO EMCY NMT and heartbeat are using the header frame for communication on the CANopen bus Connecting MACOO FC2 FC4 to the CAN bus Before you connect the MACOO FC2 FC4 to the CAN bus shall the Baud rate the Node ID and the termination must be selected On the serial bus it is possible to have a transmission speed Baud rate of max 1000 Kbit s and a min of 10 Kbit s The Baud rate depends on the cable length and the 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 Bus Distance Cross sec Terminator Baud rate tion mm eS LII The bus wires may be routed in parallel twisted and or shielded depending on EMC 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 of the bus node shall be as short as possible especially at high bit rates The cable shielding in the house shall have a large contact area For a drop cable a wire cross section of 0 25 to 0 34 mm wo
99. components can be implemented related standards can be used 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 There are three categories of stop function as follow Stop category 0 stopping by immediate removal of power to the machine actuators i e an uncontrolled stop paragraph 3 56 in DS EN 60204 1 Stop category 1 a controlled stop paragraph 3 11 in DS EN60204 1 with power available to the machine actuators to achieve the stop and then removal of power when the stop is achieved Stop category 2 a controlled stop with power left available to the machine actuators Requirements are given that a stop function must be incorporated paragraph 9 2 5 3 Stop in DS EN 60204 1 Stop category 0 and or category and or category 2 stop functions shall be provided as indicated by the risk assessment and the functional requirements of the machine paragraph 4 lin DS EN 60204 1 NOTE The supply disconnecting device paragraph 5 3 in DS EN 60204 1 when operated achieves a stop category 0 Stop functions shall override related start functions see 9 2 5 2 in DS EN 60204 1 Similarly requirements are specified for the implementation of an emergency stop func tion JVL Industri Elektronik A S User Manual Integrated Servo Motors MACO50 3000 9 7 9 7 3 Emerge
100. consumer time Request Indication Heartbeat consumer time Heartbeat Event TT 1084GB JVL Industri Elektronik A S User Manual Integrated Servo Motors MACO50 3000 4 5 Expansion Module MACOO FC2 FC4 Where r is reserved always 0 s is the state of the Heartbeat producer s NNT state ro Only one communication monitoring service may be activated This is either Node Guarding Life Guarding or Heartbeat If the Heartbeat Producer Time is configured on a device the Heartbeat Protocol begins immediately If a device starts with a value for the Heartbeat Producer Time different 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 MACOO 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 4 4 20 JVL Industri Elektronik A S User Manual Integrated Servo Motors MACO50 3000 99 4 5 Expansion Module MACOO FC2 FC4 CAN bus connectors continued 5 pin style connector 9 pin D sub connecto
101. 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 4 10 10 23Binary command Dialogue Enter binary code Binary code TN 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 existing set of graphic commands covers most situations but when special needs arise anything that can be done with the RxP module can be done with a binary command If you find yourself with special needs that are not covered by the other commands contact JVL for assistance JVL Industri Elektronik A S User Manual Integrated Servo Motors MACO50 3000 299 4 10 Expansion Module MACOO R1 R3 R4 4 10 10 24Calculator basic Dialogue Velocity Reg 5 Velocity Reg 5 1 Basic Options Debug 69 Velocity Reg 5 hd Function Performs a calculation using register values contants and the four basic arithmetic operations and The result is stored in a register Arithmetic operations take place in the order they 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
102. desired after a power up Zero search The offset value must be specified in the Zero search position field The total Zero search will be performed in following order The Zero search is started either automatically power up 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 Ifthe Zero search position value is different from position the motor will now move to position O 4 The Zero search is now completed and the motor will switch to normal operation which means the mode selected in the Startup mode field in the main window The illustration below shows the complete cycle The motor will always go to position 0 after a complete zero search is done this causes the motor to move the difference between 0 and the value specified in the The speed and acceleration Zero search position field is set to the general setting Velocity in MacTalk under Profile data Zero search in progress velocity etc depends on the actual zero search mode t t Zero search After the basic zero search has Actual position counter started been done the actual position counter is now zero position is set to the value specified in the Zero search complete Zero search position register search Zero search mode Sensor type 1 Find index after zero search zero search
103. filter After setting the filter choices the filter can be transferred to the motor Transfering and saving the filter 1 Press Load Filter to transfer the filter to the motor 2 If the filter performs well press Save in flash in order to save the new filter permanently in the motor N a amp Q e Save Save flash Reset position Clear errors Reset motor Filter setup STOP Motor scan The complete setup including the filter configuration can also be saved to and later re called from disc by using the Open and Save buttons in the toolbar 2 9 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 inertia ratio be tween the motor and load See also Adjusting the LOAD parameter page 52 JVL Industri Elektronik A S User Manual Integrated Servo Motors MACO50 3000 57 2 10 Using external SSI encoder MacTalk Noname File View Motor Setup Updates Help SSI Control gt section a e 1 Open Save Save in flash Reset position Clear Main Registers Advanced Filter parameters Tests Scope The FastMac Special command com mands field Command 0 SSI control 551 enable SSI synchronize P_IST P_SOLL Reset pos SSI positio
104. go oo poo ooo ooo 1 ux e OOE _ ACCO AT 4__ 2 ____ S e goo o joo oo ooo o o 75 X AcC2 A3 1 6 ACC3 A4 Joo o 77 TQ0 Th p TAT p p TQ2 T8 80 TQ3 T4 Bit 0 COIL START DIR Bit 1 COIL POS CMD Bit 2 COIL PWR 524 366 JVL Industri Elektronik A S User Manual Integrated Servo Motors MACO50 3000 5 12 Internal registers Only 141 M wecnegemme Demi _______ MacReglo Name Name Default Access 81 LOADO L 83 LOAD2 L3 84 LOAD3 L4 oo Eoo joo 85 ZEROO Z1 i86 ZEROT 22 i7 ZERO2 Z3 j88 ZEROS Z4 i9 KFF2 92 s Jj e KVFX4 94 KVEX8 95 9e jz 1 9 KVFY2 99 KVFYI o ooo o o 10 101 102 _ _ e oo 104 oo o 15 S Eo 106 TKIFX2 17 ooo Eoo o _ ______ ooo ooo ooo Poo HI KIBO X QJ 112 SAMPLET 113 SAMPLE2 o p 4 SAMPLES 15 SAMPLEA M6 REC CNT qj d7 FNC OUT 118 FFOUT q P 119 VB OUT p 120 V EXT 121 VF OUT BE 122 ANNP
105. if the supply voltage gets too low TT0914GB 1 4 1 MacTalk introduction The MacTalk software is the main interface for setting up the MAC motor for a specific application The program offers the following features Choice of the operating mode of the MAC motor Changing main parameters such as speed motor torque Zero search type etc Monitoring the actual motor parameters in real time such as motor load supply volt age voltage at the analogue input etc Changing protection limits such as position limits maximum position error Determine what should happen if the supply voltage gets too low Saving all current parameters to disc Restoring all parameters from disc Saving all parameters permanently in the motor Updating the motor firmware or MacTalk software from the internet or a file The main window of the program changes according to the selected mode thus only showing the relevant parameters 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 14 JVL Industri Elektronik A S User Manual Integrated Servo Motors MACO50 3000 1 4 1 4 2 Using MacTalk to setup the motor Toolbar description The toolbar at the top of the MacTalk window contains the most commonly used fea tures Ll the c r on 2 b 3 Open Save Sae gi meh pasion Cea amors moo Mke setup STOP
106. in each end be followed MAC50 141 Use twisted pair cable with B1 B2 or B4 A Address 2 Use screened cable RS485 Interface 3 Ensure that GND is also Power connected Supply Control voltage 4 Ensure that all units have a Only MAC50 141 proper connection to safety with B2 or B4 C ground earth in order to refer to the same potential 5 The last unit in each end of E oco the network must be termi nated Note that the Bl B2 T and B4 B41 modules all contain a termination resis tor which can be activated Power Supply 6 Ensure that the supply lines are connected individually Only 50 141 with in order to minimise the SCOPRI Ue voltage drop between the motors M AC800 Motor dt e termination 7 Master Controller RS485 with MACO0 B41 set dip 9410 in position ON interface If available it is strongly rec ommended a type with op Interface e e Q tical isolation is used ae i are Connectors To see the specific connector Mains 230VAC lt t pin out please see the chapter a ors Expansion MACOO B4 con nector description page 147 Opto isolation is recommended so The last unit at each end of the line must be terminated The M ACOO B1 B2 A finished RS485 cable also and B4 B41 contain this feature See the individual module descriptions exist Please see Cables for the Each unit connected must be setup with an address via The M acTalk
107. in this area cyclicly 48VDC supply 24VDC supply TT0954GB The power consumption for 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 JVL Industri Elektronik A S User Manual Integrated Servo Motors MACO50 3000 323 9 4 Physical Dimensions 9 4 1 Physical dimensions MACO50 to MAC141 Shown without expansion module AC Brushless Servo Motor 1 574 0 062 50 111 2 4 38 MAC95 Al 131 5 5 18 MACI40 Al 150 5 5 931 41 172 0 6 77 80 0 3 15 20 57 0 810 Digital Drive 559 0 2 32 Lum 4 0 0 013 10 22 0 25 4 0 0 0005 538 1 0 0 05 1 5 0 0 002 4x 5 2 0 27 Rear Connections Front Shaft M2 5 mounting hole for expansion module 47 15 1 86 58 7 2 31 Max M2 5 mounting hole for expansion module 58 7 2 31 Max f TT0902GB All dimensions in mm inch Download CAD drawings from www jvl dk default asp Action Details amp ltem 426 324 JVL Industri Elektronik A S User Manual Integrated Servo Motors MACO50 3000 5 4 Physical Dimensions 5 4 2 Physical dimensions MAC400 104 4 08 Shown with a MAC00 FP2 62 4 2 45 A Profibus modu
108. is controlled by the user via RegXX Bit 10 INV INPOS OUT Bit 11 INV ERROR OUT Bit 12 CMP_ERROR_OUT If set OUT2 PIN is controlled by P IST gt CMP POSO continued next page 111535 01GB 378 JVL Industri Elektronik A S User Manual Integrated Servo Motors MACO50 3000 5 12 Internal registers Firmware MacTalk Range Size Description MacReglo Name Default Access Name 39 HW_SETUP not E Word Bit 13 PULSE 8000 continued from last present RW If set rescale the 8192 encoder pulses to 8000 for MAC800 page compatibility and better Vel filter performance Bits 14 15 reserved Bit 16 DIRCDWR Direction signal for the MultiFunclo2 A channel or both A and B Bit 17 SELINDEX Not used prepared to select between encoder A or Index signal gt MultF Bit 18 ALWAYS COOL Bit 19 POSITION CAPTURE UP Used to enable SW position capture based on analogue input rising edge Bit 20 POSITION CAPTURE DN Used to enable SW position capture based on analogue input falling edge Bit 21 PULSE 8000 If set rescale the 8192 encoder pulses to 8000 for MAC800 compatibility and better Vel filter performance Bit 22 SCALING Reserved for freely selectable encoder scaling Bit 23 SBUF_2048 Set to use a sample buffer length of 2048 Use 512 if not set V HOME not Na Word to use during a zero search operation Homing present 138 RW NH After the operation has completed the drive will go back to using the regul
109. is to setup the frame with the correct values and then set the Load bit in byte O as the last operation This will load the frame into the motor and thereby set the register value desired In response the motor will return a Response frame with the data from the register val ue that has been requested in the sent frame Semantics Load Data Transition from 0 gt initiates the data loading in the motor The frame is setup with all data and then this bit is set to make the motor load the data Direction When the motor is used in velocity mode this bit is used to control the di rection of the movement When velocity mode is used through Smooth stop Bring the motor to stop using standard configured deceleration deceleration ramp is the same as the acceleration ramp Hard stop Bring the motor to an immediate stop Enable Bring the motor into an active mode clearing this bit will bring the motor into Passive mode 214 JVL Industri Elektronik A S User Manual Integrated Servo Motors MACO50 3000 4 6 Expansion Module MACOO FD4 The IY frame from the motor is formated as follows General On Target in Register number to get Load Reverse Forward sy limit limit Ox1F Data value byte 0 oe Data Value byte 1 6 Data Value byte 2 Data Value byte 3 Semantics Load complete Indicates that the motor has read the frame Reverse limit using limit switches to limit the tra
110. kind of information that is needed different message types are used Message types are organized in the lower bit 0 4 in byte 2 and the different message types supported are 0 1 Target position 0x2 Target velocity 0x3 Acceleration 0x5 Torque Ox IB Position controller attribute OxI F Parameter register For setting a target position the Command Message type Ox is used Accessing registers directly in the motor message type 0x F is used For a general motor register overview please consult MacTalk communication page 357 The outputs define a Command message covering the message types 0 1 0x2 0x3 0 5 with the ORN format Byte 6 5 4 3 2 Smooth S dE zw Data value byte 0 ES Data Value byte 1 6 Data Value byte 2 Data Value byte 3 Corresponding response frame from the motor is formated in the following way The ats frame for the types Oxl 0 2 0x3 0x5 Byte 6 5 4 3 2 Smooth ee EN Load Heverse Forward EN NE limit limit Response Message Type Data value byte 0 5 Data Value byte 1 6 Data Value byte 2 Data Value byte 3 JVL Industri Elektronik A S User Manual Integrated Servo Motors MACO50 3000 213 4 6 Expansion Module MACOO FD4 The P IN frame for the type OxIF is formatted according to the TT Bre 5 4 3 2 D Dm stop vel mode Data Register number to get NE NN 8 KENNEN CNN The procedure
111. line and a tool box will pop up Dee Pe pe ee yha Hyd G W si enw Dee Oman Oman arm Zacran ae Dame paip Omas mors bmp mtr Ph D Vargas jaunen e fee MALES Pa Baie Press the first button to create the first program line The Select command box will pop up tem Fame Mean Chace aum Tenga narum d t A Pare mimm em amu 2 weer me Een perce imi s n oo j 121 7 g Lain Lp t LE Lew 1 1 miad bor imm 1 pra d mag TEIII Choose the desired command zm In this example it is desired to wait for an input to be activated before further program execution i a r ee DOC abd Choose to wait until input 5 is high and press OK MJII mem a D et ree 1 Oort p piin eb i 1 bh 4 D irnia ces pura Cha mess eem ox Fier fh Ao j porte Tet ioga HCO i Vi Beli l he l gt Phan The command is inserted at the END em previous selected program line TT0983GB y Continued 280 JVL Industri Elektronik A S User Manual Integrated Servo Motors MACO50 3000 4 10 Expansion Module MACOO R1 R3 R4 Era IM 4 Ww Pie
112. motor driver sections Please notice that the MAC400 402 800 1500 and MAC3000 have 2 supply voltages which offers the possibility to remove energy to the motor but keep having the control core active and thereby keeping position values and other dynamic parameters JVL Industri Elektronik A S User Manual Integrated Servo Motors MACO50 3000 5 1 2 Overall description Se e dE Motor Torque Torque cont Speed length MAC140 45 45 32 ov in in i2 45 02 ey M some The MAC motor is available in 6 different sizes MAC050 MAC95 MACI40 MACI41 MAC400 800 MACI500 and MAC3000 with continuous power ratings from 46W to 3000W The basic functions and I O features are the same for all models 1 2 1 Basic modes functions in the MAC motor The MAC motor offers the following functions Passive mode The motor will be in a completely passive state but communication is active and in ternal registers can be set up Velocity mode The motor velocity can be controlled using MacTalk software or by sending com mands via the serial interface Position mode The motor position can be controlled using MacTalk or by sending position com mands via the serial interface Gear mode The position of the motor is controlled by 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
113. motor units or it can be entered as native motor units 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 4 10 10 19Save position Dialogue Save position Position Register egister Register 3 Function Saves the current position from register no 10 P_IST to one of three locations in memory on the RxP module The saved position s can then be used wherever a position or distance is needed in a move command JVL Industri Elektronik A S User Manual Integrated Servo Motors MACO50 3000 297 4 10 Expansion Module MACOO R1 R3 R4 4 10 10 20Set position Icon Dialogue Set position Position 8 Hegister 2 Register Function Sets the current position held in register no 10 P_IST to one of three position values stored in memory on the RxP module This is the reverse of the Save position command 4 10 10 21Send FastMac command change mode and activate register Icon Dialogue Mode Register Number Passive Position Number Velocity Velocity Position Acceleration Command Torque Load n position window
114. name Description F8TOSN Digital output 1 PNP output Output current maximum 25mA N N 1 2 3 N4 Yellow 5 Digital output 2 PNP output Output current maximum 25mA Output supply 5 32VDC Used for 01 4 Not used necessary for using IN1 8 I O ground Used for IN1 8 and 1 4 102 Extended l O s M12 8pin female connector O2 T O 7 3 lt JVL Cable WI1000 M12 Isolation Signalname Description M8TO05N group Analogue input 10V Directly connected to basic motor RS232 interface transmit output Brown RS232 interface receive input Green AIN1 White RS232 Ground also used with analogue input Yellow Multifunction I O terminal A Maximum 5V Multifunction I O terminal A Maximum 5V Grey TX Rx GND A Multifunction I O terminal B Maximum 5V Multifunction I O terminal B Maximum 5V Cable Screen Some standard cables with M12 connector offers a screen around the cable This screen is at some cables fitted to the outer metal at the M12 connector When fitted to the MACOO FS4 modul this means that the screen will get in contact with the complete motor housing and thereby also the power ground main ground Isolation groups The MACOO FS4A offers optically isolation at the digital inputs and outputs IN1 4 and O1 2 In the table is shown a number for each pin This number refers to which isolation group the terminal is connected to Isolation grou
115. need to function as a slave the MACOO P4 and P5 modules also offers this possibility A high speed communication interface makes it possible to handle a sec ondary motor configured as slave which means that the communication protocol al ways 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 functions are con trolled via the basic motor in which the module is installed The MACOO P4 and P5 expansion modules offers an industrial interface M 12 connectors Harting and a number of feature enhancements including e Standard MI2 and Harting connectors for optimum reliability e 4 20mA analogue input Resolution 16 bit 65535 steps Galvanic isolated e 4 20mA analogue output Resolution 16 bit 65535 steps Galvanic isolated Error output Galvanic isolated Communication interface to slave motor includes 24V power to the slave motor e Optical isolated RS232 communication to PC or external master e Optical isolated RS485 to slave motor Closed protocol Full RS232 protocol support for use with standard serial cable e RS232 Communication interface to a PC for setup and monitoring use Supply input for the control section the motor Is also used to the slave motor if present 258 JVL Industri Elektronik A S User Manual Integrated Servo Motors MACO50
116. of operation mode is only possible when the operation mode is not enabled There are two exceptions and one is when changing from homing mode to profile posi tion mode This is possible when the homing sequence is completed and can be done even though the operation mode is enabled The other exception is when changing from profile position mode into velocity mode 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 via bit 6 abs rel in the status word When a relative move is selected the type of relative move is dependent on the setup in object 201 1h subindex 8 It is also possible to select different movement modes This is done using bit 5 change set immediately in the status word When this bit is 0 and a move is in progress the new set point is accepted But the new set point and profile are not activated before the pre vious movement is finished When this bit is the new set point is activated instantly and the motor will move to the new position with the new profile parameters Please note The torque limit that is used during the profile can be set via object 6072h Theregister LI object 2012 subindex 81 is used to select the load factor when the profile is started If a different load factor is required this register must
117. of the eight general purpose position registers P1 P8 is activated through either a FastMac command including activating s register group through writing to Reg43 P REG Bn changes in bi position mode or during manual resynchronization If both are zero the P register gets copied to the target register s If Bit 9 is set the value of Reg3 SOLL is added to the target register s to make a relative movement If Bit 10 is set the value of Reg8 P is added to the target register s to make a relative movement Bit 11 IX ERR The current in at least one of the motor windings was measured to be too high possibly because of bad current loop filter settings Values for the current filter have been overwritten with default values Specifically registers 106 through 111 127 and 128 Bit 12 UV ERR The motor power supply voltage Reg151 U SUPPLY was measured to be below the value in Reg152 U MIN SUP and the drive was configured to set an error bit in case of undervoltage Bit 13 UV DETECT The motor power supply voltage Reg151 U SUPPLY was measured to be below1 25 times the value in Reg152 This is a warning bit not an error Bit 14 DIS P LIM When this bit is set during zero search or by the user the drive will disable its position limits So it can move also outside the position limit range This bit is cleared automatically when the actual position gets inside the position range again Bit 1
118. 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 JVL Industri Elektronik A S User Manual Integrated Servo Motors MACO50 3000 85 3 2 Power Supply 3 2 3 Dimensioning power supply and fuse Only MACO5O to 141 The power supply must be dimensioned according to the actual motor size MACO5O 95 or 140 141 The size of the pre fuse also depends on the actual model of the MAC motor Use the following table to select the power supply and fuse ratings Desired MACO50 MAC095 MAC140 or 141 voltage Supply Fuse size Supply Fuse size Supply Fuse size rating rating rating cow resa 320 See also Power Supplies page 395 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 339 86 JVL Industri Elektronik A S User Manual Integrated Servo Motors MACO50 3000 3 2 Power Supply 3 2 5 Estimating the peak current from the supply The peak current drawn from the DC power supply is dependant on the following pa rameters Maximum motor speed Maximum load torque Supply voltage used The calculation is done as follows Conditions example Maximum speed 2500 RPM 262 Radians sec Maximum torque 0 9 Nm peak torque MAC 140 is used wi
119. position 1000 1000 Counts ero search velocity p 50 ero search torque 1 f TT0951GB 38 JVL Industri Elektronik A S User Manual Integrated Servo Motors MACO50 3000 2 6 12 Mechanical Zero search Find index position after Zero search The motor offers 2 unique points per revolution called the index points These points are found by the internal hall sensors and are always the same By enabling the Find index after Zero search feature an extra precise zero point can be defined This feature is intended to be used if the external sensor does not offer the desired pre cision The feature can be used after each of the basic Zero search modes including the torque Zero search mode Enable the index search feature in the Main window Select Find index after homing using this field ero search inem search mode Disabled Find index after homing Pulses 0 ero search velocity H RFM eo search torque 150 search position TT0974GB When the feature is selected it is very important that the external Zero search sensor is adjusted to the correct position range with a certain margin to the index points to ensure the same index is always found during every Zero search If the external sensor is activat ed 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 co
120. program MACOO B4 page 49 If only one unit is connected no address is needed JVL Industri Elektronik A S User Manual Integrated Servo Motors MACO50 3000 39 4 3 Expansion module MACOO B41 Input type setup for all common output types The Dip switch is located at the rear side Dip Switch setting Balanced or push pull output connected to the A1 2 and 2 inputs TE id Dipswitch 9 10 RS485 termination see communication chapter NPN sink output connected to the A and B input ae nore lt Dipswitch 94 10 RS485 termination see communication chapter d PNP source output connected to the A and B input TTII39GB 4 3 9 General description Multifunction 1 0 The function of the Multifunction 1 is equal to that of the basic motor with the excep tion that the B41 module include an overvoltage protection and a dip switch to set up what kind of signal source feeds the input if the Multifunction I O is set up as inputs The illustration above shows how to set up the Multifunction I O terminals as balanced push pull NPN or PNP input The illustrations below show examples of connections for each of these signal types 140 JVL Industri Elektronik A S User Manual Integrated Servo Motors MACO50 3000 4 3 Expansion module MACOO B41 4 3 10 Connecting an NPN signal source to the Multifunction 1 0 The drawing below shows how to connect an NPN
121. range of 67 million to 67 million Modes other than Position mode With the HW SETUP bits 24 and or 25 set main motor modes other than Position mode also work slightly different The software position limits do not cause the motor to go into Passive mode if when P IST exceeds any of these limits Register 25 P IST TURNTAB is still updated to show the actual position relative to the rotary table position range even while P IST gets outside MIN P IST or MAX P IST One common way to do manual adjustment of the motor is to make a JOG function by using Velocity mode After a JOG function the IST may be left outside the rotary table position range so switching back to Position mode may cause the motor to move unex pectedly It is generally recommended to set the maximum velocity V SOLL to zero when exiting a JOG operation and update P IST and P SOLL to desired values before setting V SOLL back to a non zero value JVL Industri Elektronik A S User Manual Integrated Servo Motors MACO50 3000 2 13 2 13 1 Power Save Only MACO50 to 141 Power Save The MAC50 141 firmware supports a function to save power in Position mode and An alogue bi position mode that can automatically set the motor into Passive mode during pauses in movements and restore the original mode when a new movement is required This can be useful for battery powered applications as well as general power and cost savings and to reduce audible and electric
122. shared with the input Black ground Interface including analogue input Internal connector J1 N Analogue input 10V or Zero sensor input Orange Orange Black is not used internally It must be left unconnected r Z O O lt Z r O N O O O o J3 NO 0 5 NO Ce Signal name TXPD 4 gt lt x N 2 The VC terminals only available on modules with serial number gt 25000 The light green wire CV can be difficult to distinguish from the green wire on some cables Important Please note that the cables are a standard type They are not recommended for use in cable chains or where the cable is repeatedly bent If this is re quired use a special robot cable 2D or 3D cable JVL Industri Elektronik A S User Manual Integrated Servo Motors MACO50 3000 243 4 7 Expansion Module MACOO FP2 FP4 4 7 12 Assembly instructions for profi cables Remove the insulation from the cable as shown in the ac companying picture All values in millimetres Fit the plastic part of the gland on the cable and fold the screen around it Remember to first feed the cable through the nut Feed the cables through the cable glands in the rear plate of the module 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 swa
123. source to the 4 multi function I Os The diagram shows the A channel The B channel must be connected in the same manner Ensure that the Ax and Bx terminals are unconnected in order to maintain proper function Warning Voltages higher than 5V must under no circumstance be connected directly to the input since this will damage the input permanently NPN sink output connected to the A and B input MAC motor with 41 expansion module The negative inputterminals Ax and Bx mustbe leftunconnected Never connect voltages higher than 5V directly to the A or terminals since de ell this can damage the inputs Multfunction2 2 INPUT SETUP Signal source PLC INPUT SETUP Bos Al or 2 TH Al orA2 uem NPN BI or B2 Dipswitch 9 10 _ g SF or eat gt RS485 termination Outpu see communication chapter switch If used the B terminal must be connected in the same manner as the A terminal 4 3 11 Connecting a PNP signal source to the Multifunction 1 0 The drawing below shows how to connect a PNP source to the MACOO B4 multifunc tion I Os The diagram shows the A channel The B channel must be connected in the same manner Ensure that the Ax and Bx terminals are unconnected in order to maintain proper func tion Warning Voltages higher than 5V must under no circumstance be connected directly to the input since this will damage the input permanent
124. started This is due to strict timing control in the motor As a new feature the MAC40 141 firmware now supports setting IO and IO2 as user controllable O and 1 2 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 start up after a reset JVL Industri Elektronik A S User Manual Integrated Servo Motors MACO50 3000 63 2 11 2 11 1 64 Absolute Multiturn Encoder Introduction The absolute multi turn encoder is an option with the MAC400 MAC800 MACI500 and MAC3000 motors The option offers the advantage that once the mechanical zero point is defined there will be no need for any Zero search or initialization sequence after power up since the motor always knows where it is with reference to the original defined zero point regardless that power have been removed for shorter or longer time Please notice that ONLY MAC400 MAC800 MACI500 and MAC3000 motors with the extension contains this feature MACxxx yy Fzzz The built in multi turn encoder is using a mechanical technology with the advantage that no battery is used to hold the position after power off A battery needs replacement after a certain operating time or a certain number of charging and recharging cycles Basic encoder operation default The encoder
125. such as the type L 600V 150KA FRN R 15 from Emergency stop push button Manufactor Cooper Bussmann Reset push button The achievable PL level in accordance with DS EN ISO 13849 will depend on the MT TF of the components used using the solutions shown typically a minimum PL level d would be achieved 342 JVL Industri Elektronik A S User Manual Integrated Servo Motors MACO50 3000 9 7 Emergency stop considerations The enclosure system shown utilizes a manual reset which is a requirement if personnel may be located inside the enclosure If this is not the case an automatic reset can be used Safety circuits for and dual safety gate control with manual reset and short circuit recognition Category 0 Single phase 90 240 VAC MACAO0D or Earth MACBO0 PE gt S OEE LI gt EE LI N Base unit Expander unit PHOZ plp PHOZ po3 2p UL Applications FI Prefuse TI OAG2230VAC or To full fill UL requirements T20A 2 ISVAC type gG or Dz the prefuse must be a j in the phase line rated for class RK5 such as the type 600 150KA FRN R 15 from i 51 52 Safety gate switch Manufactor Cooper Bussmann 53 Reset push button In the case of rotating parts in particular 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
126. the balanced signals in order to ensure noise immunity Note If inputs are used in pulse direction format input A A A is pulse input and input B B B is direction input Warning Voltages higher than 5V must under no circumstance be connected directly to the input since this will damage the input permanently Use a proper resistor as indicated in the table below Balanced or push pull output connected to the A and B input MAC motor with MAC00 B1 B2 or B4 expansion module External pulse source Puls dir Pulse From internal Y Pulse Control circuit T 6 Direct u ge Dipswitch 5 6 only at MACOO B4 Please consult the B4 chapter B Direct Warning Never connect voltages higher than 5V directly to the A or B terminals since this can damage the inputs TT0943GB JVL Industri Elektronik A S User Manual Integrated Servo Motors MACO50 3000 125 4 2 Expansion Module MACOO B1 B2 B4 4 2 12 General description MACOO B1 The MACOO Bl expansion module is an industrial interface that mates with the standard MAC motor and offers a number of feature enhancements including e Standard 9 pin D SUB connectors for additional reliability Addition of a Zero switch input for locating a mechanical zero point of the actuator when used in position related modes e Plugable screw terminal connector for power supply and Zero switch e LEDs to indicate Ol and O2 output status Zero switch anal
127. the later pages of this section for specific information about the hardware such as con nection schemes etc 208 JVL Industri Elektronik A S User Manual Integrated Servo Motors MACO50 3000 4 6 4 6 2 Expansion Module MACOO FD4 Terminology Symantics This chapter is ment to give an overall understanding of the fundamentals in terminology concerning the description of the MACOO FD4 module Numbering All values are specified in decimal unless other is noted 0x1234 or 1234 omron format specify a hexadecimal number General terms Command message A message sent from the master to the FD4 module describing a certain IO message An O message is a bundle of 8 bytes sent to the MACOO FD from the master in the system and visa versa Register A register is a physical memory location in the basic motor All variables to be written or read a available as a register For example the desired motor velocity can be set by writting to register 5 For a general motor register overview please consult Mac Talk communication page 357 JVL Industri Elektronik A S User Manual Integrated Servo Motors MACO50 3000 209 4 6 Expansion Module MACOO FD4 4 6 3 Node id Baud rate and Termination setup The 10 dip switch SW is used to select the node ID and the Baud rate Switches 6 select the node ID and switches 8 9 select the Baud rate The 2 way dip switch SW2 is used to enable termination When both switches
128. the motor is operated in Po sition mode Biposition mode or Analogue to position mode Possible cause of this error The motor has been applied too high a load or the maximum function error value have been set at an unrealistic low value in regards to the torque setting Increase the Maximum follow error value Adjust the servo filter hardness to a more aggressive value Solutions to avoid error Make sure that the torque setting is not limiting the motor movement Set the Maximum function error to O default which will dis able the detection of this error type How to return to normal Reset the motor clear the error bit s in register 35 or cycle the operation power Error bit Firmware name Bit 2 FNC ERR JVL Industri Elektronik A S User Manual Integrated Servo Motors MACO50 3000 2 7 Error messages and error handling 2 7 6 Error message Regenerative overload Message no Message 4 Regenerative overload Error condition The amount of power dissipated in the motors built in power dump breaking resistor is above safe limit This error is tripped if the Regenerative load is gt 99 The regenerative load value can be monitored in the Motor sta tus field Possible cause of this error The returned amount of energy from the motor has been too high This can typically happen if The motor decelerate a large load inertia too fast The motor is forced backwards
129. this bit indicates when writing is completed See Command page 235 for details Bit6 Read Toggle this bit indicates when reading is completed See Command page 235 for details Bit 3 0 Status These bits indicate the status of the MACOO FP2 FP4 The following sta tus codes are possible o fome Connecting to MAC motor Input modes The 4 user inputs can be used to execute different move commands The following input modes can be selected Mode Description 0o Pase Absolute Relative Custom Passive mode 0 When this mode is selected the user inputs are ignored The inputs can be read in output data 5 for other purposes Absolute Relative mode 1 When this mode is selected the inputs have the following functions IN I Selects the absolute position in position register 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 to active transition is detected on the input Custom mode 15 When this mode is selected the action of each input can be selected with the slave pa rameters See Slave parameters page 239 JVL Industri Elektronik A S User Manual Integrated Servo Motors MACO50 3000 4 7 4 7 7 Expansion Module MACOO FP2 FP4 Slave parameters When configuring the profibus it is possible to set some parameters for t
130. to define and enable the minimum software present 0 counts position limit so the motor will stop and enter passive mode if the value of P IST the actual position gets below this value If MIN P IST is zero the low position 2 JJ JJ M limit will not be enabled DEGC not Na Word The temperature measured inside the drive present 0 R T11502GB 1 2 3 4 5 6 8 9 2 JVL Industri Elektronik A S User Manual Integrated Servo Motors MACO50 3000 373 5 12 Internal registers Only MAC400 to 3000 Ean Row Bota ace ee a eae Name Name Default Access MAX_P_IST not d Word Encoder Used to define and enable the maximum software present RW counts position limit so the motor will stop and enter passive mode if the value of P_IST the actual position gets above this value If MAX_P_IST is zero the high position limit will not be enabled In Rotary Table operation this limit is used as the higher wrap around position count DEGCMAX not Na Word The maximum value of Reg29 DEGC before the motor present 690 84C R will set the Temperature error bit in ERR STAT and change into Passive mode Same scaling as Reg29 DEGC ACC EMERG not in Word Acceleration to use during emergency stops present RW 33 INPOSWIN not T Word Encoder The value of this parameter depends on the operating present 100 RW counts mode In all cases it helps to define when the motor is InPosition and thus will s
131. to gear mode but the position range can be limited in such a manner that the motor changes direction every time 2 predefined limits upper and low er are reached Both limits are fully adjustable The mode is intended to be used for con trolling a wire cable guider on a winding machine The guide will follow the position of the coil driven by a main motor like it was mechanically connected by a transmission and by using this mode it is possible to steer the wire to the desired position at the coil also when the main motor changes speed Since Coil Mode is very similar to Gear mode it is recommended that the gear mode setup instructions are followed before us ing the additional features described in this section See Gear Mode page 21 MAC motor Coil mode Position MAC motor position versus position of master encoder P4 P3 P5 Start position P6 Master encoder Start direction position Notes P2 and P4 can be changed at any time It is allowed to set P P2 and P4 The position of the motor is always locked to the external encoder like it was a mechanical gear pulse by pulse TT0993GB When coiling a thick thread compared to the coil and the number of windings per layer are few it is preferable to stop the traverse motion while one winding is coiled at the top of the previous winding at the edges Therefore the edges can be cut off at the positions given by registers P2 and P3 as shown
132. used in position related modes e Screw terminals internal for 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 MAC option cable which has integrated electron ics to boost the voltage levels e Full RS485 protocol support for multipoint communication up to 100m Sourcing PNP outputs for status signals Ol and O2 The basic MAC motors offers sinking NPN JVL Industri Elektronik A S User Manual Integrated Servo Motors MACO50 3000 127 4 2 4 2 14 128 Expansion Module IMACOO B1 B2 B4 MACOO B2 option with cables The MACOO B2 type number designation only covers the basic module without any ca bles If a number is added after the basic type number for example MACOO B2 10 this suffix indicates that the module is fitted with 2 10 of cable One cable is used for the power supply and analogue input and the other cable covers all the signal lines i e RS232 RS485 status outputs and multifunction I O See the following tables Power cable Cable 1 Internal connector J4 Power supply ground pj e Yellow Signal cable Cable 2 Internal connectors J5 8 J5 1 Status Outputs Positive supply Max 30VDC J5 2 Status Outputs Output 1 PNP sourcing max 25 Grey J5 3 Status Outputs Output 2 PNP sourcing max 25mA Pink J5 4 Status Outputs Output gro
133. versus speed Or Angh Conditions Supply voltage 2 48VDC Ambient temperature lt 40 C Torque setting 300 max Load setting 1 0 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 4000 gt 3600RPM Overspeed error PeakTorque I2V Peak Torque 18V Peak Torque 24 to 48V Average Torque DI2V Average Torque 18V Average Torque 024 to 48V Speed versus supply voltage Speed in RPM 402 Restricted area motor losses will be too high Supply Voltage VDC 0 12 24 36 48 Operation below 12 is possible but at lower speed The motor shuts down at lt 8VDC TT1531 01GB 322 JVL Industri Elektronik A S User Manual Integrated Servo Motors MACO50 3000 9 3 Efficiency curve 5 3 1 Motor efficiency curve The curve below shows the efficiency of the MACI40 motor as a function of speed The efficiency is based on the difference in the total amount of electrical power applied to the motor compared with the mechanical output power on the shaft Conditions Supply voltage 24 48VDC Load 0 32Nm Ambient temperature 20 C Torque setting 100 Load setting 1 0 Operation above 4000 RPM can be done but the losses in the motor make it impossible to operate
134. will only be half of this value 160 1 70VDC 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 cir cuited on delivery C A U TIO N Risk of electric shock Disconnect all power and wait 5 min before servicing 3 2 24 Prefuse when using 115V supply only MAC800 To fulfil UL requirements the prefuse must be a class RK5 such as the type FRN R 15 I5Amp from manufacturer Cooper Bussmann INC See also Power supply circuitry only MAC800 page 96 98 JVL Industri Elektronik A S User Manual Integrated Servo Motors MACO50 3000 3 2 Power Supply 3 2 29 Connecting an external power dump resistor MAC800 with external power dump connection Connector for power and power dump BO PD V rs d when voltage exceeds 400V LI Note Its only necessary to N connect screen to signal source PE Earth Voltage V Energy fed back from PE Earth the motor to the Es bus PD Not less than 68 Ohm 100W Wirewound Nom 325VDC Velocity TTIOI3GB Main earth Shielding housing must Always make sure that be connected to earth the motor is connected to earth Terminal description for the Dump connector CM Common Is internally connected to the ground of the DC bus Is only intended to be used if multiple motors share DC bus
135. writing to multiple registers and special handling of the motor All this can be done by sending a the special command 247 to the command register 21 which will set the actual and requested position O The motor will stay stationary if it is set in a position related mode afterwards 222 JVL Industri Elektronik A S User Manual Integrated Servo Motors MACO50 3000 4 6 4 6 20 Expansion Module MACOO FD4 Example How to implement with a Omron PLC How to implement a JOG function using Omron PLC system This example sets the motor into velocity mode and sets a velocity depending on which direction to go and returns in Position mode when the joggin is finished Notice that Omron uses the syntax 1234 indicating a hexadecimal number in contrast to elsewhere in this chapter where the syntax 0 1234 is used for indicating a hexadecimal number Start by setting the velocity to 0 to prevent the motor from moving anywhere when the mode is set to velocity Please observe that all values are 6bit and refers to the cyclic of 8 bytes each way Please find the section covering IO messages Basically this example uses the Register message type and accesses the registers rele vant for this operation That is P SOLL V SOLL and the mode register Word 0 0381 Set the bits in the structure and get register 3 P IST actual position Word 053F Register 5 V SOLL use command message 31 32 Word 2 0000 Value 0
136. 0 0 022 WI UUUUUUUUL TT1245GB Download CAD drawings from www jvl dk default asp Action Details amp ltem 426 JVL Industri Elektronik A S User Manual Integrated Servo Motors MACO50 3000 327 5 4 5 Physical dimensions MAC1500 De amp D3 235 08 9 255 co N vr P Checked Approved 204 53 8 052 9110 0 0 022 04 331 0 0 000866 0 0 013 0 0 000512 24 0 945 5 0 197 26 4 1 039 58 2 283 121 4 4 724 128 61 5 063 250 9 843 50 7 1 996 134 0 5 0 2 5 278 0 02 0 00079 TT1538 01GB Download CAD drawings from www jvl dk default asp Action Details amp ltem 426 328 JVL Industri Elektronik A S User Manual Integrated Servo Motors MACO50 3000 305 86 12 042 Physical Dimensions Physical dimensions MAC1500 D5 amp D6 with brake Ga Se een Gee _ M H LT0217 12GB ssz 6 90 Sez E 5 oro E HN x Le 3 28 eso 8 es voc 998000 0 0 L v2 ZZ0 0 0 OL LS 216000 0 0 1 0 0 0 sv6 0 7z seo 0 8 58 2 283 177 27 6 979 128 61 5 063 50 7 1 996 134 0 5 0 2 5 278 0 02 0 00079 Download CAD
137. 0 pared to the RS232 interface mounted with M ACOO B1 B2 or B4 modules Up to 32 motors can be con Central Make sure that all nected to the same line Controller involved units are connected to the same for example a PC potential When connecting the RS485 Opto isolation interface to a central control ler the following rules must be followed 12 32VDC control voltage Bus voltage 12 48VDC Screen connected to GND in each end Use twisted pair cable 50 141 2 Use screened cable Address 3 Ensure that GND is also RS485 connected Interface 4 Ensure that all units have Supply proper connection to safety Control voltage ground earth in order to HUM refer to the same potential with B2 or B4 5 The last unit in each end of the network must be termi nated Note that the Bl B2 an and B4 modules all contain a P Address 2 termination resistor which RS485 can be activated 6 Ensure that the supply lines Power are connected individually Supply in order to minimise the Control voltage voltage drop between the Only MAC50 141 with motors B2 or B4 Optional 7 Master Controller RS485 interface MAC800 If available it is strongly rec ommended a type with op Address 3 tical isolation is used 85485 Interface Connectors Please read the individual de ONSE scription for the MACOO BI 2 or
138. 00 and newer versions of the MAC800 motor serial numbers gt 85000 Please notice that the module CAN NOT be used in the MACO5O to 141 motors This module is among the simplest and lowest cost modules in the product range The modules contain no intelligence microprocessor meaning that all functionalety is controlled via the basic motor The MACOO B4 1 expansion module offers an industrial interface M12 connectors and a number of feature enhancements including Standard M12 connectors for optimum reliability Optical isolated communication covering RS232 RS485 and USB 2 0 Full RS232 protocol support for use with standard serial cable Full RS485 protocol support for multipoint communication up to 00m 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 data and communication are still functional Standard MI2 connectors for optimum reliability Typical applications for these expansion modules are e Closed loop systems with an overall controller involved Replacement for pneumatic cylinders using the Air Cylinder mode Dispenser systems Machine adjustment setup by sending RS232 or RS485 commands Standalone PLC with userprogram stored in the basic motor JVL Industri Elektronik A S User Manual Integrated Servo Motors MACO50 3000
139. 02 will setup the Multifunction I O of the MAC motor via TAIN 1 Use cortiied as 2 balanced inputs The A input the pulse and direction a ety mem OM EE will be the pulse input and the signal input will be the direction input Choose Pulse Direction format Setup the gear ratio to 1024 for input and Adjust the acceleration to Adjust the speed to the Zero search mode output the maximum allowable in maximum allowable in Normally Disabled order to avoid that the MAC order to avoid that the MAC PLC takes care of motor itself interferes with the motor itself interferes with the zero search PLC control loop PLC control loop TT0955GB JVL Industri Elektronik A S User Manual Integrated Servo Motors MACO50 3000 393 9 14 9 14 1 394 Accessories The following accessories are available for the MAC motor series Cables RS232 9 Setup and communication cable Length 3 m Standard RS232 cable that is used for connecting MAC motors with an integrated expan sion module to a standard computer serial COM port The following expansion modules include an RS232 COM port based on a 9 pole DSUB connector which matches the RS232 9 MACOO B MACOO RI RS232 9 1 MAC Setup and communication cable Length 3 m Setup and communication cable used for the BASIC MAC motor which is NOT equipped with a full RS232 interface The cable can be used between the BASIC MAC motor and a standard RS232 COM port WG030
140. 06 to 120 are used to support different 0 RW interface modules with the Generation 2 connectors The function of these registers will be different depending on which module is mounted in the motor The Gen 2 module type is detected automatically by the motor at start up Reg106 Digital inputs is a bitmapped value where bits 15 8 show the status of hardware signals in the basic motor as described below while bits 7 0 show the status of the digital inputs from the MACOO B41 module Be aware that bits 15 0 in Reg215 IO POLARITY can be set to invert the value of the corresponding bits 15 0 in this register Bits 15 12 show the values of the four RS 422 signals These are intended mostly for serial communications to some modules or to use Modbus RS485 but they can be used as digital inputs provided that the input voltage is kept within 7 to 12 volts These are differential signals so to use them as single ended inputs one of the differential lines must be kept at a constant voltage in between the high and low thresholds for the single ended line At the time of this writing bits 15 12 are supported on MAC400 but not yet on MAC800 Bit 15 Multifunction 1 channel B Bit 14 Multifunction 1 channel A Bit 13 Multifunction 2 channel B Bit 12 Multifunction 2 channel A Bits 10 8 show the status of the analogue inputs ANINP2 ANINP1 and ANINP Status will be high logic 1 when the value of the analogue line is above 5 0 volts
141. 1 Invert Error output 02 1 0 Type Quadrature Input Positive edge position capture va edge position capture Select gear mode Select Quadrature input in order to enable the encoder pulses at Multifunction IO channel to control the motor motion TT1190GB The desired gear ratio and other relevant motion parameters may also be necessary to setup Please see the general gear mode description Gear Mode overall description page 21 Now the motor should move accordingly to the connected external encoder using the Gear mode Continued at next page 144 JVL Industri Elektronik A S User Manual Integrated Servo Motors MACO50 3000 4 3 Expansion module MACOO B41 Step 3 Optionally an input can be used for enabling the motor in gear mode or making it passive current less which means that the shaft is not kept in position the shaft is released The illustration below shows how this setup can be done using the MacTalk program ter Offline MACOO RxP Setup Updates Help Save in flash Reset position Clearerrors Resetmotor Filter setup STOP Motor COM Vy Hw 1 function setup gt Input selection inputi Input function Mode Sunse 2 Input in active register fIndesi v Input active register Indes 2 Select the Advanced tab Operation copyTegister to Setup as shown The result will be that input IO is used for selecting the
142. 12 Expansion modules overview Below af detailed module overview also covering features connectors etc for each mod ule Expansion module overview Basic modules MAC00 CS 2 Conn module w cable glands No electronic features added MACOO BI Connector module w DSUB connectors MACOO B2 Connector module w cable glands 2 MACOO B4 Connector module w M12 connectors MACOO B41 Connector module w M12 connectors 5V TTL 19 2kbaud Full Duplex RS232 19 2kbaud Full Duplex RS232 19 2kbaud Full Duplex RS232 19 2kbaud Full Duplex RS232 19 2kbaud Full Duplex Industrial Ethernet modules MACOO Ex4 Ethernet module Basic version MACOO Ex4 Ethernet module 19 2kbaud Full Duplex 19 2kbaud Full Duplex Extended version Wireless modules MACOO FB4 RS232 t t YE 9 wg E 9 z SE Q oe g U E E co S v 5 55 8 o c 355 9 5 gs2 25 ey Jot g E wes bui X ao g O 5 5 ER o d oo bo 2 U Ug Oo a d eS 5 cC Oo Yow o O vE 5 DED Wes 2 Yao 5 05 509 U c amp c eo 295 c Q c 90 a2 sao o ocu c ces oes 405 eal 3 0 Sea c 5 E fre ess 29 Zaa een lees Sav 5 v253 92as o 8 s o58 s 20o V7 g ew QO oo o eo Yow o om
143. 157 OUTLOPDIV 2 Note that this register is maintained incrementally which means that the user can update it to offset the working range When updating when the drive is not in Passive mode P_IST and P_SOLL should be updated together in an atomic operation using Reg4 P_NEW or other special measures Also note that the firmware will change this register after a zero search operation has completed i Actual EUN 1RPM 0 17316 counts sample Sample 13 KVOUT Load hg ried 6 be set to the ratio between the total inertia 65536 1 0 driven by the motor relative to the motors own rotor inertia So for at motor shaft that is not mechanically connected to anything this value should be 1 0 The load factor is perhaps the single most important value of the filter setup Always try to set this right before experimenting with filter setups Firmware MacTalk Range Size Description MacReglo Name Default Access ELE V SOLL Max Na Word Desired velocity 1 RPM 2 77056 counts sample Velocity 277 100RPM RW Example To obtain 100 RPM V SOLL must be set to 277 Example To obtain 100000 RPM s A SOLL rm EET RW counts 11 V_IST_16 Actual LUN Ee Enc cnts V IST actual velocity measured over 16 Velocity Sample 16 a Same unit as V_SOLL register 5 TI1501GB 372 JVL Industri Elektronik A S User Manual Integrated Servo Motors MACO50 3000 5 12 Internal registers N Name
144. 2 2m or WG0320 20m Power cable with 2 x 0 75 inner wires screen The colour is black The cable is fitted with a Molex connector at one end The other end is open This cable can be used together with the following units MAC50 to 141 Fits directly to the 2 pole power connector inside the basic MAC motor MACOO CS Passes through the CS module and connects to the basic MAC motor MACOO 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 MACOO B2 Connects to the 3 pole screw terminal named power MACOO FP2 Connects to the 2 pole screw terminal named power WG0402 2m or WG0420 20m I O cable with 2 twisted pairs 24 wires screen The colour is black The cable is fit ted at one end with pcs 6 pole connector pcs 8 pole connector and pcs 0 pole connector The other end is open The cable can be used with following units MACOO FP2 Connects inside to all the I Os RS232 interface Only the power and profibus connections are not covered by this cable MACOO R3 Connects inside to all the I Os RS232 RS485 interface WG0502 2m or WG0520 20m I O cable for the basic MAC motors The cable has 4 twisted pairs 8 wires screen The colour is black The cable is fitted with an AMP connecter at one end which fits the 8 pole I O connector inside the basic MAC motor The other end is open The cable can be used with fol
145. 2 Grounding Make sure that the machine part on which the MAC402 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 JVL Industri Elektronik A S User Manual Integrated Servo Motors MACO50 3000 93 3 2 Power Supply 3 2 16 Power cable acessories for MAC402 The following standard cables can be supplied by JVL WP0502 MAC402 12 48VDC power cable 2 m Straight M16 conn and flying end Female WP0505 MAC402 12 48VDC power cable 5 m Straight M16 conn and flying end Female WP0520 MAC402 12 48VDC power cable 20 Straight M16 conn and flying end Female Please use the illustration below when connecting the cables Input supply cable type WP0502 WP0505 WP0520 Type A Present type Earth Screen connect to GND Type B Newer type Earth Screen connect to GND General information TT1275GB Make sure that any unused wires are isolated and stay unconnected 94 JVL Industri Elektronik A S User Manual Integrated Servo Motors MACO50 3000 3 2 3 2 17 Power Supply Power connector parts for 402 Manufacturer Hummel AG Germany General web http www hummel group com US web http www sealconusa com Usedfor Part description Hummel part no JVL part no Connector kit with all necessary Powe
146. 3000 4 9 Expansion module MACOO P4 P5 4 9 2 Overall hardware description All internal and external main connections can be seen in the illustration below Power supply P 412 32V CVI1 CVI2 12 32V Supply output to from slave motor 4 20mA Input 4 20mA output Status outputs OUT2 only at M ACOO P4 Inputs for general use only at M ACOO P4 RS485 Interface Closed protocol not for general use RS232 Interface Only available at MACOO P4 4 9 3 Basic MAC motor with MACOO P4 or P5 module inserted Output l6bit resolution Status Outputs OUTI 2 047 analog input Digital and Digital and 4 for general use 2 channel differential Transceiver Asynchronous serial interface General hardware description I O control and galvanic isolation Galvanic isolation Each isolation zone have not galvanic contact with any other circuitry Basic MAC motor MAC400 800 1500 or 3000 P Power suppl l pply Ol Status outputs O2 Al Multifunction I O Bidirectional AIN 1 2 Analogue input GND standard I O channel Bidirectional Multifunction I O 2 Bidirectional Asynchronous interface TT1169 03GB The MACOO Px module offers the following external connections e Power supply P P CVI I CVI2 These terminals are used for the main supply of the motor A voltage between 12 and 32 M
147. 307 310 Analogue Torque mode 7 8 27 107 112 Analogue Velocity mode 7 112 Analogue Velocity Gear mode 7 111 B Balanced push pull signal 125 142 264 265 Baud Rate 157 208 210 212 232 314 3 57 Brakes 314 395 Cable Connection 116 Cable connection tables 395 Cables 116 128 132 149 152 203 2 07 208 231 232 243 245 248 270 273 274 307 308 311 391 394 CAN Open 4 176 177 204 205 Introduction 152 CE approval 4 314 397 CE requirements 397 Coil mode 7 Filter setup 25 Gear ratio 25 Overall description 24 26 Register overview 25 26 Zero search 25 Connecting to other equipment 391 393 Connector overview 84 Connectors 84 116 117 122 123 126 128 130 132 133 138 139 147 149 152 202 205 207 208 225 227 231 232 242 243 245 248 253 258 262 268 274 304 306 311 345 357 39 393 395 Connector Kit MACOO CONKITI 84 395 DSUB 117 126 203 245 253 274 308 394 Interface connection 106 MI2 117 129 130 132 147 149 152 204 205 207 208 226 227 231 232 246 248 268 274 309 311 391 Power Supply 84 85 89 93 97 102 395 User I O 84 D Damping 55 Declaration of Conformity 397 DeviceNet 4 219 226 227 231 Introduction 208 Dimensions 324 MAC050 141 324 MAC400 and 800 325 Dip switch settings 124 131 140 157 159 204 205 208 210 212 226 227 233 246 247 309 DSP 402 Support 152 170 173 176 177 180 DSUB 117 126 203
148. 4 Note IP65 on MAC400 800 The MACOO FC2 module can be delivered with cable in selected lengths Cables with M12 connectors can also be supplied for the MACOO FC4 module The MACOO FC2 FC4 expansion modules is designed to be used on a CANbus CAN open 05 301 and CANopen DSP 402 do not use the module together with CAN Kingdom or DeviceNet 4 5 3 CiA membership 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 fee for the membership is depending on how many employees you com pany has A membership runs from January 1 until December 3 1 every year Your membership is renewed automatically unless you cancel it in writing by the end of a cal endar year Companies applying for membership after July 1 pay just 50 96 of the mem bership for that year On www can cia org cia application html can you download a application file in PDF for mat and fill it in When you have received you license from CiA you have to be aware that the stand ards will be sent on a CD All of the CiA specifications can be ordered on this web page http www can cia org index php id
149. 4 See formula 2 number c entries in section 4 3 40 Velocity_encoder_factor_ Valen Velocity_encoder_factor_ 6094 CF Upd Divisor Velocity factor Acceleration factor number _ 6097 See formula 3 in section 4 3 40 of entries CF Upd 6097 4096 or 8000 Acceleration factor CF one Accele CF 607E gt Position_ factor gt Velocity_factor Not CF Upd 520 833 or Velocity factor 770 gt Acceleration__ 500 in V2 0 At start iua LAN MOME 80in vat dus Hong Module Parameters NN Inputs status S 2011 6 See section 4 3 24 O O O O Acceleration factor Numerator Acceleration factor Divisor RP Bit7 Polarity InvPos Bit6 InvVel SampleFreq Homing_ Torque J ae c sus len dP 1l LL sesesm4asr pU Fastcommand Send FastMac Motor status Last motor status Output setup Input active level 82 JVL Industri Elektronik A S User Manual Integrated Servo Motors MACO50 3000 4 5 Expansion Module MACOO FC2 FC4 4 5 38 Factors Position factor 1 in section 4 3 39 The position factor is the relation between the user unit and the internal position unit counts The position factor is automatically calculated when the feed constant Object 6092h and gear ratio Object 609 Ih are set Example We have MAC motor with 3 5 gear box connected to a belt drive The diameter of the drive wheel is 12 4 cm We want the unit of p
150. 4 the CVI1 is hardwired to the 12 Red Blue CVI terminal pin 4 at the power connector At MACOO P5 the CVI1 is not present but CVI1 is internally hardwared to P Main ground to be used with CVI1 and IN2 4 General digital input and analogue input 1 m Pink IN2 AIN1 Notice that analogue input 1 is used for Zero search Note Isolation group indicate which terminals circuits that a galvanic connected to each other In other INA General digital input words group 1 2 3 and 4 are all fully independantly isolated from each other Group 0 correspond to the housing of the motor which may also be connected to earth via the 115 230VAC power inlet COM Communication connector M12 5pin female connector JVL Cable Isolation RS232 M12 1 group Signal name Description 5 5 See note RS232 interface Receive terminal RS232 interface Transmit terminal Leave open if unused IGND Ground intended to be used together with the 3 other signals in this connector RS485 A RS485 Modbus Leave open if unused RS485 B RS485 Modbus Leave open if unused SLV Slave connector M12 5pin male connector Signal name RS485 A RS485 Modbus Positive data signal RS485 B RS485 Modbus Negative data signal CVI2 Supply output optionally input 12 28VDC 2 2 Hardwired internally to CVI1 JVL Cable Isolation W11005 M12 group F5TF5T03P see note 4 4 Ground to be used with
151. 422 interface for commands sent from a master controller See also the Multifunction I O general de scription page 110 The actual mode speed position position error load torque load current regenerative energy returned energy from the motor can be monitored here The supply voltage can be measured here JVL Industri Elektronik A S User Manual Integrated Servo Motors MACO50 3000 2 2 Gear Mode Main parameters used in gear mode Error Handling Input Outputs Use these fields to define error The O Type must be setup as pulse input limits for the maximum follow error etc The input type must also be setup for the actual pulse type quadrature or pulse dir De Sem Bote Leister Piip Motor status ww L D a Mp St rt d Ls p Taw nish Feat posh hpp mis fhe mhp COM gan a This field shows the a up mo e flarprienr Mite parameter laca c a i d actual motor load Choose Gear mode Sieg mde uu US gt F Change schol mod Fokan om roris position and speed etc or Gear Follow Mey v men i Boukan ird oe a p 1 Inputs Poon iral rum Courts HX Mars cad nean ax This field shows the Erir mr mimg 0 A a ken T innu actual Su volta e U Ti Lh enr Vui we WE d y Diaa ceni E z and veloci a
152. 5 551 ERROR 111523GB 5 12 Internal registers Only MAC5O 141 E Emme ext a pemm _ MacReglo Name Name Default Access CNTRL_BITS Bit 0 USRINTFO Bit 1 USRINTF1 Bit 2 PULSEDIR Bit 3 INPSIGN Bit 4 HICLK Bit 5 HALL_INT Bit 6 RECORDBIT Bit 7 REWINDBIT Bit 8 RECINNERBIT Bit 9 AUTO_RESYNC Bit 10 MAN RESYNC Bit 11 INDEX HOME Bit 12 REL RESYNC Bit 13 HALL C Bit 14 HALL B Bit 15 HALL A NN iue Se 1 9 9 h wodofP HOME J So 40 J Velocity used during Zero Search Homing 41 THOME 1 gt home on falling edge of AN INP 42 HOMEMOEE f JUsedbyFastMac commands 43 PREGP J L oL 44 VREGP 45 AREGP 46 TREGP J j 47 LREGP J 48 Z REGP J 49 POSO P1 32bt J 50 j h wodofP1 J 1 X POS P2 32bt J 52 j hi wodofP2 J J 53 X POS2 P3 32bt 54 j h wodofP3 J 55__ POSS P432bt J So o j 56 j h wodofP4 J I LL A M E Pos P6 gt bit COIL_PWR_F eo mmt t DERE 61 POSe P7Z32bt J Jo o oo 62 hiwordo P J J o 63 POS7 P8 32 bit J 64 hiwordof P8 J S 65 VELO VI J 6 v2 J 7 VEL2 V8 J _____ i8 VEL3 V4A i9 VELA VS 0 J
153. 5550 M 2 to DSUB BVJ 12 1 2 JVJ 396 JVL Industri Elektronik A S User Manual Integrated Servo Motors MACO50 3000 5 16 CE Declaration of Conformity EU Declaration of Conformity Manufacturer Company Name Address Telephone E mail Web Hereby declare that Product No Name Type alone or combined with one of the following expansion modules is in conformity with JVL Industri Elektronik A S Blokken 42 DK 3460 Birkered Denmark 45 45 82 44 40 jvl jvl dk www jvl dk MAC50 MAC95 140 and MACI4I Integrated AC Servo Motor Series Al A2 and A3 MACOO B2 MACOO B4 MACOO B41 MACOO CS MACOO P5 MACOO EC4 4 MACOO EI4 4 4 4 1 MACOO EM4 4 MACOO EP4 41 MACOO FSI MACOO FS4 MACOO RI MACOO R3 MACOO R4 MACOO FP2 MACOO FP4 MACOO FC2 MAC00 FC4 MACOO FD4 DIRECTIVE 2004 108 EC OF THE EUROPEAN PARLIAMENT AND OF THE COUNCIL of 5 december 2004 on the approximation of the laws of the Member States relating to electromagnetic compatibility was manufactured in conformity with the following national standards that implements a harmonised standard EN 61800 3 Adjustable speed electrical power drives systems Part 3 EMC product standard including specific test methods July 2014 Bo V Jessen Technical Director JVL Industri Elektronik A S TT0970 02GB LX0015 04GB JVL Industri Elektronik A S Use
154. 6 RS232 General description when using the MACOO P4 5 module The RS232 interface is consid ered the main interface to the 65232 connection between a PC or central controller motor when the motor is set to MAC400 with a MACOO Px module up using the MacTalk win dows software from a PC or from any kind of controller us ing a RS232 interface Central M ake sure that all Power supply involved units are Controller connected to the same for example a PC potential Opto isolation Note The basic MAC motor does not fully support RS232 since the interface signals are a nee nee only 5V levels See also the ba sic description Serial interface MAC400 Motor The terminal P page 106 with Px er on R MACOO P5 Use only CVI1 When connecting the RS232 Te terrace interface to a PC or control IGND p pu Max 32VDC we rules must p Contr Voltage evii TT1167GB Only one motor can be Main Mains 115 230VAC connected at the interface line 2 Use screened cable 3 Ensure that GND is also Opto isolation is recommended if the Rs232 connection is a permanent installation 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 Expan
155. 7 Ww e he T UG E 00 c B o Soo o 24 So 5 So 5 mox A X i c td tli lt c aa Quo A RS422 3 19 2kbaud Full Duplex RS422 3 RS485 19 2k Full Duplex RS422 3 RS485 19 2k Full Duplex RS422 3 2 5Mhz or RS422 3 1 50kHz LP RS422 3 2 5Mhz or RS422 3 1 50kHz LP RS422 3 2 5Mhz or 150kHz LP RS422 3 RS485 9 2k Full Duplex RS422 3 RS485 19 2k Full Duplex RS422 3 RS422 3 RS485 9 2k Full Duplex RS422 3 2 5Mhz or RS422 3 No 1 50kHz LP RS422 3 2 5Mhz or RS422 3 No 1 50kHz LP Motor stat Cable IP67 PNP 10 32V Gland 1 100mA Motor stat M12 IP67 PNP 10 32V Conn 1 selectable TT1544 01GB Motor stat Cable IP67 2xNPN Gland 1 25mA Motor stat DSUB PNP 10 32V Plug IP42 100mA able 0 No X No No Opto isol 5 30V Output MI2 IP67 PNP 10 32V Conn 1 5 RS422 3 2 5Mhz 5422 3 Opto isol 1 50kHz LP 5 30V 2 Outputs MI2 IP67 PNP 10 32V Conn 1 I5mA RS422 3 Motor stat M12 IP67 Bluetooth module 19 2kbaud RS485 19 2k X No RS422 3 No 10 32 1 Full Duplex Full Duplex 100mA MACOO FZ4 RS232 RS422 3 Motor stat MI2 IP67 Zigbee module 19 2kbaud RS485 192 No RS422 3 No PNP 10 32 Conn
156. 78 188 PLC 84 106 113 249 314 391 393 nano PLC 4 PNP 109 117 119 124 128 130 135 140 141 202 243 247 253 306 307 310 Position controller 7 208 213 219 Position limit min and max 40 Position mode 6 20 Using Position mode 20 Position Velocity filter 54 Power dump 88 89 96 97 100 314 395 MAC800 99 Power Supplies 86 395 Power Supply 84 86 88 90 93 94 96 100 102 103 116 Circuitry MAC800 96 Dimensioning 50 141 86 Grounding 50 141 85 MACO00 B1 B2 B4 118 134 259 MAC800 connection 97 MAC800 grounding 97 Power dump resistor MAC800 99 Using 15V MAC800 98 Prefuse 98 Profibus 4 201 233 239 242 246 249 394 Introduction 232 Profile position mode 186 Pulse inputs 111 109 116 See Inputs Pulse outputs 112 See also Outputs Push pull signal 125 142 264 265 G Quadrature input See Inputs Quadrature Output See Outputs R Register overview Coil mode 25 26 RS232 4 84 106 117 128 129 133 202 258 306 308 314 345 357 394 395 Interface signal levels 106 MACOO BI B2 B4 122 138 262 263 MACOO FP2 FP4 Expansion Modules 245 RS485 106 117 133 258 306 307 309 314 394 MACOO BI B2 B4 123 139 304 Rx fixed formats 275 RxP Graphic programming 275 277 5 Saving retrieving disk files 16 Serial communication 113 116 314 MAC050 141 357 360 Serial Interface 106 127 306 357 Multifunction I O 113 Signal levels 106 Servo filter adj
157. 8 for source registers to copy into P SOLL When the value of bits 3 0 equals 7 the values of bits 23 16 and 15 8 hold the full register numbers in the range 1 254 For more advanced use any of the source register or index values can be set to zero which means DoNothing This effectively means that in one of the Input States a source register will be copied to the target register while in the other Input State no copying will happen so the target register will not be modified by the digital input The 12 HWI functions are executed every 1 3 ms in the order from HWIO to HWl11 NO other operations happen in between regardless of communications and other parallel operations It is therefore safe to rely on stable register values and consistent digital input values during the execution of the 12 HWI functions This implies that HWI function with higher numbers have higher priority because they are executed later and that it is safe to change the same target register several times during the HWI evaluation Note that each of the HWI function can use any of the digital inputs and that more than one HWI function can use the same digital input A typical HWI application is Jogging where two pushbuttons connected to two separate digital inputs are used to move the motor position manually This can be realized with a HWI setup like HWIO uses Digital Input 1 ON gt MODE REG 1 velocity mode OFF gt MODE REG 3 gear mode HWIl1 also uses Digit
158. 9991 62 WG0224 if connector is not in use Gimp toot 7000800904 92 JVL Industri Elektronik A S User Manual Integrated Servo Motors MACO50 3000 3 2 3 2 14 3 2 15 Power Supply How to connect power supply only MAC402 The power supply for the control circuitry is connected through the expansion module at the terminals called P and P or directly at the internal power supply connector The power circuitry must be applied according to the illustration below TTI274 11GB MAC402 supply connection Main power connector male Control power 18 30VDC must Main power is applied to this connector be connected to the P and P terminal The applied voltage must be nominally at the expansion module within 12 to 48VDC See the actual module used for details of connection Main power connector M GND M GND Polarization guides M 12 48VDC M 12 48VDC M 12 48VDC Terminal descriptions M 12 48VDC nominal WARNING Please use connections from all 3 indicated Pin 2 and 3 pins in order to spread the current over all pins in the con nector This will extend the lifetime of the contacts M GND WARNING Please use connections from all 3 indicated Pin 4 5 and 6 pins in order to spread the current over all pins in the con nector This will extend the lifetime of the contacts PE Earth Connect to machine ground to assure that the potential Pin PE of the motor is earthed 40
159. A S User Manual Integrated Servo Motors MACO50 3000 183 4 5 184 Expansion Module MACOO FC2 FC4 Velocity encoder factor formula Velocity encoder factor Numerator 16 Velocity encoder factor _ Velocity encoder factor Divisor SampleFreq notice that the samplefrequens is differens in MACO50 141 Or as and object Object 6094sub1 2 16 Velocity_encoder_factor Object 6094sub2 Samplefreq The Velocity encoder factor in example is calculated to 8000 16 Velocity_encoder_factor 2 7 RPM 60 770 Example 2 We have MAC800 motor with 8000 counts revolution and the same belt drive as in the above example under Position Factor We want the user unit of the velocity to be in mm s The parameters should be set as follows Name _ Calculated value Value E 7 Encoder_Factor_ 389 56 3 5 8000 6094h subindex 2 Velocity Encoder Factor Divisor 1000000 The Velocity encoder factor in example 2 is calculated to 13913 16 Velocity_encoder_factor 0 000289 mm 1000000 770 Acceleration factor 3 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 6097h Example 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 Object Value
160. AC motor with a Jetter PLC type Nano B C D equipped with a servo axis controller module type JX2 SV PLC type Jetter Nano B C D JX2 SVI DSUB I5Pin Male DSUB 9Pin Male seen from cable side seen from cable side MAC motor with expansion module MACOO B I Use twisted pairs if possible 1 1 Oo K Y et x H UA o lis Aoo S lll tC pee 1 Pins 8 to 15 are left unconnected DSUB 9Pin female seen from cable side Connection scheme MAC motor IN OUT 9 pole connector Jetter JX2 SV1 Jetter JX2 SV1 B1 9 pole connector 15 pole connector The illustration can also be used as a common diagram for other PLC manufacturers since the fundamental principle is to feed an analogue control voltage from the axis mod ule to the MAC motor dictating the speed or torque The MAC motor returns 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 MACOO B4 expansion module with M12 connectors is used JVL can offer a stand ard cable type WI0040 This cable connects directly between the MACOO B4 module and the Jetter JX2 SV JVL Industri Elektronik A S User Manual Integrated Servo Motors MACO50 3000 391 5 13 Connecting to other equipment 5 13 2 How to set up the MAC motor for the JX2 SV1 The following illustration shows how to set up the MAC motor Remember to select the Save in flash button
161. AC400 must be connected to P and optionally CVII CVII only ex ist at the MACOO P4 module CVI2 is hardwired to CVII and is intended to be used for supplying a slave motor or receiving supply from a master motor This simplifies the cable connections since it is available in the same connector as the RS485 slave communication Status outputs OUTI OUT2 and IO 7 OUT is an error output which indicates when an error exist OUT2 is for future op tions IO is the overall supply of the outputs and must be applied with 5 32VDC The outputs are PNP source outputs The outputs are galvanic isolated from all oth er terminals and circuits JVL Industri Elektronik A S User Manual Integrated Servo Motors MACO50 3000 259 4 9 Expansion module MACOO P4 P5 4 20mA Analogue input AIN and AIN The analogue input is read by the motor and will typically be used with the motor set in Analogue to position mode In this configuration the motor position will follow the analogue input proportional in a user defined working range The analogue input has a resolution of 16 bit corresponding to the rang 0 to 20mA divided into 65536 steps The input is galvanic isolated from all other terminals and circuits 4 20mA Analogue output AOUT and AOUT The analogue output is monitoring the actual position when the motor is set in An alogue to position mode In this configuration the output value will be from 4 to 20mA proportional to the
162. ACOO FC2 FC4 Data Read Default type Write HEX Description Encoder Software position limit The maximum allow de ACC EMERG Word Write Counts celeration when a Unre sample coverable error has occurred INPOSWIN Word Write LE If actual position is within LE this window the motor is in position INPOSCNT Word Samples The number of samples the motor has to be within the pos interval spec in INPOSWIN ERR_STAT Unsigned16 Read Motor status Bit 0 Overload Bit 1 Follow error Bit 2 Function error Bit 3 Regenerative error Bit 4 In position Bit 5 Accelerating Bit 6 Decelerating Bit 7 Position limits error Object 2013h Subindex FastMac command When writing to this object a FastMac command is executed Please refer to the MACOO FPx section for a description of the FastMac commands Enable and Disable PDOs In the CANOpen profile it is only possibly to have four transmit and four receive PDOs enabled at the same time In the MACOO FC2 FC4 all PDOs are disabled when the mod ule is booted up the user has to choose which PDOs the application will use and enable these To enable or disable a PDO it is necessary to write to the MSB bit 31 in the PDO COB ID entry in the PDO communication parameter Record The COB ID register is sub in dex Ih and the value range of this register is UNSIGNED32 The PDOs are enabled when bit 31 is O and is disabled when bit 31 is l JVL Industri Elektronik A S User Manual
163. ANA Ul Ceu o Vds arii Overall description Expansion modules overview Using MacTalk to setup the motor e e e e ccoo ccoo c ecce e e e e ccoo ccoo e e e e ecc c ecc c ccoo ccoo e e e e ccoo ecce ecce e e e e ccoo ccoo e e e e ecce ecce ecce e e e e ecco ecce ecce ecce e e e e ccoo ecce e e e e ceceo ccoo ccoo e e e e ccoo ccoo ccoo ccoo e e Function description 2 Using Position mode Gear MODS CO OG Analogue bi position mode Analogue to position mode Mechanical Zero search Error messages and error handling Under Voltage Handling Servo filter adjustment Using external SSI encoder Absolute Multiturn Encoder Rotary table option Power Save Scope F ncti l Safe Torque Off STO
164. Analogue torque Mode The motor torque is fully controlled by a voltage applied at the OV analogue input This mode is useful if the motor is used for winding applications where a constant torque is required in the process Another typical application is as a slave driver in multi axis systems with a master position controller for several axes The update fre quency is 521 Hz Use Analogue Torque Direct if a higher bandwidth is required Analogue Torque Direct Mode Same function as Analogue Torque mode but the update frequency is much higher 781 2Hz Please note that the top speed and acceleration are NOT controlled in this mode Use Analogue Torque Mode if this limitation is required Analogue Gear Mode This mode is somewhat similar to Gear mode or Analogue Velocity Gear mode The po sition of the motor is controlled by 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 the analogue input 10 will adjust the gear ratio 5 higher and 10V will lower the gear ratio 5 A typical application is feeding mechanisms that require on the fly adjustment Coil Mode Similar to
165. B2 B4 4 2 10 Connecting a PNP signal source to the Multifunction 1 0 The drawing below shows how to connect a PNP source to the MACOO BI B2 or B4 multifunction I Os The diagram shows the A channel The B channel must be connected in the same manner Ensure that the A and B terminals are unconnected in order to maintain proper func tion Warning Voltages higher than 5V must under no circumstance be connected directly to the input since this will damage the input permanently Use a proper resistor as indicated in the table below PNP source output connected to the A and B input MAC motor with MACOO BI B2 or B4 expansion module Supply Resistor size 5VDC 0 Ohm none 8VDC 390 Ohm I2VDC kOhm I5VDC 1 2 kOhm 8 1 8 kOhm Signal source PLC 24VDC 2 7 kOhm 30VDC 3 3 kOhm O ptio n al Dipswitch 5 6 only at MACOO B4 res Isto r B Please consult the B4 chapter a Seetable Supply 2 Warning 5 32VDC Never connect voltages higher than 5V directly to the A or B terminals since this can damage the inputs Ground Ifused the B terminal mustbe connected inthe same manneras the A terminal The A and B terminals mustbe leftunconnected 4 2 11 Connecting a balanced push pull signal to the Multifunction 1 0 The drawing below shows how to connect a balanced or push pull signal source to the MACOO BI B2 or B4 multifunction I Os Use twisted pair cable for
166. C800 page 98 Screened cables is recommended C A U TIO N Risk of electric shock Disconnect all power and wait 5 min before servicing 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 motor and cause interference to other signal groups such as interface cables JVL Industri Elektronik A S User Manual Integrated Servo Motors MACO50 3000 97 3 2 Power Supply This solder jumper must be shorted if 115V is used as supply voltage h Warnings IN Make always sure to switch off power for 5 min before 2 operating inside the motor nali PTT fe Do not short ciruit this jumper if 230V is used as supply voltage Internal damaged will occur TT1057GB 3 2 23 Using 115V supply voltage only MAC800 When using 15 VAC supply voltage the MAC800 will be able to operate within a limited speed range The motor efficiency and dynamic response will however not be optimal To optimise the performance it is recommended the internal jumper shown above is sol dered By doing this the internal bus voltage will remain at the nominal value of 325VDC when 15 is applied To check that the jumper is set properly the bus voltage displayed in the MacTalk main screen must show approximately 325VDC If the jumper is not set correctly the voltage shown
167. CO50 3000 2 10 2 10 2 Using external SSI encoder When the motor starts up during power on or a software reset the SSI encoder is read 4x and the value is decoded from Gray code to an absolute position with an 25bit accu racy 25 bit signed This position is scaled to fit motor resolution and then saved in position register P7 reg ister 61 as a 32 bit signed value The SSI encoder feature is based on an external encoder resolution of 1024 cnt rev 256 pulses rev this value is scaled to fit the motor resolution which is 4096 cnt rev SSI is a serial protocol without any error detection or correcting features so in order to determine if the correct value is read the value is read 4 times and the same value need to be read all 4 times If this value has changed during the read cycle the error register 35 bit 15 is set and also bit 15 in the SSI control register 1 78 If this error condition has happened be sure to clear the error in register 78 before do ing a save in flash operation Encoder positioning and usage A new 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 posi
168. COO Rx Step 3 Firmware Update Ex Make sure that the checkbox Show all files Select firmware V Show all files checked BigM ac Firmware 1 6 MACK Select the desired firmware MACOO RxP BigMac Firmware 15 Bight ac Firmware 1 3 MAR Note that there may exist more than one MACDO Fix Firmware 20 MACOO Rs Ch h MACOO FP Firmware 1 4 MACOO FPs version oose the newest version MACOO FP Firmware 13 MACUD FP MADDOD Fi P Firmware 1 5 MACOD Rs MACOO R Firmware 1 1 MACOO Rs Press Start to download the selected firmware EN UT The progress counter will now rise from 0 Loading version P Firmware Version 1 5 to 10096 Status Transfering 255 View Helase notes Abort Exit new updates Step 4 Firmware Update B When the download process is finished the status Select v Show all files shows Done I Vac 35 Also Current version has changed to the actual BigMac Firmware 1 6 MACHR Bight ac Firmware 1 3 MACH downloaded version meaning that the firmware in MACUD Rx Firmware 20 MACOO Rs MACOO FP Firmware 1 3 MACOO FPs the module is now changed permanently P Eirmware 15 MAPDD Bx Current version 1 5 Loading version P Firmware Version 1 5 Status Dane View Relase notes Abart Step 5 The on line information shown in the lower right cor
169. Certificate of Compliance CERTIFICATE OF COMPLIANCE Certificate Number 20120131 E254947 Report Reference 254947 20070109 Issue Date 2012 JANUARY 31 Issued to JVL INDUSTRI ELEKTRONIK A S BLOKKEN 42 3460 BIRKEROED DENMARK This is to certify that POWER CONVERSION EQUIPMENT representative samples of Power Conversion Equipment Cat Nos MAC400 MAC800 followed by D followed by 2 3 5or 6 Power Conversion Equipment Accessory Low Voltage Expansion Modules Cat Nos MACO0 B1 MACOO B2 4 MACOO B41 MACOO0 CS MACOO FB4 MACO0 FC4 MACO0 FD4 MACOO FP2 MACOO FP4 MACOO FR4 MACOO FS1 MACOO FS4 MACOO H1 MACOO R3 MACOO R4 MACOO P4 MACOO P5 MACOO ECA4 MACOO EI4 MACOO EL4 MACOO EPA MACOO ES4 MACOO EM4 MACOO Ex4 and MACOO EWA Have been investigated by UL in accordance with the Standard s indicated on this Certificate Standard s for Safety POWER CONVERSION EQUIPMENT UL 508C Additional Information the UL Online Certifications Directory at www ul com database for additional information Only those products bearing the UL Recognized Component Mark should be considered as being covered by UL s Recognition and Follow Up Service The UL Recognized Component Mark generally consists of the manufacturer s identification and catalog number model number or other product designation as specified under Marking for the particular Recognition as published in the appropriate UL Directory As a supplement
170. Data ExtUserPrmData 10 Input 3 Action UnSigned8 0 0 255 EndExtUserPrmData ExtUserPrmData 1 Input 4 Action UnSigned8 0 0 255 EndExtUserPrmData ExtUserPrmData 2 Input debounce Bit 1 0 0 1 Prm Text Ref 3 EndExtUserPrmData ExtUserPrmData 13 Input noise filter Bit 2 0 0 1 Prm Text 3 EndExtUserPrmData Max User Prm Data Len 15 User Prm Data Len 15 User Prm Data 0x0 0x3F 0x0 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 l l Ext User Prm Data Ref 1 2 Ext User Prm Data Ref l 3 Ext User Prm Data Ref l 4 Ext User Prm Data Ref 1 5 Ext User Prm Data Ref l 6 Ext User Prm Data Ref 2 7 Ext User Prm Data Ref 2 12 Ext User Prm Data Ref 2 13 Ext User Prm Data Ref 3 8 Ext User Prm Data Ref 4 8 Ext User Prm Data Ref 5 8 Ext User Prm Data Ref 6 9 Ext User Prm Data Ref 7 9 Ext User Prm Data Ref 8 9 Ext User Prm Data Ref 9 10 Ext User Prm Data Ref l0 10 Ext User Prm Data Ref ll 10 Ext User Prm Data Ref I2 1l Ext User Prm Data Ref 13 I Ext User Prm Data Ref 14 I lt Module Definition List gt Module MACOO FP 0x13 0x10 0x10 0x10 0x10 0x23 0x20 0x20 0x20 0x20 0x20 EndModule JVL Industri Elektronik A S User Manual Integrated Servo Motors MACO50 3000 251 4 8 4 8 1 252 Expansion Module MACOO FS1 FS4 MACOO FS4 MACOO FSI With M12 connectors With D sub connectors TT1068GB
171. Error messages and error handling 2 7 14 Error message Overspeed only MAC400 to Message no Message 14 Overspeed Type Motor action Unrecoverable error Motor is set in passive mode Error condition The actual velocity speed has been higher than allowed Please note that this message is only available in MAC400 and MAC800 Possible cause of this error Velocity too high Servofilter is not stiff enough and speed may overshoot during start and or stop or when sudden load changes happens This error is triggered at 4300 RPM MAC400 and 3600 RPM MAC800 Solutions to avoid error Make sure that the velocity setting is within specified range 0 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 52 How to return to normal Reset the motor clear the error bit s in register 35 or cycle the operation power Error bit Firmware name Bit 13 SPEED ERR Error message 15 do not exist since bits are used for other status purposes 2 7 15 Error message SSI Read error only MACOBO to 141 Message Message 16 SSI Read error Type Motor action Unrecoverable error Motor is set in passive mode An external SSI encoder has been enabled but communication Error condition with the encoder has failed Possible cause of this error The encoder is not con
172. L Order no RS232 Interface cable Connects directly from MAC00 FC4 to PC RS232 M12 1 8 Length 5m 197 inch Cable 5 5mm with M12 female 5 pin connector loose wire ends 0 35mm 22AWG and foil screen Length 5m 197 inch Cable with M12 male 8 pin connector loose wire ends 0 22mm 24AWG and screen Length 5m 197 inch Same as above but 20m 787 inch WI1000 M12M8T20N M12M8T20N ee cable with M12 male 5 pin connector loose ends and screen WI11006 M12M5S05R Length 5m 197 inch cn Same as above but 15m 591 inch WI1006 M12M5S15R CANopen cable with M12 female 5 pin connector loose ends and Screen WI11006 M12F5S05R Length 5m 197 inch Termination resistor CANopen male M12 termination Protection caps Optional if connector is not used to protect from dust liquids IP67 protection cap for M12 female connector Wl1000 M12FCAP1 IP67 protection cap for M12 _ male connector WI1000 M12MCAP1 Important Please note that the cables are a standard type They are not recommended for use in ca ble chains or where the cable is repeatedly bent If this is required use a special robot cable 2D or 3D cable See also Accessories page 394 where additional M 12 connectors are shown JVL Industri Elektronik A S User Manual Integrated Servo Motors MACO50 3000 207 4 6 Expansion Module MACOO FD4 MACOO FD4 With MI2 connectors TT1018GB 4 6 1 DeviceMet Introduction The MACOO FD4 module al
173. MACOSO MAC141 MAC400 MAC402 MAC800 MAC1500 Integrated Servo Motors User Manual Including expansion modules JVL Industri Elektronik A S LB0047 32GB Revised 11 th November 2014 Important User Information AN Warning N The M AC series of products are used to control electrical and mechanical components of motion control systems You should test your motion system for safety under all potential conditions Failure to do so can result in damage to equipment and or serious injury to personnel Please contact your nearest JVL representative in case of technical assis tance Your nearest contact can be found on our web site www jvl dk Copyright 1998 2014 JVL Industri Elektronik A S All rights reserved This user manual must not be reproduced in any form without prior written permission of JVL Industri Elektronik A S JVL Industri Elektronik A S reserves the right to make changes to informa tion contained 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 Birkered Denmark 45 45 82 44 40 Fax 45 45 82 55 50 e mail jvi jvl dk Internet http www jvl dk Contents RWS Ny N U1 UJ W W 0 W O
174. MT slave as assigned by the NMT master in the Node Connect protocol or 0 If 0 the protocol addresses all NMT slaves Operation Start Remote Node Enter Pre Operational Reset Communication Start Remote Node This is an instruction to transition from the Pre Operational to Operational communica tions state The drive can only send and receive process data when it is in the Operational state Stop Remote Node This is an instruction to transition from Pre Operational into stopped or from Operation al into Stopped In the stopped state the nodes can only process NMT instructions Enter Pre Operational This is an instruction to transition from Operational or Stopped into Pre Operational In the Pre Operational state the node cannot process any PDOs However it can be pa rameterized or operated via SDO This means setpoint can also be entered JVL Industri Elektronik A S User Manual Integrated Servo Motors MACO50 3000 4 5 4 5 50 Expansion Module MACOO FC2 FC4 Reset Node This is an instruction to transition from Operational Pre Operational or Stopped to ini tialization After the Reset Node instruction all objects 1000h 9FFFh are reset into the Voltage On stage Reset Communication This is an instruction to transition from Operational or Stopped to Initialization After the Reset Communication instruction all communication objects 1000h FFFh are reset into the initial state In the various communi
175. Module MACOO FC2 FC4 Multi Master capability Bus access rights are not issued by a mean level control unit bus master per network Each participant can rather start to send a message with equal rights as soon as the bus has become free If several participants access the bus at the same time an arbitration process allocates each participant the bus access right in line with the priority of the mes sage they want to send at that particular moment Each participant can therefore com municate directly with every other participant As the transmission of a message can be initiated by the message source itself then in the case of event controlled transmission of messages the bus is only occupied when a new message is on hand No loss bus arbitration As the bus is accessed at random under the CAN protocol it is possible that several par ticipants want to occupy the bus at the same time In other random bus access routines this causes the destruction of the suppressed messages In order to solve such a bus ac cess conflict a repeated occupation of the bus is required using 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
176. Motors MACO50 3000 217 4 6 Expansion Module MACOO FD4 4 6 12 Instance 2 Attribute 3 Motor status With this Tr the status EN EL Tx T Decele Accele In M Discon ration ration position anor nected Bit 7 Unused reserved for future purposes Bit 6 Equals I if the velocity is decreasing Bit 5 Equals I if the velocity is increasing Bit 4 Equals if the motor is in the commanded position Bit 3 Unused reserved for future purposes Bit 2 Equals I if a limit switch has been activated Bit Equals I if there is a communication error between the MACOO FDx and the mo tor This can occur if the motor was reset due to a voltage drop Bit 0 Equals I if there is a fatal motor error Read subindex 4 for extended information 4 6 13 Instance 3 Attribute 3 Module setup bits This object is used for auxiliary setup of the module Endless Error R rv relative action eserved Endless relative When this bit is 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 will stop motor by setting velocity to 0 in the event of an error 4 6 14 Instance 3 Attribute 4 FastMac command When writing to this attribute a FastMac command is executed Please refer to the
177. O FC2 FC4 CanOpenExplorer program The CanOpenExplorer is a program that was developed for internal use only especially in the production but the program have features that is nice to have and make it more easily to start up the MAC motor when this is supply with a MACOO FC2 FC4 modul The program can write and send SDOs PDOs SYNC and heartbeat message and finally it can reads EDS files An overall method for communication test Depending on which type of master and software solution there are available shall these parts be available PLC PC PLC with a CANopen module and software that can communicate with this module The CANopen module shall be connected to a CAN bus as shown in section 4 3 14 and section 4 3 15 To set up the master download the EDS file from the JVL web page see section 4 3 8 This file contains all register set up data for in the MACOO FC2 FC4 The node ID the Baud rate and the termina tion resistor has to be selected on the module see from section 4 3 1 1 to section 4 3 13 And the power supply has to be connected to the motor as shown in section 3 2 5 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 distributors If MacTalk is used the PC and the MACOO FC2 FCA are connected via the R
178. O FC2 connectors TT0972GB Interface connector Output connector See table for connection details See table for connection details Mounting hole used to fit the connector board to the rear plate Power connection to the basic motor t t Mounting hole used Pts enda ul to fit the connector me board to the rear plate details CANopen output connector signal to next node in the chain PCB type PB0062 15 A CANopen input connector Power connector signal from last node in the chain Connect power supply to these 2 terminals 12 48VDC Bus In and Bus Out Please note that these two connectors are CANopen signal definitions internally hardwired no electronics added in between Terminal description MACOO FC2 Typically Standard DGND Signal ground can optionally be used for the cable screen name used wire colour A CANopen signal line high names B CANopen signal line low A GRN CAN H none 5VDC Optional External termination network B RED CAN L none The MACOO FC2 type number only covers the basic module i e without any cables JVL Industri Elektronik A S User Manual Integrated Servo Motors MACO50 3000 201 4 5 Expansion Module MACOO FC2 FC4 4 5 52 MACOO FC 2 with cables optional If a number is added after the basic type number for example MACOO FC2 10 this suffix indicates that the module is fitted with 10 m of cable in the I O The I O cable covers all the s
179. R FLWERRMAX Na Word Encoder When Reg20 FLWERR exceeds this limit bit 1 0 counts FLW ERR in Reg35 ERR STAT is set and the motor will stop if Reg22 is non zero Usually this value is set experimentally to detect situations where a movement is blocked or fails UV HANDLE Set Na Word Bits to determine what will happen when the main error bit O supply voltage to the motor is below the threshold for Go to motor operation Any combination of the following bits passive can be set Set Bit 0 Set bit 9 UV ERR in Reg35 ERR STAT velocity Bit 1 Perform a controlled stop then go passive to 0 Bit 2 Set V SOLL to zero do not ive FNCERR not Na Word Encoder Shows how much the motor is behind the ideal present 0 counts movement precise operation depends on mode When this accumulated value exceeds Reg26 FNCERRMAX the FNC ERR bit is set in Reg35 ERR STAT and the motor will stop P IST TURNTAB not Na ord Displays the actual position like P IST but is offset by present 0 N times the rotary table working range so P IST TURNTAB is always between MIN P IST and MAX P IST Used mainly with the Rotary table option TURNTAB COUNT not Na Word Holds a count of the number of times the value of present 0 Reg25 P IST wraps around one of its limits MIN P IST or MAX P IST Used only with the Rotary table option Counts up or down depending on the direction of the wrap around MIN P IST not Na Word Encoder Used
180. Reg33 INPOSWIN for the number of samples defined in Reg34 INPOSCNT In Velocity mode this bit means rather At Velocity For other modes like Torque modes see the technical manual for details of how the inposition status is calculated maintained Bit 5 ACC FLAG Set when the motor is accelerating which means that the velocity changes from a higher value to a lower value over tah latest samples Please note that when the velocity is negative this flag is set when the velocity changes from a more negative value to a less negative value closer to zero This may not be intuitive but can be said to be mathematically correct and is maintained for backwards compatibility reasons TT11503GB 374 JVL Industri Elektronik A S User Manual Integrated Servo Motors MACO50 3000 9 12 Internal registers Firmware MacTalk Range Size Description MacReglo Name Default Access Name 35 ERR_STAT not Na Word Bit 6 DEC FLAG present 0 RW Set when the motor is decelerating Please see the description for ACC FLAG above to understand the behaviour with negative velocity Bit 7 ERR Set when one of the software position limits in Reg28 and Reg30 have been exceeded Note that there is an option to temporarily disable position limits to be able to be move inside the position limit range again Bit 8 DEGC ERR Temperature error set when the value in Reg29 DEGC exceeds the value in Reg31 DEGCMAX Bit 9 UV ERR Under v
181. S User Manual Integrated Servo Motors MACO50 3000 2 11 Absolute Multiturn Encoder 2 11 6 Extended encoder operation detailed description As mentioned earlier in this chapter the encoder position is partly mechanical based and have a total resolution of 2048 mechanical revolutions When using the encoder in basic operation default the overall position counter will stay valid as long as the power is continuously applied to the motor and no reset is executed If the power is cycled the motor is reset or the parameters are saved in flash memory only position data in the range 2048 are kept valid When using the extended encoder operation any position outside the range 2047 will be saved in the flash memory before any event that will normally cause it to be lost By doing this it is accomplished that the overall position counter is fully restored with the actual motor position after power up reset or a save in flash operation Please notice that the position value can only be restored fully if the motor shaft has been moved less than 2048 revolutions during power off The full position range in the overall position counter is 8 192 motor shaft revolutions The resolution per revolution is default 8192 counts rev 2 11 7 Extended encoder operation When using MacTalk MacTalk Noname File View Motor MACOO RxP Setup Updates Help MacTalk Versior flash Open i Save in Main Regine Advanced ia e
182. S232 interface on the MACOO FC2 FC4module To set up the master download the EDS file from the JVL web page see section 4 3 8 This file contains all register set up in the MACOO FC2 FC4 The node ID the Baud rate and the termination resistor has to be selected on the module see from section 4 3 1 to section 4 3 13 and the power supply has to be connected to the motor as shown in section 3 2 5 If CanOpenExplorer is used see the following method to test the motor communication Load CanOpenExplorer Connect the motor to the USB port via the Dongle Connect power supply see section 3 2 5 Run the CanOpenExplorer program on the PC Select the correct node ID in the slave Select the EDS file for all the MAC motors it is MACOO fc eds Load the EDS file by pressing load JVL CanOpen Explorer JVL Industri Elektronik A S User Manual Integrated Servo Motors MACO50 3000 Ib ersion Made ID Syne Time 50 Enable Syr Speed BOO kb s Guard time EOS File macOO fe eds Cum gt 200 Enable guard sp EI Communication Message ID Length Data Receive POO Setup Transmit POO Setup Manufacturer Specific 161 4 5 Expansion Module MACOO FC2 FC4 4 Select here on the the manufacturer specific register 5 Select thereafter the object 0x2012 Object 0x2012 contains the motor parameters TT1074GB t JVL CanOpen Explorer Iblersion a Node ID 5 Syne Time 50 Enable Syne Stop Spee
183. The actual position is too far behind the ideal position Set when FLWERRMAX is non zero and FLWERR exceeds FLWERRMAX Bit 2 FNC ERR The value of Reg24 FNCERR exceeded the value of Reg26 FNCERRMAX Bit 3 UIT ERR The value of Reg18 UIT exceeded the value of Reg19 UITLIM Bit 4 IN POS For position related modes The actual position was detected to be inside the InPosition window Reg33 INPOSWIN at least the number of times defined in Reg34 INPOSCNT For other modes Depends on mode for velocity related modes this bit means AtVelocity for other more special modes this bit is calculated differently ask JVL for details Bit 5 ACC FLAG The drive is currently accelerating the velocity is increasing Bit 6 DEC FLAG The drive is currently decelerating the velocity is decreasing Bit 7 PLIM ERR One of the software position limits was exceeded drive will go into stop mode then passive mode automatically Bit 8 FRAME ERR TX A framing error was detected during the last reception on the FastMac protocol Continued next page T11522GB 364 JVL Industri Elektronik A S User Manual Integrated Servo Motors MACO50 3000 9 12 ERR STAT cont from last page JVL Industri Elektronik A S User Manual Internal registers Only MAC5O 141 MacReglo Name Name Default Access Integrated Servo Motors MACO50 3000 365 Bit 9 RELPOSPSOLL Bit 10 RELPOSPFNC These two bits determine what will happen when one
184. The following additional manufacturer specific attributes are supported Attribute ID Data type Description Search mode This mode will be used next time the con Get Set USINT troller is enabled and the selected mode is position This value will be cleared after the enable Get Set DINT The Zero search ofisetin counts Zero search offset i The Zero search ofisetin counts counts The perd to use during Zero search in encoder counts The torque limit to use during Zero search The range is Get Set DINT 1023 to 1023 A negative torque value means that the zero sensor is active low Use Index If this is enabled the zero point will be cor Get Set BOOL rected with reference to the motors index mark JVL Industri Elektronik A S User Manual Integrated Servo Motors MACO50 3000 219 4 6 4 6 19 220 Expansion Module MACOO FD4 Examples Typical needed actions in a DeviceNet system A number of typical actions is often needed in a system with DeviceNet interface to per form the desired operation in the system This chapter have some important guidelines on how to handle these typical actions and issues Addressing registers in the motor using explicit messaging and l O messages Although the basic positioning handling is done using the standard Position controller spec ified from the ODVA organisation it is sometimes necessary to access the registers di rectly This section covers the various ways of doing this
185. This threshold can be adjusted by modifying the corresponding ANINPx OFFSET registers This way it is possible to use the analogue inputs as digital inputs with adjustable thresholds in the range 10V to 10V Bit 10 ANINP2 not signal conditioned Bit 9 ANINP1 not signal conditioned Bit 8 ANINP signal conditioned To use ANINP3 available on the MACOO P4 and MACOO P5 modules as analogue current loop 4 20 mA use Reg222 IOSETUP to make ANINP reflect the signal conditioned value of this input so the digital status will be shown in Bit 8 To use ANINP2 as a signal conditioned input use a similar trick so IOSETUP is set to make ANINP reflect the signal conditioned value of ANINP2 in bit 8 Bits 6 7 and 11 are unused Digital Inputs management JVL Industri Elektronik A S User Manual Integrated Servo Motors MACO50 3000 383 5 12 Internal registers Only MAC400 to 3000 meer a MacReglo Name Name Default Access 107 MACOO 2 not present Na Word Shows various status bits for the currently mounted Gen2 0 RW module For the MACOO B41 Bit 0 Digital Output overload This shows the staus of the output driver chip that controls the six digital outputs The overload status can be set if either an overcurrent condition or a too high temperature is detected This status bit is cleared when these conditions are no longer present Bit 1 CVO voltage detected This bit reflects if the voltage at the CVO terminal is above
186. V8 see also register 65 VEL5 VEL6 EL7 Velocity register V8 see also register 65 E T iil TT1506GB 380 JVL Industri Elektronik A S User Manual Integrated Servo Motors MACO50 3000 5 12 Internal registers Firmware MacTalk Range Size Description Name Default Access MacReglo Name ACCO not Na Word Enc cnt s sample ACC1 not iod Word Enc cnt s EE sample 75 ACC2 not d Word Enc cnt s rm ERES 0 sample ACC3 not s Word Enc cnt s rm REEL sample TQO een aa Word Torque register T1 Used with the fastmac protocol or T_SOLL register 7 T2 1023 300 RW eoe ee T3 1023 300 RW mm dl e T4 1023 300 RW te ee SS L1 0 RW Te jme e p 0 L2 0 HW m js mp p o0 L3 0 RW mem pee e 14 0 RW mmm mme present 0 RW mpm mee present 0 RW mm mee 0 present 0 RW Tem mp o present 0 RW mme mee mp o present 0 RW mmm me present 0 RW mee mene ep present 0 RW mpm Eee 8 present 0 RW 93 HWIO not Na Word HardWare Inputs Regs 93 104 HWIO 11 allow the digital present 0 RW inputs from Reg106 to control the values of other motor registers The most common use is to copy one of two values to a target register This can be used to switch between two velocities positions or modes For instance
187. Wait for a certain state at one or multiple digital inputs Use Conditional jump from one program line to another Register dependent Use Save the actual motor position to an intermediate register Use Preset the position counter to a certain value Use Binary format instead of graphic commands 283 4 10 Expansion Module MACOO R1 R3 R4 4 10 10 RxP Command Reference 4 10 10 1 Enter your own remarks Icon Dialogue Enter remark very important if other programmers have to review or work on the code or if the program is only worked on infrequently Function Inserts a remark comment in the source code The program line will not do anything but can make the source code easier to read This can be 4 10 10 2 Set operation mode Icon Dialogue Passive Velocity Position Analogue velocity Analogue velocity with deadband Melocity analogue torque Analogue position Direct torque 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 in different parts of the program For a detailed description of the individual operating modes refer to section 1 2 1 284 JVL Industri Elektronik A S User Manual Integrated Servo Motors MACO50 3000 4 10 Expansion Module MACOO R1 R3 R4 4 10 10 3
188. Word 2 07D0 Value 2000 since we are running incremental the shaft position sis moved by 2000 counts Word 3 0000 Please also consult the user documentation for the Omron PLC and for a general motor register overview please consult MacTalk communication page 357 JVL Industri Elektronik A S User Manual Integrated Servo Motors MACO50 3000 Expansion Module MACOO FD4 Hardware in general The schematic below shows the MACOO FD4 module mounted inside the basic MAC 4 6 4 6 21 g 6TOTLL e uonejosi 01dQ a uo 3q g I 4032euuoo ZIW J9AIS2SUEJ 39N92I 9g PNAN CSN AS 1023009 Bes snouoJup2u Asy 929JJ493Uu S E oe eles EN 7 5 J032euuoo 9 e A ZIW AZE 0 dn 10 wou AOL NS H 929J493U 39N92IA9q indui yueas 0137 10 NIY ISN 3ndui ensojeuy sjndjno sn3e3g J jdno gt 203dO 94025 se dn3es O ACTE 8c s e3eyoA synd3no pue 8 Oll S ZIN 07 Fd Arc 008 0092VIW A8t ZL LYL OS9YN A ddns uoisuedxoe 7Q4 00OVW Md A ddns Ajddns motor For further details regarding the external connectors please see Expansion MACOO FD4 hardware description page 226 d
189. Write toggle must be toggled 4 Wait until the Write toggle bit in the Command status register is the same as the write toggle in the Command register Only when they are equal the write cycle is completely finished Definitions Toggle Change to opposite state from 0 to or from 1 to 0 On bit level it correspond to making an inverse of the bit JVL Industri Elektronik A S User Manual Integrated Servo Motors MACO50 3000 4 7 4 7 5 Expansion Module MACOO FP2 FP4 Input data Slave gt Master The MACOO FP2 4 contains 8 bytes of input data LIMEN CRM LIMEN CER e Read Data For 16 bit registers the read value will be placed in Read data 0 and Read data I For 32 bit registers the read value will be placed in Read data 0 3 Motor status Bit 6 Decelerating this bit is when the motor is decelerating Bit 5 Accelerating this bit is when the motor is accelerating Bit 4 In position this bit is when the motor has reached its commanded position Bit O Error this bit is when a motor error has occurred Input status Function Bit 5 PL Positive limit input Bit 4 NL Negative limit input Bit 3 0 INx user inputs Last direct register See Direct register page 234 for details JVL Industri Elektronik A S User Manual Integrated Servo Motors MACO50 3000 237 4 7 4 7 6 238 Expansion Module MACOO FP2 FP4 Command status Bit7 Write Toggle
190. a hardwired default value CVO is the supply voltage for the digital outputs meer em 0 RW epe p SE 0 RW queer p 0 RW uer mer qr fie 0 RW meque mem 0 RW I O 113 MACOO 8 Na Word Bits 5 0 of this register controls the digital outputs O6 O1 B41 DO management 0 RW on the MACOO B41 module Each bit that is set here will Digital outputs enable the corresponding PNP output It is possible to overwrite these bits by using Registers 115 120 see below Also Reg215 IO POLARITY will invert the value of these bits before there are written to the hardware 120 and finally possibly having some bits inverted by 114 MACOO 9 I O Na Word Shows the status of each of the six digital outputs actually B41 DOSTATUS management 0 RW written to the hardware Reg215 115 MACOO 10 not present Na Word Controls 101 on MACOO B41 bit in 41 DO B41 CONFO 0 RW Each of the B41 CONF5 CONFO registers be used to modify the corresponding digital outputs by effectively overwriting bits 5 0 in Reg113 B41 DO They can be set to replace the corresponding bit in B41 DO with any bit from any motor register in the range 1 254 typically status bits from Reg35 ERR STAT for instance bits INPOS ANY ERR Bits 31 24 reserved Bits 23 16 Source register number 1 254 Bits 15 5 Reserved Bits 4 0 Bit number in s
191. a major part of the total ex pense of building machinery The basic idea of the MAC motor is to minimise these costs but also to make a component that is much better protected against electrical noise which can be a typical problem when using long cables between a controller and motor All user inputs and outputs are filtered which means that the MAC motors will work properly even in an environment with a high level of electri cal noise The major advantages are Lower installation costs Faster installation Quiet and maintenance free operation Replacement for pneumatic solutions Replacement 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 10 input for controlling speed and torque 2 ch Quadrature output to master control ler when used as driver Accepts position and velocity commands sent via RS232 422 interface Wide supply voltage range 12 to 48VDC 90 to 240VAC and 3 x 400 480VAC Excellent efficiency compared to step motors Resolution 4096 8000 or 8192 cpr Wide variety of expansion modules which can be moun
192. ach module type General description page 126 General description MACOO B2 page 127 or General description MACOO B4 page 129 JVL Industri Elektronik A S User Manual Integrated Servo Motors MACO50 3000 121 4 2 4 2 6 The RS232 interface is consid ered the main interface to the motor when the motor is set up using the MacTalk win dows software from a PC or from any kind of controller us ing a RS232 interface Note The basic MAC motor does not fully support RS232 since the interface signals are only 5V levels See also the ba sic description Serial interface page 106 When connecting the RS232 interface to a PC or control ler the following rules must be followed Ensure that Tx PD is con nected to TX on one of the units in the system Note that the B2 and B4 modules all contain a termi nation resistor which can be activated 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 Ensure that the supply lines are connected individually in order to minimise the voltage drop between the motors 6 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 MACOO B I
193. al Integrated Servo Motors MACO50 3000 73 2 12 Rotary table option The 5 operation options for the Rotary Table operation are shown in the following scheme Basic setup Working range min max 0 to 7999 counts equal to one revolution Examples based on MAC800 Singleturn CW rotation Singleturn CCW rotation 9 Shortest path Multiturn CW rotation 9 Multiturn CCW rotation Situation 1 Start End Setup Start position O Target postion 3000 Setup Start position O Target postion 5000 Setup Start position O Target postion 3000 Setup Start position O Target postion 19000 Result P SOLL 3000 since the remainder after 19000 8000 is 3000 End St _ art Setup Start position 5000 Target postion 12345 Result Actual position P_SOLL 7999 since the value is imited against the working range maximum Situation 2 End Start Setup Start position 3000 Target postion 0 End Start Setup Start position 5000 Target postion 0 Setup Start position 0 Target postion 5000 End Start Setup Start position 3000 Target postion 1000 Result Actual position P_SOLL 0 since the value is limited to the working range minimum Start FA C End c Setup Start position O Target postion 21000 Result P SOLL 5000 since the remainder after 21000 8000 is 5000 TT1186GB In general Actual position P SOLL w
194. al Input 1 gt V SOLL 4100RPM OFF gt V SOLL 3000 RPM HWI2 uses Digital Input 2 ON gt MODE REG 1 velocity mode OFF gt MODE REG 3 gear mode HWI3 also uses Digital Input 2 ON gt V SOLL 100RPM OFF gt V SOLL 3000 RPM This will keep the motor in Gear mode with a maximum velocity of 3000 RM when none of the pushbuttons are activated and change to Velocity mode wit either 100 or 100 RPM as long as one of the pushbuttons are held active In this setup Digital Input 2 will have higher priority than Digital Input 1 because it is evaluated later and overwrites V SOLL in case both buttons are held down TT1508GB 382 JVL Industri Elektronik A S User Manual Integrated Servo Motors MACO50 3000 5 12 Internal registers Only MAC400 to 3000 Firmware MacTalk Range Size Description MacReglo Name Default Access Name EE lll tm 0 RW riw sen lll Lian 0 RW e nal 0 RW vw Call ani 0 RW HWI5 Word ui See Reg93 HWIO for description 0 RW HWI6 Word m See Reg93 HWIO for description 0 RW 100 HWI7 Word E See Reg93 HWIO for description 0 RW 101 Word See Reg93 HWIO for description o a ree pr esr Sn mem emm _ ud a c E s RR 105 MACOO TYPE not present Na Word Identifies the Generation 2 module type autodetected at 0 RW startup 0 No Gen2 module found 12MACOO B41 2 MACOO P4 or MACOO P5 found I O 106 MACOO 1 Na Word The registers from 1
195. al noise The power save function is enabled when bit 0 in register 180 SETUP BITS is set to one When Power Save is enabled the motor is set into Passive mode after the actual position has been within the In Position Window for one second This position where Passive mode was entered is then remembered and as soon as the actual position gets farther from the remembered position than the value in the In Position Window register the motor is set back into the original Position or Analogue 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 and restore the original mode when the voltage gets back to normal can leave the motor in Passive mode so in this case under voltage handling should rather set an error bit that should be monitored In some tricky cases when the motor is Power Saved and the axis turns very slowly away from the saved position the motor will stay in Passive mode until the actual position has moved twice the distance that is stored in the In Position window register This happens because the motor initially wakes up at the correct distance but will re enter Passive mode imm
196. alistic values Make sure that the position limits also cover worst case situa tions such as position overshot if using a soft filter How to return to normal Reset the motor clear the error bit s in register 35 or cycle the operation power Error bit Firmware name Bit 7 PLIM ERR JVL Industri Elektronik A S User Manual Integrated Servo Motors MACO50 3000 43 2 Error messages and error handling 2 7 8 Error message Temperature too high only MAC400 to Message no Message 9 Temperature too high Error condition The temperature has been higher than 84 C 183F which is not allowed Please note that this error is only available in MAC400 MAC800 MAC1500 and MAC3000 since MACO50 141 do not include a temperature measurement circuit he ambient temperature is higher than allowed max is Possible cause of this error 40 C 104 F The motor is build into an environment where it can not dissi pate enough heat The motor is not mounted on a proper mechanical structure where heat can be 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 Reset the motor clear the error bit s in register 35 or cycle the operation power Error bit Firmware name Bit 8 DEGC ERR 2 7 9 Error message Low AC voltage only MAC400 to Message no
197. an be selected on the Dip switch SWI Dip 1 7 The address can be set according to the following table If the node id is set to 127 the node address will be set to the same as the motor address can be defined in MacTalk which is the factory setting for the modules Dip Switch no SW 1 Dip Switch no SW 1 Reserved illegal setting L3 fa epo or e e omo or or or s eror o re ore oorr s ow rm orn or ore on _ eror or rore on oe ow rm orn or m rm Jor or o re ox or o s ow rr orn or m Lon 5 Jor oro orton n a oom rr ore orm rm 6 eroe o orton for or om rm ore on orm on 7 Jor or or o on on m oom on ore m rm s oe oro om ore ore ore m orm rr ore n m on 9 eror o on ore ors n om re on ore orm rr 0 or oro ew ore ono ow rr on or orm on o eror o ow ore on e om rr on or m rm _ for orfo ew on or ore ow rr on orm e on or e oom rr on n om rm e Jor oro on on oor a oom rr on o om on s on on on oon rr on on orm _ Jor for ore ore ore ove ar oom rr on onn on Lo jer for w or orm ore n a om or ore orm rm Lm jor or re ore on fore e om orn or ore on _ jerrorr ore ore on e oom on orc or on rm a foror on o on or ore oom ore or m on om o on ors e sr oom ore om rr m Jor fo
198. ansfer protocol Client Server Server Client Request Indication TT 1090GB There are various abort codes in CANopen these are listed in the table below Abort code Description Toggle bit not alternated SDO Protocol timed out Client server command specified not valid or unknown Invalid block size block mode only Invalid sequence number block mode only CRC error block mode only Out of memory Table continued on next page JVL Industri Elektronik A S User Manual Integrated Servo Motors MACO50 3000 4 5 Expansion Module MACOO FC2 FC4 Address table continued from previous page 0800 0022h cannot be transferred or stored to the application because of the present device 0800 0023h Object dictionary dynamic generation fails or no object dictionary is present e g object dictionary is generated from file and generation fails because of an file error 4 5 48 SYNC Synchronisation Object SYNC producer sends the synchronization object cyclically a broadcast telegram The SYNC telegram defines the basics clock cycle of the network The time between the SYNC telegram is set using the object Communication Cycle period 1006h In order to obtain a precise accurate cycle between the SYNC signals the SYNC telegram is sent with a high priority identifier This can be modified using the object 1005h The SYNC transfer applies the producer consumer push model and is non conf
199. ar V SOLL wo to use during zero search operation Homing present After the operation has completed the drive will go back to using the regular T SOLL HN MODE not Defines if the motor should start a zero search immediately after present RW start up as well as the type of zero search to perform when a FastMac command is received Bits 7 0 define the zero search mode the motor should start up in If this value is zero the motor will not perform a zero search at startup but will start up in the mode selected by Reg37 START MODE See bits 15 8 below for an exception Bits 15 8 define what mode the motor will set when it receives a FastMac command 96 16 NOTE that if all these bits are non zero the motor will start up in passive mode instead of starting in START MODE Bit 16 is set after a zero search has completed and can thus be used to test if the motor has performed a zero search at least once after 24V was last turned on After a zero search has completed the motor will always change into the mode defined by Reg 37 START MODE unless an error in that will stop the motor and set ERR STAT bit s mer lee e mU exerit em mereri IMEEM T RW resets to 0 V REG P not 0 8 Word When set to 1 8 copies one of VELO VEL7 to V SOLL then ELM WE UM us mjumr me me emzv ie present 0 RW resets to 0 46 T REG P not 0 4 Word When set to 1 4 copies one of TQO TQ3 to T
200. are on the termination is en abled MACOO FD4 Dip switch settings Rear side of the MACOO FD4 Mini dip switch expansion module Dip 1 6 Node id setting address range 0 63 Dip 7 Node id set by software Dip 8 9 Baud rate Baud rate setting 25k to 500k Dip switch 10 is not used Set in position ON SWI default settings all set in position ON Dip 2 Line termination Both set to ON 2m Term enabled SW2 Both set to OFF SW2 default settings Term disabled Both switches in position OFF Dip switch location on the MACOO FD4 Expansion module MI2 external connectors Basic MAC motor housing Internal circuit boards Dip Switches placed on the rear side of the TTIOI7GB module 210 JVL Industri Elektronik A S User Manual Integrated Servo Motors MACO50 3000 4 6 Expansion Module MACOO FD4 The node id can be set according to the below table Dip Switch no SW1 Dip Switch no SW1 DDR cain on or oF or or ora no fo fra efor or oof ew ose atom on oro on nr os for oro ofan on as ow on oro m o For or orf ow as on one or on o ont foro ore on ar om n orm on s for or or won ore aw or n m nr o foro or won on ae on ore oe n n on 8 for for oe ee ore on or on oe orm rm 9 Jor ore oe oee oa e on or on ore orm on o Jor oreo oe on ore on or on rm Jor fore
201. ary means of identifying products that have been produced under UL s Component Recognition Program UL s Recognized Component Mark WW may be used in conjunction with the required Recognized Marks The Recognized Component Mark is required when specified in the UL Directory preceding the recognitions or under Markings for the individual recognitions The final acceptance of the component is dependent upon its installation and use in complete equipment submitted to UL LLG Look for the UL Recognized Component Mark on the product William R Carney Director North American Certification Programs UL LLC Any information and documentation involving UL Mark services are provided on behalf of UL LLC UL or any authorized licensee of UL For questions please contact a local UL Customer Service Representative at www ul com contactus Page 1 of 1 Note MACI500 and MAC3000 are UL Pending JVL Industri Elektronik A S User Manual Integrated Servo Motors MACO50 3000 399 400 JVL Industri Elektronik A S User Manual Integrated Servo Motors MACO50 3000 6 Index A Absolute multiturn encoder 64 Accessories 394 395 AIN 24 35 116 118 121 128 130 1 34 137 148 187 202 205 227 243 247 259 260 307 310 Air Cylinder mode 8 117 118 121 133 134 137 Overall description 27 Analogue Gear Mode 7 Analogue Input 107 108 AIN 24 35 116 118 121 128 130 134 137 148 187 202 205 227 243 247 259 260
202. asic MAC motor is only equipped with a low voltage serial interface that requires the use of the RS232 9 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 Ol and O2 instead of sinking NPN 306 JVL Industri Elektronik A S User Manual Integrated Servo Motors MACO50 3000 4 10 Expansion Module MACOO R1 R3 R4 4 10 15 MACOO R3 option with cables The MACOO R3 type number only covers the basic module without any cables If a number is added after the basic type number for example MACOO R3 10 this suffix indicates that the module is fitted with 2 1 Om of cable cable comprises the power sup ply and analogue input The other cable covers all the signal lines i e RS232 RS485 sta tus outputs and multifunction I O Power cable Cable JVL type no WG0302 2m or WG0320 20m Power Supply Signal name Description Wire colour Negative supply terminal ground Black or white Screen creen to minimize noise Screen connected internally to P Signal cable Cable 2 JVL type no WG0420 20m Digital Inputs Internal connector J2 Description Digital input 1 igital input 2 igital input 3 Digital input 4 Digital input 5 Digital input 6 Reserved Reserved Input ground This ground is used for IN1 to IN8 Reserved for future features Do not connect this wire
203. ave in Flash operation The operations performed by MacTalk are Set the motor into Safe Mode by sending a telegram of lt 54 gt lt 54 gt lt 54 gt lt FF gt lt 00 gt lt AA gt lt AA gt and wait for an answer with data lt 11 gt lt 11 gt lt 11 gt Ifthe motor uses an address instead of using the broadcast address 255 FF substitute the lt FF gt lt 00 gt with lt address gt lt inverted address gt See the MacTalk protocol description for more information 2 Continue sending the telegram lt 56 gt lt 56 gt lt 56 gt lt FF gt lt 00 gt lt AA gt lt AA gt and wait for the lt 11 gt lt 11 gt lt 11 gt sequence As soon as any communications error occurs like a wrong answer or a missing answer timeout it means the motor has started its reset sequence Again you can substitute a specific motor address for the broadcast address lt FF gt lt 00 gt JVL Industri Elektronik A S User Manual Integrated Servo Motors MACO50 3000 5 10 Serial communication 3 lfa module is present send a Module Reset telegram to the module See the section Reset Motor below for details on resetting a module Note that the different module types require different telegrams to reset Saving to flash can only be done over the serial lines RS 232 and RS 485 It can not be done over any of the fieldbus modules with ProfiBus CANopen DeviceNet or the high speed RS 485 FSx modules Also the Rx and RxP modules can not cause a Save i
204. ave open if unused RS485 interface terminal Radoo Leave open if unused Interface ground same as main ground Note l See also Dip switch for RS232 TxPD Transmit pull down page 310 JVL Cable WI1000M12 F5TO5N Continued next page JVL Industri Elektronik A S User Manual Integrated Servo Motors MACO50 3000 309 4 10 Expansion Module MACOO R1 R3 R4 Continued from previous page 101 Basic l O s M12 8 pin male connector Signal name Digital input 1 N2 Digital input 2 JVL Cable WIl1000 M12 Isolation F8TO5N group Brown Green Yellow Pink JVL Cable WI1000 M12 Isolation M8TO5N group Brown Green Yellow Pi N3 Digital input 3 N4 Digital input 4 Digital output 1 PNP output Digital output 2 PNP output Output supply 8 32VDC Used for O1 4 Not used necessary for using IN1 8 I O ground Used for IN1 8 and 01 4 102 Extended I Os M12 8 pin female connector Signal name IN5 Digital input 5 O1 O2 O N6 N7 N8 Analogue input 10V also used for Zero search sensor Ground for AIN This ground is shared with GND i the main ground Cable Screen Some standard cables with M12 connectors offer a screen around the cable This screen on some cables is fitted to the outer metal at the M12 connector When fitted to the MACOO R4 module this means that the screen will have contact with the complete motor housing and thereby also the power ground main
205. be cleared using the normal Clear Errors mechanisms Bit 13 SPEED ERR The velocity was measured to be higher than a limit for an average of 16 samples This limit is normally 3600 RPM for MAC800 MAC1500 and MAC3000 and it is 4300 RPM for MAC400 and MAC402 There is an option in later firmware to increase the speed error limit to 4000 RPM on MAC800 for shorter movements Bit 14 DIS P LIM This bit is not an error or status bit but rather a command bit When this is set the motor will stay in an active mode and allow moves even though one of the software position limits defined by Reg28 and Reg30 is exceeded The bit is automatically cleared once the position gets inside the valid position range Bit 15 INDEX ERR The bit is set if an encoder error is detected This can be a real encoder hardware error or excessive electrical noise The motor must be reset or power cycled to clear this error Bit 16 OLDFILTERR This bit is no longer used It could detect if a previous version of the velocity filters was found or loaded that did not work with newer firmware 111533 01GB JVL Industri Elektronik A S User Manual Integrated Servo Motors MACO50 3000 375 9 12 Internal registers Firmware MacTalk Range Size Description MacReglo Name Default Access Name 35 ERR_STAT not Na Word Bit 17 U24V_ERR present 0 RW This error bit get set if the control voltage normally at 24VDC is measured to be below 12 V 9V on MAC402 T
206. be expedient to use a controlled deceleration in stead of a sudden stop If the inertia in the system is high and the mechanical parts are weak a sudden stop can cause damage and unintended behaviour Use this parameter to define the deceleration during an unrecoverable error Default is 0 meaning that the feature is disabled 40 JVL Industri Elektronik A S User Manual Integrated Servo Motors MACO50 3000 2 7 Error messages and error handling 2 7 2 Monitoring errors and warnings When using the MacTalk PC program any error or warning is shown in Status field at the main tab General error and warning monitoring area x COM scan Status In this area actual values for the motor operation is gt Motor status monitored continously Most of these monitored Actua mode Actual velocity values will trip a corresponding error message Actual position Follow error Example The error message Overload will be Function eror tripped if the the monitored value M otor load mean gets above 99 Therefore make sure that the value Regeneralive load during normal operation have a proper margin to 100 pus Bus voltage Control voltage Actual error s are shown here if any Enors Temperature too high Warnings and status information are presented here Intermediate power DC voltage low T11170GB 2 7 3 Error message Ohmis losses too high The following list show the possible
207. bits also control the movements in Analogue Bi position mode in similar ways Bit 5 SYNCPOSAUTO If set when switching mode from Passive mode into an active mode The follow error and the function error are zeroed and the actual position is transferred to the P FNC register to avoid initial movement Bit 6 SYNCPOSMAN Set to manually synchronize the position by copying the value of P NEW to P IST P SOLL and P with proper scaling In other words set P_IST P NEW P SOLL P NEW P P NEW FLWERR 16 See also bit 8 below Note that this operation is performed as an atomic unbreakable operation and is currently the only way to perform this perfect synchronization Bit 7 MAN NO BRAKE Bit 8 SYNCPOSREL When set modifies the manual synchronization performed by bit 6 above to use relative synchronization rather than absolute synchronization In other words set P IST P IST P NEW P SOLL P SOLL P NEW P P P NEW FLWERR 16 TT1504GB JVL Industri Elektronik A S User Manual Integrated Servo Motors MACO50 3000 377 9 12 Internal registers MacTalk Size Description acte Name Default Access Name 36 CNTRL_BITS not Na Word Continued present 32 RW Bit 9 INDEX HOME Bit10 FWTRIGBITS When set use the advanced sampling with firmware trigger conditions when 0 use backwards compatible sampling Bit 11 SAMPLING BIT Set whe
208. bove UITLIM 32 bit A measure of how far the drive is from its ideal regulation goal This value is calculated differently in the various modes and can mean things like pulses from theoretical position or difference in actual velo city to V SOLL Contact JVL for more detailed information for specific modes high word of FLWERR FLWERRMAX 32 bit When Reg20 FLWERR exceeds this limit an error bit is set in Reg35 ERR STAT and the motor will stop if Reg22 is non zero Usually this value is set experimentally to detect situations where a movement is blocked or fails 2 Bm I FLWERRMAX FNCERR 32 bit Shows how much the motor is behind the ideal movement precise operation depends on mode When this accumulated value exceeds Reg26 FNCERRMAX the FNC ERR bit is set in Reg35 ERR STAT and the motor will stop 1715216 JVL Industri Elektronik A S User Manual Integrated Servo Motors MACO50 3000 363 5 12 Internal registers Only MAC5O 141 a 00 um _ MacReglo Default lt 5 25 high word 26 FNCERRMAX 32bi FNCERRMAX 2 MINP 1573200 hi word of MIN P IST MAX_P_IST 32 bit o 31 hi word of P_IST LEMMA Lo 35 ERR STAT Bit 0 Il2T ERR Too much energy dissipated in the motor windings Set when Reg16 I2T exceeds Reg17 I2TLIM Bit 1 FLW_ERR
209. cation states nodes can only be accessed via CANOpen using specific communication services Further the nodes in the various states only send specific telegram This is clearly shown in the following table Initializing Pre Operational Operational Stopped X Network Managementobjet Error Control 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 incoming RTR telegram from the master The cycle of the incoming RTR telegrams is set by using the Guard Time Object The numbers of RTR telegrams which can fail as a maximum before the slave initiates a Life Guarding event is defined using the Life time factor object The Node Life Time is calculated from the product of the Guard Time and Life Time Fac tor This is the maximum time which the slave waits for an RTR telegram JVL Industri Elektronik A S User Manual Integrated Servo Motors MACO50 3000 197 4 5 198 Expansion Module MACOO FC2 FC4 The figure below show a Node Guarding Life Guarding protocols COB ID 700h Node ID Request Remote trans
210. circuitry in the MAC motor Multifunction 1 Bidirectional transceiver at each I O TT0918GB 3 4 4 Multifunction 1 0 general description The Multifunction I O can be set up for different purposes depending on the actual mode of operation of the MAC motor Pulse inputs When the motor is set to Gear mode it will follow pulses at the A and B inputs 2 input formats can be selected pulse and direction or quadrature e Encoder output The internal encoder pulses are output as a quadrature signal e RS422 communication A master controller can send commands for example velocity or position com mands This interface is intended for permanent connection 110 JVL Industri Elektronik A S User Manual Integrated Servo Motors MACO50 3000 3 4 User 1 0 3 4 5 Multifunction 1 0 used as pulse inputs The Multifunction I O can be set up as pulse inputs which is necessary to run the MAC motor in Gear mode or Analogue velocity gear mode When the motor is set to Gear mode it will follow pulses at the A and B inputs 2 input formats can be selected Pulse and direction The A input must be applied with the pulses and the B input must be applied with the direction signal Quadrature Also called encoder format The pulses at the A and B channel are 90 degree phase shifted to determine direction Multifunction I O s used as balanced pulse input User I O External pulse source Signal GND From internal Control circuitry
211. consumption MAC400D1 2 and 3 wo brake Typical 0 22A 24VDC 5 3W Control circuitry consumption MAC400D4 5 and 6 w brake Typical 0 58A 24VDC 14W Input power supply Control modes 10V Speed and Torque A B encoder outputs Pulse direction and 90 phase shifted A B Incremental 5422 or RS232 5V position and parameter commands Gear mode with analogue input speed offset different options Sensor Zero search or mechanical Zero search Front 60x60mm Rear 63x115mm Shaft 14mm Flange and shaft dimension POSITION pulse inputs Command input pulse Input frequency Electronic gear Follow error register In position width Pulse direction or 90 phase shifted A B RS422 0 8 MHz 0 1 MHz with input filter A B A 10000 to 10000 B 1 to10000 Simulation of all step resolutions 32 bit 0 32767 pulses Position range 32 bit Infinity Flip over at 291 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 19200 bit sec 19 2kBaud 67 000 000 0 3000 RPM 0 3606 RPM 250 444 675 RPM sec Point to point on RS422 Up to 32 units on the same serial RS232 RS485 interface with built in expansion module Ad Communication Baud rate Position range Speed range Digital resolution Acceleration range Addressing dress range 1 254 Standa
212. control the motor movement without taking any notice of the actual position If a JOG function is needed it is strongly recommended to use the velocity mode since the position mode or related modes involves a number of registers and is more complex compared to the velocity mode In velocity mode none of the position related registers are of particular interest but the actual position counter is still updated continuously JVL Industri Elektronik A S User Manual Integrated Servo Motors MACO50 3000 4 6 Expansion Module MACOO FD4 Performing the JOG function in velocity only requires that the velocity register V SOLL register 5 is used A way of implementing JOG functionality is basically to change actual mode to Veloc ity and control the velocity and acceleration The following guideline can be used Set velocity 0 register 5 to avoid immediate movement when the mode is changed to velocity 2 Change the mode to Velocity mode register 2 now the mode is changed but the velocity is set to 0 so the motor stay stationary 3 According to the direction change the velocity to a positive value to run CW or neg ative to run CCW Please remember that this value is scaled depending on the motor type used The value is written into the velocity register register 5 V SOLL 50 140 the scaling is RPM x 2 097 so 1000 RPM 2097 counts smpl MAC400 the scaling is RPM x 2 837 so 1000 RPM 2837 cou
213. ctor specific Reservation of PDOs Reserved numbers of PDOs Reserved numbers of syncPDOs Reserved numbers of asyncPDOs Reserva tion register Manufac tur er device name VISIBLE STRING Manufac tur er hardware version VISIBLE STRING gt lt tur er software version Life time Heartbeat Identity VISIBLE STRING UNSIGNED16 UNSIGNED8 UNSIGNED8 IDENTITY UNSIGNED32 UNSIGNED32 UNSIGNED32 UNSIGNED32 Example Version x x Inform about the Guard time in milli seconds Is only mandatory if the module does not support heartbeat Is the factor that guard time is multi plicered with to give the life time for the node quarding protocol If the Heartbeat timer is not 0 Heartbeat is used Contain general information about the module Number of entries Mandatory Vendor ID contains a unique value 0x0117 allocated to each manufactor 117h is JVLs vendor ID Mandatory Product Code identifies a specific 0x0100 device version The MACOO FC2 FC4 has the product code 100h EN D e JVL Industri Elektronik A S User Manual Integrated Servo Motors MACO50 3000 167 4 5 4 5 19 168 Expansion Module MACOO FC2 FC4 Note to device type index 1000 The device type register is composed of 2 l6 bit registers one register describes which device profile the module is supports and the other state which type of motors the mod ule is su
214. d which can be useful for electronic gear ap plications since the motor will follow exactly what is demanded without any position error Dynamic Will reduce follow error during acceleration or deceleration speed changes This fea ture is intended to be used for applications which require that a commanded speed or target position is reached as fast as possible but without any overshoots etc The Dynamic compensation provides 3 levels Dyn to 3 Using a higher Dyn num ber the filter order is increased and better performance may be possible but will de pend on the actual application Follow error compensation Follow eror compesation Feed forward type t Mone Static C Dun 2 Ooms Feed forward degree 100 0 The best result is normally obtained the range 90 110 TT1028GB Dynamic follow error compensation Static follow error compensation Velocity DYN3 Velocity DYN2 Commanded velocity Commanded velocity DYN1 None Actual velocity Actual velocity None DYN1 DYN2 Follow error Follow error I DYN3 Please note that the dynamic compensation level Dyn 3 is only available the 400 800 but for all motor sizes the available dynamic compensation is limited to Dyn or 2 if a slow main filter is selected 56 JVL Industri Elektronik A S User Manual Integrated Servo Motors MACO50 3000 2 9 Servo filter adjustment 2 9 9 Transferring and saving the
215. d 500 kb s v Guard time s EDS File macO0 fc eds Load 200 Enable guarding Stop l Communication A MessagelD Length Data Period Count Receive PDO Setup Transmit PDO Setup GEM anufacturer Specific 0 2010 Execute command Sig 0 2012 Motor parameters Sub 0x00 Number of entries 253 O FD Sub 0x01 PROG_VERSION 0 0 0 Sub 0x02 MODE_REG 0 0x0 Sub 0x03 P SOLL 0 0 0 6 Point to the sub register 0x02 which is the register which determines in which mode the motor will operate ii JVL CanOpen Explorer Made ID Syne Time 50 Enable Sunc Speed 500 kb s Guard time EDS File mact fc eds Load 200 Enable quarding H Communication MessageID Length Data Receive PDO Setup Transmit POO Setup Manufacturer Specific Ox2010 Execute command H 0220117 Module parameters E Ox2012 Motor parameters Sub 0x00 Number of entries 253 0xFD Sub Ox04 Parameter 4 0 00 Sub 0x05 v SOLL 0 0x0 Sub 0x06 SOLL 0 0 0 Sub Ox0 T SOLL 0 0x0 gt Sub 0x08 P FNE 0 0x0 Sub Ox09 Parameter 9 0 0x0 H Sub O04 PLIST 0 0 0 Sub Ox0B Vv IST 15 0 0x0 User SDD List s Sub O00 15 0 0 0 Sub 0500 KVOUT 0 050 Name indes 5 Value Sub Ox0E GEARF 1 0 0x0 Motor status 02011 D 1050 Sub DF GEAR F2 D Input status Qx2011 0 0 0
216. d Servo Motors MACO50 3000 113 114 JVL Industri Elektronik A S User Manual Integrated Servo Motors MACO50 3000 Expansion Modules JVL Industri Elektronik A S User Manual Integrated Servo Motors MACO50 3000 15 4 1 Expansion Module MACOO CS 4 1 1 116 Expansion module MACOO CS overall description The MACOO CS module is the simplest expansion module in the series of modules since no electronics are included The MACOO CS is simply a rear plate rated for IP67 but in cludes cables for power and I O signals The MACOO CS connects directly into the basic MAC motor with all connectors available except for the serial communication asynchro nous com port Applications Closed loop operation with a master controller Stand alone axis with pulse and direction input Simple speed control of conveyor system or feeding mechanism Dispenser systems ahd many more MACOO CS is available in following versions The cable connections are as follows Power cable nector in basic motor in basic motor P Main PWR pin1 Red GND pin 1 White Orange P GND pin 2 pin 5 Multifunction I O A Max 5V White Blue A pin 6 Multifunction I O 5V Blue B4 pin 7 White Brown 8 Multifunction I O 5V Brown The housing GND of the motor is connected the cable screen For details of the
217. d by the user forming the last part of the program Yor tte HAS ju piim tee Sere fa Beet pete Gee om Peete Per eue DOR Pe COM mee Me Aten File paeem Tu Sonn en maraa a Ee dex neem ME rover ral Now the program is finished c9 95 2 Move dat 10000 Cows ecc TE FRENA vet 2000 ee Press the Transfer amp Start wwe 4 Sat f button Pl sino Now the program will be transfered and stored permanently in the module The program will be executed immidiately o UW e ear iind TT0984GB Continued JVL Industri Elektronik A S User Manual Integrated Servo Motors MACO50 3000 28 4 10 Expansion Module MACOO R1 R3 R4 MacTalk Noname File View Motor MACOD RxP Setup Updates Help Now the program is running e ii j continuously The actual program 7 Open Save Saweinflash Reset position Clearerrors Reset motor Filter setup STOP Motor by the small red arrow Main Registers Advanced Filter parameters Tests Scope r1 M amp LUU R amp Programmable Module Checksum 3025 Transfenk Start Statt Single Step gt Status Paused 1 2 Move Rel dist 10000 Counts acc 1500 RPMs vel 2000 RPM By choosing the Pause button the 1 3 Wait 500 ms program is paused After it is paused
218. d is defined by the Offset register For filtering away any noise at the input signal the Hysteresis register can be used Analogue to position mode MAC motor position versus applied analogue input voltage MAC motor absolute position Counts positive direction Input voltage Full range 10V 10VDC Counts negative direction The 3 parameters in MacTalk most relevant for this mode V Analogue to position parameters Offset 1000 1000 Counts Full range 4992 5000 Counts Husteresis hi B Counts TTII82GB 28 JVL Industri Elektronik A S User Manual Integrated Servo Motors MACO50 3000 2 9 Analogue to position mode Error Handling Main parameters used in Use these fields to define error analogue to position mode limits for the maximum follow error etc View Motor Setup Updates Motor status amp G we L n amp Q ww This field shows the Startup mode Coen Save Sarre in Nera Aasai mobor Fe STOP Mote COM scan actual motor load Choose Min Advanced Fiter parameters Tesis Srepe Status x TR osition and speed etc Analogue to position lke P Profile Data Pita silage rele Y Inpats Outputs All these parameters Dupa 2 002 User controled Fodor Velocity gt
219. d select it via the two Dip switches on the rear side of the module notice that MACOO FC4 include one more Dip switch see section 4 3 15 Cable glands nternal circuit boards Al CAN open and I O Dip Switches placed TT1069GB connectors on the rear side of the module JVL Industri Elektronik A S User Manual Integrated Servo Motors MACO50 3000 4 5 Expansion Module MACOO FC2 FC4 4 5 11 Baud rate The Baud rate can be set according to the following table and is selected on the Dip switch SWI dip 8 10 as shown on the figure below The factory default settings sets the module to have a Baud rate of 500 kbit The Baud rate is the external communication speed Please notice that internal execu tion time can be the main limitation meaning that data will 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 MACOO FC2 and FC4 Dip switch settings Rear side of the MACOO FC2 or FC4 expansion module Mini dip switch Dip l 7 Node id setting address range 0 127 Dip 8 10 Baud rate Baud rate setting Ok to 1000k SW Default Switchl 8 ON and Switch 9 10 OFF 0000000000 TT 1070GB JVL Industri Elektronik A S User Manual Integrated Servo Motors MACO50 3000 157 4 5 Expansion Module MACOO FC2 FC4 4 5 12 Node ID The node ID c
220. d using the MACOO FC2 FC4 The latest firmware for the MACOO FC2 FC4 module is in the menu downloads firm ware In the menu for programs you can find the program CanOpen Explorer this is a free ware program The CanOpen Explorer program can be used to load the EDS file and operate with the motor 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 monitor various operations and make the initial set up on the motor see section l l for setting up the MAC motor In the menu for programs you can find the program MacTalk but be aware that this is not a free ware program Please contact your JVL representative for further information EDS Electronic data Sheet In order to give the user of CANopen more support are the device description avail able in a standardised way and it gives the opportunity to create standardised tools for configuration of CANopen devices designing networks with CANopen devices and managing project information on different platforms The EDS file are ASCII coded Preparing the hardware To make the selection of the Baud rate Node ID and Line termination on the MACOO FC2 FC4 module is it necessary to dismantle the module from the motor an
221. description of each signal and how to connect and use these please re fer to the description of the basic motor section 3 JVL Industri Elektronik A S User Manual Integrated Servo Motors MACO50 3000 4 2 Expansion Module MACOO B1 B2 B4 MACOO B4 MACOO B2 With MI2 connectors MACOO BI With cable glands With DSUB connectors 4 2 1 Expansion modules MACOO B1 B2 and B4 overall description The expansion modules MACOO B B2 and B4 can be mounted in all the standard MAC motors up to MAC800 These modules are among the simplest and lowest cost modules in the product range The modules contain no intelligence microprocessor The MACOO BI B2 or B4 expansion module offers an industrial interface that mates with the standard MAC motor and offers a number of feature enhancements including Different kinds of connectors for more reliability compared to the basic motor it self Full RS232 protocol support for use with standard serial cable Full RS485 protocol support for multipoint communication up to 00m Sourcing PNP outputs for status signals Ol and O2 instead of sinking NPN Only MACOO BI LEDs to indicate Ol O2 output status Zero switch analogue in put status and Input power status e Only MACOO 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 mod
222. drawings from www jvl dk default asp Action Details amp ltem 426 JVL Industri Elektronik A S User Manual Integrated Servo Motors MACO50 3000 329 5 4 7 Physical dimensions 01 254 8 103 9 38 202 9 TT1246GB All dimensions in millimetres inches Download CAD drawings from www jvl dk default asp Action Details amp ltem 426 330 JVL Industri Elektronik A S User Manual Integrated Servo Motors MACO50 3000 5 4 8 Physical dimensions MAC3000 D2 amp D3 235 08 9 255 LTO218 12GB motor with intergrated driver 3000 W 9 5 Nm 7 LT0218 12GB ilo 12 o 210 ESKO N c o e O 204 53 8 052 20110 0 0 022 04 331 0 0 000866 8 0 0 315 0 0 013 0 0 000512 24 0 945 26 4 1 039 58 2 283 183 2 7 213 311 8 12 276 128 61 5 063 50 7 1 996 134 0 5 0 2 5 278 0 02 0 00079 TT1539 01GB Download CAD drawings from www jvl dk default asp Action De tails amp ltem 426 JVL Industri Elektronik A S User Manual Integrated Servo Motors MACO50 3000 331 366 76 14 439 332 Physical Dimensions Physical dimensions MAC3000 D5 amp D6 59 61 80 Sez
223. ds On FSx modules the RS 232 line should therefore be used only for setup and firmware updates and the high speed RS 485 line of the FSx modules should be used for all production data traffic Capabilities of the FastMac protocol The FastMac protocol can be used to read and write all registers in the basic motor via telegrams termed FlexMac commands It also has a number of single byte commands that can copy dedicated preloaded registers into their corresponding target registers se lect modes of operation and reset certain errors In addition a special sequence can change from 19200 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 MacTalk protocol The MacTalk protocol can be used to read and write all registers and can execute the set of commands that the FastMac protocol cannot The MacTalk protocol can not be used to send single byte commands but the same op erations can be performed through register reads and writes The error status register This section describes how to handle the bitmapped combined error and status register Register 35 including how to clear errors describes
224. dule POWERLINK MACOO EL41 Powerlink module Weodbus MACOO EM41 Modbus TCP IP module 41 Profinet module PE Wireless modules C Bluetooth 2 MACOO FB4 Wireless Bluetooth module MACOO EZ4 Wireless Zigbee IEEE 802 15 4 module MACOO EW4 Wireless WLAN module Fieldbus modules MACOO FC2 FC4 CANopen Supports DS402 MACOO FD4 DeviceNet M ACO0 FP4 MACOO FP2 FP4 Profibus DP 12Mbit with 6 4 Inputs and 2 outputs Multiaxis modules MACO0 FS1 o MACOO FS1 FS4 KS High speed serial RS485 od Multiaxis 460kbaud we 111033 02GB 10 JVL Industri Elektronik A S User Manual Integrated Servo Motors MACO50 3000 1 3 Expansion modules overview Expansion module overview continued DSUB Connectors Cable glands M12 Connectors Programmable modules 1 M ACOO R3 MACOO R1 R4 Nano PLC with graphic programming interface 8 input and 4 outputs Process control modules MACOO P4 MACOO P4 Process module 4 20m input and output galvanic isolated Only M12 Connectors MACOO P5 Process module 4 20m input and output galvanic isolated Harting and M12 Connectors Rear plates MACO0 00 MACO0 01 0 02 0 CSxx 00 01 02 5 Rearplates with or without cable glandsConn No electronic features included TT1176 02GB JVL Industri Elektronik A S User Manual Integrated Servo Motors MACO50 3000 1 3
225. e he motor has been physically blocked he motor has been running into a sudden mechanical colli sion Solutions to avoid error Make sure that the servo filter is not set to an extreme unre alistic setting compared to the nature of the actual load See also Servo filter adjustment page 52 Avoid that the motor during normal operation is meeting a me chanical collision or an extreme overload situation How to return to normal Reset the motor clear the error bit s in register 35 or cycle the operation power Error bit Firmware name Bit 11 IX ERR 2 7 11 Error message Overvoltage on bus only MAC400 to Message Message 12 Overvoltage on bus 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 this message is only available in MAC400 and MAC800 Possible cause of this error The internal brake resistor is not sufficient to handle the amount of returned energy from the motor Use an external re sistor or if already present lower the value of the resistor he mains supply voltage is too high Solutions to avoid error Make sure that the mains voltage is within specified voltage range If this error only happens during a motor movement the error can probably be avoided by connecting an external power dump resistor or decrease the ohmic value if a resistor is al ready presen
226. e ecce ecce e e e e e e e e ccoo ccoo ccoo econo ecce ecce ecce e e e e e e e e ccoo ccoo ecce ecce ecce ecce ecce ecce e e e e e e e e ccoo ecc ecce ecc ecce ecc ecce Expansion Modules 00000000000000000000000000000000000000000000000000000000000000000000000000000000000000000000000 ule MACOO CS ule MACOO B I B2 B4 ule MACOO B41 ule MACOO Exx4 ule MACOO FC2 FC4 ule MACOO FD4A ule MACOO FP2 FP4 Expansion ule MACOO FSI FS4 Expansion ule MACOO P4 P5 Expansion Module MACOO R I R3 R4 Expansion Mo Expansion Expansion mo Expansion mo Expansion Expansion Expansion E ux ue 00000 22200 0 0 e e e e e e e e e e e e e e e e e ccoo ccoo ccoo ecce ecce ecce ecce e e e e e e e e ee ee ee ee sce Technical Dat Torque Curves Efficiency curve Physical Dimensions Life CE nie seiten Installation instructions Emergency stop considerations Trouble shoot
227. e 1 2A 24VDC 24W Control modes 10V Speed and Torque A B encoder outputs Pulse direction and 90 phase shifted A B Incremental RS422 or RS232 5V position and parameter commands Gear mode with analogue input speed offset different options Sensor Zero search or mechanical Zero search Front 130x130mm Rear 130x203mm excl connectors Shaft 024 0mm 0 0 013 Flange and shaft dimension POSITION pulse inputs Command input pulse nput frequency Electronic gear Follow error register In position width Pulse direction or 90 phase shifted A B RS422 0 8 MHz 0 1 MHz with input filter A B A 10000 to 10000 B 1 to10000 Simulation of all step resolutions 32 bit 0 32767 pulses Position range 32 bit Infinity Flip over at 291 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 19200 bit sec 19 2kBaud 67 000 000 0 3000 RPM 0 3606 RPM 250 444 675 RPM sec Point to point on RS422 Up to 32 units on the same serial RS232 RS485 interface with built in expansion module Ad Communication Baud rate Position range Speed range Digital resolution Acceleration range Addressing dress range 1 254 Standard 85 With MacReglO software 156 Only for experts Max 4 RPM variance between command and actual speed Number of pa
228. e fore been placed as a seperate user manual LB0056 xx The complete user manual be downloaded using this link www jvl dk Following Ethernet modules are available EthernetlP ProfiNET EtherCAT Powerlink and soon available Sercos lll MAC800 users Important Please notice that MAC800 motors with a serial number lower than 85000 do NOT support the Ethernet modules 150 JVL Industri Elektronik A S User Manual Integrated Servo Motors MACO50 3000 4 5 Expansion Module MACOO FC2 FC4 MAC00 FC4 MACOO FC2 With MI2 connectors With cable glands TT1005GB 4 5 1 Introduction to this section Section 4 3 in the MACO050 141 amp MAC400 800 user manual deals with JVLs expansion modules MACO0 FC2 FC4 which are used too build in a MAC motor a CANopen network This sections covers General introduction a section with general information about CANopen from section 4 3 1 to section 4 3 6 Setting up the Baud rate node id and termination of the CAN bus Covers also the wiring of the CAN bus From section 4 3 7 to section 4 3 15 to use CanOpenExplorer 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 DS30 I standard 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 T
229. e B Register condition Heg Mo 10 Actual position Operator Equal Value evs Function Tests a register 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 engineering units The dialogue shown provides an example register no 10 P IST or Actual position depending on your preference must be equal to 0 revolutions if the jump is to be made 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 After pressing the OK button the dialogue will disappear and the mouse cursor will change The next program line that you click on will then become the destination for the jump command 296 JVL Industri Elektronik A S User Manual Integrated Servo Motors MACO50 3000 4 10 Expansion Module MACOO R1 R3 R4 4 10 10 18Wait for a register value before continuing Icon Dialogue Register condition Function Tests aregister in the motor against a specified value and waits until the specified condition is met The value can either be entered as native
230. e For each device profile particular data and parameters are strictly defined data and parameters are know as objects in CANopen Objects perform all processes in CAN they can perform various task it can be as a communication object or as device specific objects where they are directly related to the device A communication object can transport data to the bus control and establish connection or supervise the network devices The application layer makes it possible to exchange meaningful real time data across the CAN network the format of this data and it s meaning must be known by the producer and the consumer s There are encoding rules that define the representation of values of data types and the CAN network transfer syntax for the representations Values are represented as bit sequences Bit sequences are transferred in sequences of octets byte For numerical data types the encoding is with the lowest 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 6 bit index so that the object dictionary may contain a maximum of 65536 entries Supported by Index Hex MACOO FC2 FC4 Noued 0001 001F Static data types 5555 0020 003F Complex data types 0040 005F Manufacturer specif A000 FFFF Resevedforueruse SSO O Index 000 1 00 F Static data types contain type definitions fo
231. e Sade and screen WI11006 M12F5S05R Length 5m 197 inch Termination resistor Loose DeviceNet male M12 Protection caps Optional if connector is not used to protect from dust liquids IP67 protection cap for M12 IP67 protection cap for M12 Important Please note that the cables are a standard type They are not recommended for use in ca ble chains or where the cable is repeatedly bent If this is required use a special robot cable 2D or 3D cable See also Accessories page 394 where additional MI 2 connectors are shown JVL Industri Elektronik A S User Manual Integrated Servo Motors MACO50 3000 23 4 7 Expansion Module MACOO FP2 FP4 MACOO FP2 MACOO FP4 With cable glands With M12 connectors TT1010GB 4 7 1 Profibus module MACOO FP2 and FP4 Introduction The MACOO FP2 and FP4 are Profibus DP slaves They are capable of running at Baud rates up to 2Mbit All the registers of the MAC motor can be read and written The modules include 6 inputs 2 of which are end limit inputs These can be read from the Profibus DP The end limit inputs can automatically halt the motor The other inputs can be used to activate different movements The MAC motor is controlled by writing to the input data 9 bytes The expansion modules MACOO FP2 and FP4 can be mounted on standard MAC motors MAC50 95 MACI40 MACI41I MAC400 and MAC800 Both modules offer the same functions but with the
232. e in the menu Field bus Interface Specifications Files EDS means Electronic Data Sheet This file contains the information about the MACOO FD4 settings that may be required to configure the setup and program in the master The MACOO FD4 is a slave module on the DeviceNet bus line the master can be for ex ample a PLC or a PC If you are using a PLC as master then make sure that it is provided with a DeviceNet communications module and that the correct programming tools are available For getting support to the PLC master it is more rewarding to use the PLC vendor The MacTalk program can be used to monitor various operations and make the initial set up on the motor see also Using MacTalk to setup the motor page 14 MacTalk is not a free ware program Please contact your JVL representative for further information JVL Industri Elektronik A S User Manual Integrated Servo Motors MACO50 3000 229 4 6 Expansion Module MACOO FD4 4 6 26 Hardware 1 0 setup The drawing below shows the SW3 Dip switch location The various settings of SW3 is shown on the previous page Dip switch location on the MACOO FD4 Expansion module _ Dip Switch SW3 Pd MI2 Connectors LI te placed on the rear M side of the module Internal circuit boards Mini dip switch shown with default setting TTI 12668 Switch description Description Function Signal name RS232 interface transmit output ON E
233. e basic motor itself The analogue inputs can be used for several applications and the function of the analogue input is determined by the mode in which the motor is set to operate Typically the inputs is used for controlling the velocity torque or position of the motor but the input is also used as digital input for Zero search or in Air Cylinder Mode where it is used as trigger input for the movement done by the motor For further information concerning physical connections see the Expansion 4 connector description page 147 JVL Industri Elektronik A S User Manual Integrated Servo Motors MACO50 3000 137 4 3 Expansion module MACOO B41 4 3 7 RS232 General description when using the MACOO B41 module The RS232 interface is consid ered the man interfacetothe 59232 Connection between PC or central controller motor when the motor is set to MAC400 with a MAC00 B41 module up using the MacTalk win Central Q dows software from a PC or Controller involved units are Power supply from any kind of controller us for example semis s ing a RS232 interface Opto isolations Note The basic MAC motor does not fully support RS232 since the interface signals are only 5V levels See also the ba sic description Serial interface MAC400 Motor with 0 41 When connecting the RS232 interface to a PC or control Interface ler the following rules must Power P be follow
234. e between the program seen on the screen and the actual program in the module This can happen if the program have been edited but not transferred Status Running or Stopped refers to the program in the module File View Motor MACOO RxP Setup Updates Help G U b 0 Open Save Saveinflash Reset position Clear errors Reset motor Elbees fup STOP Motor scan program and start it Use Stop or Pause to stop it Stop Use this button if the program must be stopped Transfer amp Stat Program lines Each button represents a program line By pushing the button a com line Settings Enable input filter Skip initialization advanced Transfer settings Program Source Remarks C Program Source Program only Main Registers Advanced Filter parameters Tests Scope MACODEAR 0 Programmable T PAUSE role Ster Module Checksum 2648 Program not transferred Status Running IW GS SERO Pause Use this button if the program must be paused Paused means that the actual mand can be entered at the program program line executed is temporarily paused When paused the single step feature can be used to debug the program MacTalk Noname File View Motor MACOO RxP Setup Updates He Save gt p Save flash Reset r MACDO R Programmable
235. e direct Set up the mode register 12198 3 Mode 0 3 See also Setup in Jetter JX2 SV Mode 2 page 392 for set up of other SVI registers Adjust the registers for Digital Speed Control 12124 xxx Proportional gain speed 12126 xxx Integral gain 2127 Current limitation a value of 2047 corresponds to 10 0V 2128 xxx _ Present integral gain 2129 Limitation of the integral gain Please also follow the instructions in the JX2 SV user manual 5 13 5 Connect the MAC motor to Jetter PLC with JX2 SMe axis module The Jetter PLC can be supplied with the module JX2 SM2 which transmits a pulse and direction signal instead of a 10 signal as on the JX2 SV1 module Each pulse repre sents a certain distance of movement and the direction signal determines the direction Connection scheme Pin 5 All 4 dip switches on the rear side of the MACOO Bl module must be switched to posi tion off 5 13 6 How to set up the MAC motor for the JX2 SMe2 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 Set up Startup mode for Gear in order 0 Courts to enable the pulse and oe n RPM Set up the Multifunction I O direction input for Aouita laiar Linen que as Pulse Input This setting controlling the position m T bre 2
236. e due to a commu nication error Possible cause of this error he motor is setup as master but it has not been possible to reach a slave motor he motor is setup as a slave but do not receive any position information Solutions to avoid error If the actual system is a master slave configuration make sure that a slave motor is present Make sure that the cabling is made in a proper manner with twisted pair wires and screened cable Make sure that the opposite unit in the communication system uses same parameters such as baudrate etc Adjust the time out register How to return to normal The error is cleared if error free communication is re estab operation lished but the motor need to be re entered in the desired op eration mode Try to save actual settings and restart the motor by a reset or cycle the power 24VDC Error bit Firmware name Bit 21 COM ERR JVL Industri Elektronik A S User Manual Integrated Servo Motors MACO50 3000 49 2 Error messages and error handling 2 7 21 Error message Current loop error only MAC400 to Message no Message 23 Current loop error Type Motor action Unrecoverable error Motor is set in passive mode Error condition Error only relevant when using the MACOO P5 module The 4 20mA input at the MACOO P5 module has been detected lower than 2 0mA which is outside normal range Cable fault Possible cause of this error Fault in the
237. e ends 0 22mm 24AWG and screen DUDEN Length 5m 197 inch Cable with M12 male 8 pin connector loose wire ends 0 22mm 24AWG and screen eee MUSS Length 5m 197 inch Protection caps Optional if connector is not used to protect from dust liquids IP67 protection cap for M12 female connector WI1000 M12FCAP1 IP67 protection cap for M12 male connector WI1000 M12MCAP1 Important Please note that the cables are a standard type They are not recommended for use in ca ble chains or where the cable is repeatedly bent If this is required use a special robot cable 2D or 3D cable See also Accessories page 394 JVL Industri Elektronik A S User Manual Integrated Servo Motors MACO50 3000 311 312 JVL Industri Elektronik A S User Manual Integrated Servo Motors MACO50 3000 Appendix JVL Industri Elektronik A S User Manual Integrated Servo Motors MACO50 3000 313 5 1 Technical Data General All data are specified for the MAC motor only i e without any expansion module mounted AC servomotor brushless with built in 1024 PPR encoder hall sensors and 3 phase servo amplifier controller Controller capacity pot coo MACOS5 MACIZ0 MACi4i 0 173 0 0025 0 227 0 0032 85300rad sec 85300rad sec Weight kg without expansion module 060 Joss 133 Single supply 12 48VDC absolute max 50VDC Power consumption with no load Active not active 10 8W C
238. e general setup such as selecting maximum velocity gear ratio and input type setup is similar to Gear Mode Only the Coil Mode parameters differ from Gear Mode For details of the overall setup please See Gear Mode page 21 26 JVL Industri Elektronik A S User Manual Integrated Servo Motors MACO50 3000 2 4 2 4 1 Analogue bi position mode Analogue Bi position Mode overall description For primitive positioning purposes the basic 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 motor Concerning the trigger level at the input and how to change please consult Analogue in put page 107 JVL Industri Elektronik A S User Manual Integrated Servo Motors MACO50 3000 27 2 9 Analogue to position mode 2 5 1 Analogue to position Mode overall description In Analogue to position mode the motor follows an analogue input voltage applied to the analogue input AIN AIN I The distance that the motor is moving as a funtion of full voltage 10 or 10V is de fined by the Full range register expressed in encoder counts The absolute position when OV is applie
239. e module flexible and robust Additional features are Secondary power supply input which can be used to keep the control core alive dur ing emergency situations Dual interface connectors make it easy to daisy chain with other motors at the RS232 or RS485 interface Expansion MACOO B4 hardware description The MACOO B4 offers IP67 MACO50 141 protection and M12 connectors which makes it ideal for automation applications where no additional protection is desired The M12 connectors offer solid mechanical protection and are easy to unplug compared to the B2 module with cable glands The connector layout PWR Power input M12 5pin male connector JVL Cable WI11000 Isolation Signal name Description M12F5TO5N group Main supply 12 48VDC Connect with pin 2 Brown Boc Main supply 12 48VDC Connect with pin 1 Note P4 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 Output supply Control voltage 12 30VDC Main supply ground Connect with pin 3 IP Main supply ground Connect with pin 5 Continued next page JVL Industri Elektronik A S User Manual Integrated Servo Motors MACO50 3000 129 4 2 Expansion Module MACOO B1 B2 B4 IO Basic l O s M12 8pin male connector Digital output 1 PNP output JVL Cable WI1000 M12 Isolation FSTO5N grou
240. e next command The motor will finish the movement on its own unless it is given other instructions by the program JVL Industri Elektronik A S User Manual Integrated Servo Motors MACO50 3000 285 4 10 Expansion Module MACOO R1 R3 R4 4 10 10 5 Move Relative velocity change at a distance Dialogue Move type Relative x Cancel Relative set outputs Absolute Sensor General parameters Change velocity parameters Distance D Counts Distance 0 Counts Acceleration 0 RPM s New velocity 0 RPM Velocity 0 RPM 7 Enter 0 in velocity or acceleration to use the current velacity or acceleration Function Performs a relative movement and changes velocity a specified distance before reaching the new position The distance are measured in encoder counts and can either be entered directly 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 you specified Register no 49 P1 is always overridden by this command This command always wait until the movement is finished before proceeding to the next line in the program 286 JVL I
241. e purposes 246 te Reserved for future purposes 247 Reserved for future purposes 248 Reserved for future purposes 29 J Lt Reserved for future purposes 250 Reserved for future purposes Reserved for future purposes 252 Reserved for future purposes 253 _ Reserved for future purposes 254 Reserved for future purposes 111528GB 370 JVL Industri Elektronik A S User Manual Integrated Servo Motors MACO50 3000 9 12 Internal registers 5 12 3 400 402 800 1500 and 3000 register list The following list is only valid for the MAC400 MAC402 MAC800 MACI500 and MAC3000 motors The list is valid from firmware version 2 07 or newer Firmware MacTalk Range Size Description MacReglo Name Name Default Access Oc j 1 PROG VERSION Displayed on Firmware version status line H 2 MODE REG Startup The actual operating mode of the drive mode Change In general the motor will either be passive attempt to actual mode reach a certain position attempt to maintain a O passive constant velocity or attempt to produce a constant torque The various modes define the main type of operation as well as what determines the setpoint for that operation The special cases 256 258 are used to perform a few special operations on the entire set of registers Supported values are 0 Passive mode
242. e register 3 Wait for the mode register to automatically change away from that value this will typically take a few tens of milliseconds but may vary Just continue reading the register until the value changes After this set the motor into the desired operating mode With the 50 141 motors the following functions are currently implemented OOh 256 Load factory defaults AND save to user flash 257 Load factory defaults do NOT save to user flash 02h 258 Load all registers from user flash With the MAC800 motor the following functions are currently implemented OOh 256 Load factory defaults AND save to user flash IOIh 257 Load all registers from user flash O2h 258 Save all registers to user flash Note that after loading all register from either user flash or the factory defaults the firm ware will clear or preset some of the registers like clearing the follow error and setting the actual position to zero to resemble a cold start after power up The value 100h 256 decimal is also used by the Load Defaults function on the Motor menu in MacTalk 356 JVL Industri Elektronik A S User Manual Integrated Servo Motors MACO50 3000 9 11 9 11 1 MacTalk communication When using the RS232 or RS422 serial links it is possible to access all the internal regis ters in the motor This gives the same possibilities as using the general installation and monitoring program MacTalk I
243. e registers to control their behaviour These register are ad dressed in another way than the registers in the basic motor Examples include registers that control digital inputs and outputs local to the module Additionally the modules containing a nano PLC have 256 bytes of memory local to the module that can be used to create variables that can be used during program execution 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 each module type has its own range of commands that is different from the range used by the basic motor The three special commands Reset Motor Clear Errors and Save in Flash Save in Flash Pressing this button in MacTalk will send a special command over the serial line RS 232 or RS 485 that will cause the motor and module if present to save the setup registers to flash memory Flash memory is permanent storage that will keep its value even though the power supply has been turned off At the next power up the motor and module will load the saved values from flash Note that the motor but not the module will automatically perform a reset as soon as it has finished the S
244. eature overview Basic MAC motors MACS50 95 140 141 Al Basic MAC motors IP42 MAC50 95 140 141 A3 Basic MAC motors IP67 MAC400 D2 D3 Basic MAC motor IP55 IP66 MAC400 D5 D6 Basic MAC motor IP55 IP66 MAC402 D2 D3 Basic MAC motor IP55 IP66 MAC402 D5 D6 Basic MAC motor IP55 IP66 MAC800 D2 D3 Basic MAC motor IP55 IP66 MAC800 D5 D6 Basic MAC motor IP55 IP66 MACI500 D2 D3 Basic MAC motor IP55 IP66 MACI500 D5 D6 Basic MAC motor IP55 IP66 MAC3000 D2 D3 Basic MAC motor IP55 IP66 MAC3000 D5 D6 Basic MAC motor IP55 IP66 Unbalanced async serial interface For setup sending commands SV TTL 19 2kbaud Full Duplex 5V TTL 19 2kbaud Full Duplex 5V TTL 19 2kbaud Full Duplex 5V TTL 19 2kbaud Full Duplex 5V TTL 19 2kbaud Full Duplex ov TTL 19 2kbaud Full Duplex ov TTL 19 2kbaud Full Duplex ov TTL 19 2kbaud Full Duplex SV TTL 19 2kbaud Full Duplex SV TTL 19 2kbaud Full Duplex 5V TTL 19 2kbaud Full Duplex 5V TTL 19 2kbaud Full Duplex For controlling speed torque 10 Analogue input Also used for zero search For setup sending commands Balanced async serial interface RS422 3 19 2kbaud Full Duplex RS422 3 19 2kbaud Full Duplex RS422 3 19 2kbaud Full Duplex RS422 3 19 2kbaud Full Duplex RS422 3 19 2kbaud Full Duplex RS422 3 19 2kbaud Full Duplex RS422 3 19 2kbaud Full Dupl
245. ed Supply Only one motor can be connected at the interface line Use the RS485 if multi ple units have to be con nected at the same time 2 Use screened cable 3 Ensure that IGND inter face ground is also con nected 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 Opto isolation is recommended if connection is permanent TT1143GB Connectors To see the specific connector pin out please see the chapter Expansion MACOO B4 con nector description page 147 A finished RS232 cable also exist Please see Cables for the MACOO B41 page 149 138 JVL Industri Elektronik A S User Manual Integrated Servo Motors MACO50 3000 4 3 Expansion module MACOO B41 4 3 8 RS485 General description when using a MACOO Bx module The RS485 offers more noise immune communication com 5485 network with 2 x MAC140 and 1 x MAC400 pared to the RS232 interface mounted with M ACOO B1 B2 B4 and B41 modules Up to 32 motors can be con Central M ake sure that all nected to the same line Concor involved units are Power aP The RS485 interface in the for example aPC Sorem 1 a MACOO B4 module is gal Opto isolation vanical isolated When connecting the RS485 interface to a central control control voltage Bus voltage Screen connected ler the following rules must to GND
246. ed Servo Motors MACO50 3000 3 5 1 Technical Data General All data are specified for the MAC motor only ie without any expansion module mounted AC servomotor brushless with built in 2048 PPR encoder hall sensors and 3 phase servo amplifier controller Controller capacity 1500 2 or D3 MAC1500 D5 or D6 w brake Rated output 3000 RPM _ 1800W 1500W Rated Torque RMS Peak Torque 80Nm 15 0Nm 50Nm 15 0Nm Inertia 1996kgm _ t amp tkgmm Maximum angular acceleration 40000rad sect 40000rad sect Lengh e 80mm 9 849 305 86mm 12042 Weight without expansion module f _ 1095kg 13 15kg Audible noise level measured in 30cm distance _ esd A Backlash when brake is activated s05degee Amplifier control system Sinusoidal wave PWM control 5kHz switching Filter 6 th order filter with only one inertia load factor parameter to be adjusted Expert tuning also available for professionals Feedback Incremental A and B encoder 8192 CPR Physical 2048 PPR lines per rev Optional multiturn absolute encoder Input power supply phase supply 400 to 480AC for driver circuit Absolute max 550VAC 18 32VDC for control circuit Control circuitry consumption MAC1500 D1 2 and wo brake 20 3A 9 24VDC 8W Control circuitry consumption MAC1500 D4 5 and 6 w brak
247. ed normal status of the motor like whether the tar get position or velocity has been reached Some status bits can be considered early warning bits like that the voltage of the control power supply has been measured to a low value If the voltage is measured to an even lower voltage the motor will stop with a hard error that requires reset because the risk of continuing operation is too high after the control circuits may have been partly reset and entered an indeterminate state Control bits include bit 14 in MAC800 that must be set by the user to be able to move the motor back into the position limit range The motor will not move if software posi tion limits are active non zero and the motor has moved outside the limits The typical case is when the motor is normally working in Position mode where the software posi tion limits will automatically prevent it from moving outside the limits and then if the mo tor is switched into another mode like Velocity mode where position limits do not apply and run outside the position range Another example is bit 9 in the on the 50 141 motors When using FastMac com mands to transfer one of the 8 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 descriptions Resetting the motor and module This section describes the
248. ed to the network The protocol uses the same identifier as the error control protocols see the figure below NMT Master NMT Slave COB ID 700h Node ID Indication Request 0 TT1085GB One data byte is transmitted with value 0 JVL Industri Elektronik A S User Manual Integrated Servo Motors MACO50 3000 4 5 4 5 46 Expansion Module MACOO FC2 FC4 PDO Process Data Object PDO Performs real time transfers and the transfer of PDOs are performed without a protocol PDOs are used in two ways for data transmission and for data reception PDOs can bundle all objects from the object data directory and a PDO can handle max 8 bytes of data in the same PDO The PDO can consist of multiple objects Other PDOs characteristic is that it doesn t reply when it is receiving data this for mak ing the data transfer fast It has a high priority identifier PDO connections follow the Producer Consumer model Whereby a normal PDO con nection follows the Push model and a RTR connection the Pull model Objects are mapped in a PDO This mapping is an agreement between the sender and receiver as to which object is located at which position in the PDO This means that the sender knows at which position in the PDO it should write data and the receiver knows to where it should transfer data which it received The PDOs correspond to entries in the Device Object Dictionary and provide the inter face to the applicati
249. ediately because it was not outside the In Position window long enough to re sume the original active mode This issue can be reduced by selecting a better value for the In Position window register JVL Industri Elektronik A S User Manual Integrated Servo Motors MACO50 3000 79 2 14 Scope Function 2 14 1 Scope Function Preliminary this function is still under development The Scope function 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 OE MacTalk Noname File View Motor Setup Updates Help j G U b amp Q Open Save Save inflash Reset position Clear errors Reset motor Filter setup STOP Motor scan Main Registers Advanced Filter parameters Tests Scope Status Scope preliminary this function is still under development Motor status Sampled data Scaling Actual mode Position Time 825 6 ms 24 0 ms div _ Actual velocity 0 RPM Actual velocity 1991 1 RPM 500 RPM div Xi Actual position 0 Counts Actual position 34251 0 Counts 10000 Counts div 5 Actual torque 126 10 div unction error aunts Actual motor torque 1 Supply voltage 23 8 Volt 5 V
250. eding to the next line in the program JVL Industri Elektronik A S User Manual Integrated Servo Motors MACO50 3000 287 4 10 Expansion Module MACOO R1 R3 R4 4 10 10 7 Move Absolute Dialogue Move type Relative Relative velocity change at distance x Cancel Relative set outputs General parameters Position 0 Counts Acceleration 0 _ Velocity 0 RPM Wait for in position m Enter 0 in velocity or acceleration to use the current velocity or acceleration Function Moves to an absolute non relative position The position is given in encoder counts and can either be entered directly or can be taken from one 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 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 the next program line If this option is not checked the program will start the movement then immediately start executing the next command The motor will finish the movement on its own unless it is given other instructions by the p
251. eewmeons mm TVeloty windowine o meoscwr s SampleFreqiio00 im Velocity factor or _ Target_velocity 60FF V1 50 Velocity_ factor de un d Qe pending on polarity y Homing mode During homing Home offset 607C P HOME See 8 in section 4 3 40 Homing speeds number Horming speeds Speeds during search for switch 6099 1 V1 50 Velocity factor At homing Horming speeds Speeds during search for zero 6099 2 Ve 90 Homing_acceleration 609 ASOLL 5000 Acceleration_factor At homing Position encoder resolution Position encoder resolution 608F 1 4096 or Not CF Encoder increment 8000 Position factor Position encoder resolution 608F 2 1 CF Upd Motor revolution Position factor Velocity encoder resolution Velocity encoder resolution 4096 or Velocity encoder resolution Feed constant number of entries Feed constant Feed N U Feed constant gt Position_ factor Shaft_revolutions gt Feed_constant gt PFactorNumerator Velocity_ factor At homing Position_factor_number_ of entries In CF Upd Position factor Numerator N U See formula 5 in section 4 3 40 Position factor Feed constant Lo Continued on next page JVL Industri Elektronik A S User Manual Integrated Servo Motors MACO50 3000 181 4 5 Expansion Module MACOO FC2 FC4 COB Motor Initial Scalefactor Update ID CENE KNEE EINE MEN motor write c encoder factor ra
252. egister P5 and change to position mode 64 4 FastMac command 68 Activate register 3 and change to position mode 64 22 FastMac command 86 Activate P0 V0 A0 T0 LO and ZO without changing the mode 96 12 FastMac command 108 JVL Industri Elektronik A S User Manual Integrated Servo Motors MACO50 3000 24 4 7 Expansion Module MACOO FP2 FP4 4 7 9 MACOO FP2 and FP4 description of connections The following pages describe the different aspects of connecting the modules MACOO FP2 and FP4 4 7 10 MACOO FP2 Connectors MACOO FP2 rear plate layout The illustration below shows all the internal connectors in the module The profibus and power connectors are easy to use screw terminals If the I Os are used they require JVL cable type WG0402 2m WG0410 10m or WG0420 20m See also the appendix for cable and connector accessories Overview MACOO FP2 connectors TT0965GB Output connector See table for connection details Interface connector See table for connection details Mounting hole used to fit the connector board to the rear plate Power connection to the basic motor 22 22 Fuse TIOA Mounting hole used nput connector to fit the connector See table for connection Feed F1 board to the rear plate details o gt So ERES LA Ia Profibus output connector signal to next node in the chain a Profibus input connector P P OVDE Connect power supply t
253. egrated Servo Motors MACO50 3000 173 4 5 4 5 30 174 Expansion Module MACOO FC2 FC4 Object 2012h Motor parameters With this object all the registers of the MAC motor can be accessed All the registers are accessed as 32 bit When reading and writing to 16 bit registers the values are automat ically converted in the module In addition to these features listed in the table below many more are accessible In total the MAC motor contains more than 150 internal reg isters such as nominal velocity actual position etc But please note that several registers are not for the normal user and damage may occur if the contents of these registers is changed The table shows the most commonly used registers De Data Read fault type Write HER Description MODE REG UNSIGNED16 Write Passive mode Velocity mode Position mode Gear mode Analog Torque mode Analog Velocity mode Analog Velocity Gear mode 7 11 Reserved 12 Torque Zero Search 13 Sensor type1 Zero search 14 Sensor type2 Zero search e SF a 3m 23m boum foson e _ fm ee mee e ERE meme _ e ue me meme _ umm me m _ Se e pes pum _ De pe e e meme _ D mw pw pe EHE _ for I2T register De mem eem tes Continued next page JVL Industri Elektronik A S User Manual Integrated Servo Motors MACO50 3000 4 5 4 5 31 4 5 32 Expansion Module M
254. egrated Servo Motors MACO50 3000 273 4 10 Expansion Module MACOO R1 R3 R4 MACOO RI MACOO R3 MACOO R4 With DSUB connectors With cable glands With M12 connectors 4 10 1 Expansion modules MACOO R1 RS and R4 overall description The expansion modules MACOO RI R3 and R4 can be mounted on standard MAC mo tors MAC50 MAC95 MACI40 MACI41 MAC400 and MAC800 These option modules are also called modules as they perform like a small programmable logic controller with a small number of digital I Os The module makes it possible to perform simple positioning speed and or torque con trol via 8 digital inputs which all are galvanically isolated and can be operated with 24V control signals from for example a PLC or external sensors Typical applications for these expansion modules are in stand alone systems where the MAC motor must be able to operate as a complete positioning system without the need for 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 differences Protection Connectors class I O and interface Power supply LEDs at I O MACOO R1 DSUB 9 pole 3 po
255. er Supply How to connect the power supply only MAC800 The power supply for the control circuitry is connected through the expansion module at the terminals called P and P or directly at the internal power supply connector The power circuitry must be applied according to the illustration below MAC800 supply connections Remove the lit to access the internal supply terminals LI N PE Earth PE Earth Control power 18 30VDC must Main power internal bus voltage and power be connected to the P and P terminal dump are accessible through these spring at the expansion module contacts placed under the top lid See the actual module used for details Mains power must be 115 or 230VAC TTO990GB of connection Terminal descriptions LI 15 230VAC input phase The voltage range is set by solder jumper N 15 230VAC input neutral The voltage range is set by solder jumper See Using 15V supply voltage only MAC800 page 98 PE Earth must be used with the DC bus and the PD terminals PD Power dump output see also Connecting an external power dump resistor page 99 BO Bus output nom 325VDC CM Ground for the internal DC bus Important notes fII5VAC is used as supply voltage the MAC800 must be set up for this See Using 1 15V supply voltage only MA
256. er supply only MAC400 The power supply for the control circuitry is connected through the expansion module at the terminals called P and P or directly at the internal power supply connector The power circuitry must be applied according to the illustration below TT1172GB MAC400 supply connection PDO connector Female O U N O B Main power connector male Control power 18 30VDC must Main power internal bus voltage and power P 5 P be connected to the P and P terminal dump are accessible through these connectors Mains power must be 115 or 230VAC an exaust See the actual module used for details of connection Main power connector PDO connector N Neutral LI 115 CM Common PD Power dump output p outp Terminal descriptions LI ISVAC input phase WARNING Please be aware that high voltage is present also when terminal is unconnected L2 230VAC input phase WARNING Please be aware that high voltage is present also when terminal is unconnected N 115 230 VAC input neutral PE Earth must be used with the DC bus and the PD terminals PD Power dump output see also Connecting an external power dump resistor page 99 BO Busoutput nom 325VDC CM Common Ground for the internal DC bus C A U TIO N Risk of electric shock Disconnect all power and wait 5 min before servicing 3 2 9 MAC400 Grounding Make sure that the machine part on whic
257. er 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 O s See also Multifunction I O used as pulse inputs page 111 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 motor itself has 1024 50 141 or 2000ppr MAC800 If this application requires that the MAC motor rotates revolution each time 400 pulses are received the Input parameter is set to 800 since the MAC motor detects on both the rising and falling edge of the input signal The Output parameter is set to 4096 or 8000 since the number of counts edges on the internal encoder is 4096 or 8000 Now the MAC motor will move revolution if 400 pulses is applied to the pulse input Ensure the Profile data is set to proper values in order not to limit motor operation unintentionally The following table can be used as guide for setting up typical gear ra tios Pulse and direction gear ratio setup Commonly used ratios Applied number of pulses Input Output MD NN RI HAS MEM MAC motor revolution register register 50 141 MAC800 JVL Industri Elektronik A S User Manual Integrated Servo Motors MACO50 3000 23 2 0 Coil Mode 2 3 1 Coil Mode overall description The Coil Mode is similar
258. error messages the cause of the error and possible actions to prevent the error from happening Each error can also be monitored by reading the error status register register 35 by using software packages like the OCX driver or MacReglO Message Message 1 Overload Type Motor action Unrecoverable error Motor is set in passive mode Error condition The calculated accumulated loos in the motor and electronics above limit The actual level of losses can be observed in the Motor load mean field see 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 normal Reset the motor clear the error bit s in register 35 or cycle the operation power Error bit Firmware name Bit O I2T ERR JVL Industri Elektronik A S User Manual Integrated Servo Motors MACO50 3000 41 2 7 2 7 4 2 7 5 42 Error messages and error handling Error message Follow error Message no Message 2 Follow error Type Motor action Unrecoverable error Motor is set in passive mode Error condition The actual difference between the actual motor position and t
259. errors that can not be cleared with out power cycling the motor identifies best practice ways of operating the register for a number of typical applications Some of these applications include how to control wheth er the motor performs relative or absolute position movements and how to move back into the normal working range after having been outside it This section does not describe all the bits in detail but describes the different groups of functions the bits in this register can assume Note that even though the Error Status register bits are similar in the MACO50 141 and the MAC800 motors they are not the same The bits that have a Control function can be located either in Register 35 Error Status or in Register 36 ControlBits at another motor type Check the technical manual for the product you re using and be aware of the differences if you re combining 50 141 motor with MAC800 motors the same application JVL Industri Elektronik A S User Manual Integrated Servo Motors MACO50 3000 351 5 10 Serial communication There are three groups Errors Status and Control bits Errors are grouped into Temperature related errors Electrical errors and Mechanical errors Some errors can be reset from the serial lines while other errors are so critical that the motor can not continue safe operation so to continue operation the power to the motor must be turned off and then on again Status bits simply reflect the updat
260. es away from the end limit The sign of the home offset should be the opposite of the homing direction For example when using a negative homing direction the home offset could be 5000 JVL Industri Elektronik A S User Manual Integrated Servo Motors MACO50 3000 187 4 5 Expansion Module MACOO FC2 FC4 4 5 43 Supported PDOs Receive PDOs Mapping Mapping object name Comment 6040h Controlword Controls the state machine EA Modes of operation Controls the state machine and modes of operation Controlword Target position pp Controls the state machine and the target position pp Controlword Target velocity pv Controls the state machine and the target velocity pv Controlword T Digital outputs Controls the state machine and the digital outputs Mapping object Mapping object Event index name driven Comment 6041h Statusword Shows status 6041h Shows status and the current mode of 6041h Statusword T 6064h Position actual value Shows status and the current position pp 6041h Statusword 606Ch Velocity actual value Shows status and the current velocity pv 6041h Statusword Vas Controls the state machine and the digital 60FDh Digital inputs inputs 188 JVL Industri Elektronik A S User Manual Integrated Servo Motors MACO50 3000 4 5 Expansion Module MACOO FC2 FC4 4 5 44 CANopen DS 301 device profiles Standardized devices in CANopen have their characteristics described in a device pro fil
261. es higher than 5V must under no circumstance be connected directly to the input since this will damage the input permanently Use a proper resistor as indicated in the table below Balanced or push pull output connected to the A and B input MAC motor with 4 expansion module Warning Never connect voltages External pulse source higher than 5V directly to the A or B terminals since T ultifunction 1 this can damage the inputs INPUT SETUP p4 Multifunction 2 Q INPUT SETUP From internal v Pulse B2 Control circuitry or 2 B Direct Bi orB2 gt 8 direct Direct Signal GND see communication chapter Dipswitch 9 10 RS485 termination RS422 outputs balanced J TT1142GB 142 JVL Industri Elektronik A S User Manual Integrated Servo Motors MACO50 3000 4 3 Expansion module MACOO B41 4 3 13 Example how to use gearmode with MACOO B41 The 4 module offers a number of I O possibilities that makes it very convieni ent to use in Electronic gear applications An external encoder with various output configurations can easily be connected to one of the multifunction I O channels and also signals like Enable disable motor can be estab lished using one of I O terminals I Ol to I O6 The following pages describe in details how to get the wirering sorted and also how to setup the motor in general The example will cover Hardware Connecting the encoder to t
262. es such as Analogue i Torque Velocity or Velocity Gear as a m shown in the accompanying illustration File View Motor Setup Updates Help Open Save flash Reset p Main Registers Advanced Filter parameters Startup mode m M Change actual made C Velocity Position C Gear C Bear Follow Analogue velocity with deadband B Analogue velocity gear Velocity analogue torque ii Analogue torque direct Analogue gear Cail Analogue bi position These 7 modes uses the analogue input as reference TT0915GB JVL Industri Elektronik A S User Manual Integrated Servo Motors MACO50 3000 107 3 4 User 1 0 3 4 2 Analogue input used as digital input The analogue input is used as digital input in some modes This can for example be in zero search mode where the input can be connected to an external sensor that detects when the motor have reached the mechanical zero point The default trigger level is 7 5V meaning that a voltage above 7 5V is seen as logic high active and a voltage below 7 5V is seen as logic low passive Chaning the input trigger level The trigger level can be changed by inserting an offset voltage in the offset field register Example If 5V is desired as trigger level an offset voltage of 7 5V 5V 2 5 must be inserted in the offset register Below is shown how this is done MacTalk MacTalk Noname File View Of
263. ess for the broadcast address FF 00 JVL Industri Elektronik A S User Manual Integrated Servo Motors MACO50 3000 355 5 10 Serial communication 6 lfamodule is present send a Module Reset telegram to the module See the section Reset Motor below for details on resetting a module Note that the different module types require different telegrams to reset The motor can only be Reset over the serial lines RS 232 and RS 485 or by switching the power supply off and on It can not be done over any of the fieldbus modules with ProfiBus CANopen DeviceNet or the high speed RS 485 FSx modules The Blue tooth and WLAN modules can use reset since their wireless links replace the RS 485 in terface but note that it may take longer after a reset before a connection can be re established As an alternative to Reset there are ways to load all the register values from factory de faults or the last set of values saved to user flash Note however that loading all the reg isters will not clear all types of errors This is intentional since some errors are so serious that the motor can not continue safe operation The errors that can not be cleared with out power cycling are XXXXK XXXX XXXX To use the functions to manipulate factory defaults and or user flash three steps must be taken 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 mod
264. et the InPosition bit in the ERR_STAT regis ter For normal Position related modes the motor is considered to be in position when the actual position is less than INPOSWIN encoder counts away from its target position P_SOLL and have been detected to be so at least INPOSCNT times For Velocity related modes the concept of InPosition will instead mean AtVelocity and work in a similar way that the actual velocity V_IST must have been measured INPOSCNT consecutive times to be within INPOSWIN counts sample before the InPosition bit is set in Reg35 ERR_STAT INPOSCNT not Word The number of consecutive times the In Position present RW condition must have been met before the InPosition bit is set in ERR_STAT See description above for INPOSWIN ERR_STAT not i Word Bit 0 l2T ERR present RW Set when the calculated thermal energy stored in the physical motor exceeds a limit Condition is that Reg16 I2T gets larger than Reg17 I2TLIM Bit 1 FLW_ERR Set if the follow error in Reg20 FLWERR gets larger than Reg22 FLWERRMAX Never set if Reg22 FIWERRMAX is zero Bit 2 FNC ERR Set if the function error in Reg24 FNCERR get slarger than Reg26 FNCERRMAX Never set if Reg26 FNCERRMAX is zero Bit 3 UIT ERR Set when the calculated energy temperature in the internal brake resistor power dump get dangerousl high Bit 4 IN POS In Position mode status of when whether the motor position is inside the inposition window defined by Reg
265. ete list of registers and explain the func tion of each register Please notice that the registers in the MAC50 to 141 is not fully equal to the registers in the MAC400 and 800 motors Each group of motors therefore have its own register list Most of the most common used registers are though equal but scaling and the length l6bit or 32bit of the registers may vary from between the 2 motor families JVL Industri Elektronik A S User Manual Integrated Servo Motors MACO50 3000 361 9 12 5 12 2 MACBO to 141 register list The following list is only valid for the MAC50 MAC95 MACI40 and MACI4 motors including sub versions Internal registers Firmware MacReglo MacTalk Range Size Description Name Name Default Access ooc NWA Dummy register do not use PROG_VERSION Displayed on Firmware version number bottom right status line 2 MODE_REG Startup mode The actual operating mode of the drive Change actual mode In general the motor will either be passive attempt to reach a certain position attempt to maintain a constant velocity or attempt to produce a constant torque The various modes define the main type of operation as well as what determines the setpoint for that operation The special cases 256 258 are used to perform a few special operations on the entire set of registers Supported values are 0 Passive mode The axis is not controlled by the drive and can easily be moved by hand or ex
266. etween the motor and the MACOO FCx the PDOs takes a certain time to process The following table shows the processing time for the PDOs 12 5ms 10 5ms Note that Transmit 2 is faster if P IST scanning is enabled See object 201 Ih subindex 8 gt Note that Transmit PDO22 is faster if V IST scanning is enabled See object 201 Ih 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 time of the active transmit PDOs an internal queue overflow error occurs JVL Industri Elektronik A S User Manual Integrated Servo Motors MACO50 3000 4 5 4 5 36 Expansion Module MACOO FC2 FC4 DSP 402 Support Introduction The MACOO FCx supports the DSP 402 standard from CiA http www can cia com Please refer to this standard for full details of the functions The DSP 402 is only a standard proposal and might be changed in the future We reserve the right to change future firmware versions to conform to new versions of the standard Not all of the functionality 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 ver
267. ev olution this pulse can be used as the mechanical zero avoiding having any external sensors involved which simplify the mechanics and the cabling This Zero search mode is similar to the Enc Quick Index Zero search mode except that its done slower but also with a much better precision since the index pulse is sampled with a tolerance of 100uS but will need a few seconds to do depending on the Zero search speed and overall acceleration used When the Enc Index Zero search is carried out the motor will be moving exactly 1 5 revolution in total Then a pause of 1 3 seconds is used to stabilize the motor position and do various calculations Select the mechanical zero Vy ero search Zero search mode Enc index e search mode using this field E cindex after zero search Zero search position 1000 1000 Counts The index position is sampled in the exact EE 50 RPM position where it was detected 100 5 during the movement of 1 5 revolution ero search torque 100 100 The position where the index pulse Velocity was found the distance moved since is applied to the Actual position counter The Zero search is finished and Zero search position is an optional B the selected startup mode is used offset See description in other chapter 4 Zero search velocity defines the i velocity used during Zero search 1_ Zero search kip The sign of the specified velocity Index status 1 3 Sec de
268. evel RS2Se 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 proces sor communicates with the MAC motor the TX and RX terminals can normally interface directly JVL Industri Elektronik A S User Manual Integrated Servo Motors MACO50 3000 3 4 User 1 0 Note screen only connected to signal source or User l O Potentiometer gt DE ae Axis controller 10V out 1 Main signal ground 2 Analogue input 10V Connector cable part Manufacturer AMP TRU Housing 770602 8 2 54mm pitch In some operation modes the analog input is used as digital input Crimp contacts 770601 The trigger level is then fixed to 7 5V TTO913GB 3 4 1 Analogue input The analogue input can be used for two purposes in the basic MAC motor Asan analogue control input when the MAC motor is used for either velocity control or torque control 2 Asa Zero Sensor input when the MAC motor is used in position or gear mode For further information see Mechanical Zero search page 32 The input is automatically used as an an alogue 10 input when the Start up FA MacTalk Noname mode in the MacTalk main window is set to one of the 7 mod
269. evel of safety The standard prescribes 5 categories B 2 3 and 4 where B represents the lowest level and 4 the highest JVL Industri Elektronik A S User Manual Integrated Servo Motors MACO50 3000 341 5 7 Emergency stop considerations DS EN ISO 13849 utilizes another criterion for safety level called the Performance level PL in which both the architecture and the component s failure rate are included 5 PL levels are defined a b c d and e where a represents the lowest level and e the highest If DS EN ISO 13849 1 is used information 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 4 in accordance with DS EN 954 Safety circuits for emergency stop dual channel with manual reset and Single phase 90 240 VAC MAC400 or MACBOO PE LI 3 23 33 43 1424 34 44 Base unit PHC Expander unit P p power bus PMO pa3 2p Sil 812 552 S21 522 533 M 537 I ia UL Applications 53 Prefuse T 10A02230VAC or To full fill UL requirements T20A 2 5VAC type gG or Dz the prefuse must be a in the phase line rated for class RES
270. ex RS422 3 19 2kbaud Full Duplex RS422 3 19 2kbaud Full Duplex RS422 3 19 2kbaud Full Duplex RS422 3 19 2kbaud Full Duplex RS422 3 19 2kbaud Full Duplex Accepts pulse and direction or quadrature encoder signal Pulse inputs RS422 3 2 5Mhz or 150kHz LP RS422 3 2 5Mhz or 150kHz LP RS422 3 2 5Mhz or 150kHz LP RS422 3 2 5Mhz or 150kHz LP RS422 3 2 5Mhz or 150kHz LP RS422 3 2 5Mhz or 150kHz LP RS422 3 2 5Mhz or 150kHz LP RS422 3 2 5Mhz or 150kHz LP RS422 3 2 5Mhz or 150kHz LP RS422 3 2 5Mhz or 150kHz LP RS422 3 2 5Mhz or 150kHz LP RS422 3 2 5Mhz or 150kHz LP Pulse outputs 90 degree phase shifted outputs from internal encoder Digital user inputs For control of program flow or motor start stop RS422 3 4096 cpr Z RS422 3 4096 cpr RS422 3 8192 cpr RS422 3 8192 cpr RS422 3 8192 cpr RS422 3 8192 RS422 3 8000 cpr 8192 RS422 3 8000 cpr 8192 0 RS422 3 8192 cpr RS422 3 8192 cpr 0 RS422 3 8192 cpr RS422 3 8192 cpr 2 For indicating the motor status or as output from the program Digital user outputs 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
271. external 4 20mA source that feed the MACOO P5 current input Solutions to avoid error Check the cable feeding the 4 20mA input Make sure that the 4 20mA signal stay at a level higher than 2 0mA How to return to normal Reset the motor clear the error bit s in register 35 or cycle the operation 24VDC power Error bit Firmware name Bit 22 CURLOOP ERR 2 7 22 Error message Slave error only MAC400 to 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 he motor is setup as master but it has not been possible to reach a slave motor A connected slave motor has discovered an error See the slave error register Solutions to avoid error If the actual system is a master slave configuration make sure that a slave motor is present Make sure that the cabling is made in a proper manner with twisted pair wires and screened cable Make sure that the opposite unit in the communication system uses same parameters such as baudrate etc How to return to normal Reset the motor clear the error bit s in register 35 or cycle the operation 24VDC power Error bit Firmware name Bit 23 SLAVE ERR 50 JVL Industri Ele
272. external main connections are shown in the illustration below Basic MAC motor with MACOO RI R3 or R4 module inserted Basic MAC motor MACO50 to 800 Power supply MAC50 141 12 48V MAC400 800 24V Analogue input or Zero search input 10V nom or up to 32V P l Power supply AIN RE Analogue input Optocoupler YiK Multifunction I O setup as serial data Digital inputs Control and outputs Voltagerange 5 32V Optocoupler Driver De 2 channel differential Transceiver Asynchronous serial interface SE MACOO R4 offers a common I O ground IO and ICM OCM are not present Status outputs 2 RS485 Interface Interface Control Asynchronous interface GND RS232 Interface TT1011GB Opto couplers Opto coupler Reverse polarity Infineon type Infineon type protection Opto isolation SFH6943 SFH6943 5 6kOhm 4 7nF Control Core 4 pcs PNP outputs Max 500mA per output output driver VN340 ST 1 On the MACOO RI a LED is connected between each of the outputs Ol 4 to On the MACOO R4 module input ground ICM and output ground OCM are tied together internally to common connector terminal IO TTIOI2GB Connections to the interface and basic motor JVL Industri Elektronik A S User Manual Integrated Servo Motors MACO50 3000 303 4 10 Expansion Module MACOO
273. f all step resolutions 32 bit 0 32767 pulses Position range 32 bit Infinity Flip over at x2 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 19200 bit sec 19 2kBaud 67 000 000 0 3000 RPM 0 3606 RPM 250 444 675 RPM sec Point to point on RS422 Up to 32 units on the same serial RS232 RS485 interface with built in expansion module Ad Communication Baud rate Position range Speed range Digital resolution Acceleration range Addressing dress range 1 254 Standard 85 With MacReglO software 156 Only for experts Max 4 RPM variance between command and actual speed Number of parameters Speed variance SPEED TORQUE Analogue speed torque input 11bit sign nom input voltage 10V 10kOhm input resistance Voltage range max 10 to 32VDC Offset typical 50mV Sampling rate at analogue input Encoder output signals A A B B RS422 Line driver Typical 1 1 3 7 Volt outputs SN75176 90 Phase shifted Analogue speed input Zero speed determination Speed variance at rated speed Initial error 20 C 0 0 Power Supply 10 0 0 Ambient temperature 0 40 C 0 0005 50 Torque limit in speed mode 0 300 by parameter Analogue torque input Torque control accuracy VARIOUS ee E Electromechanical brake Regenerative Protective functions Erro
274. fines the zero search direction Zero search torque is NOT used The index is detected somewhere in this range in this zero search mode a Time TTII87GB Configuration via motor registers When the configuration is done by channels other than MacTalk such as Ethernet Profi bus CAN open etc or just a simple interface connection to the basic motor the follow ing description must be followed Start the Enc Index Zero search Write the decimal value 25 into the MODE REG register 2 This will immidiately start the Zero search The value is expressed in 32 bits unsigned Set the Zero search velocity Write the velocity value into the register V HOME register 40 Notice that the sign will determine the Zero search direction A velocity expressed as 100 RPM must be written as 277 1 RPM 2 77 The value is expressed in 32 bits signed Concerning setting of Zero search position see Making a Zero point offset page 38 JVL Industri Elektronik A S User Manual Integrated Servo Motors MACO50 3000 2 6 9 2 6 10 Mechanical Zero search Enc Quick Index Zero search The internal optical encoder in the MAC motor also contains a so called index pulse which is a very short 4 counts distance which is only present active one time per mo tor revolution For applications where the working range is always less or equal one revolution this pulse can be used as the mechanical zero avoiding having
275. fline eRxP Setup Updates Help D O La Save Save fash Resetposition ClearErrors Communication settings Click to expand Main Registers Advanced Filter parameters Tests Scope RxP programming Startup mode Y Error handling 9 Passive V Change actual mode Max Follow errors 2 Velocity Position Position Rot table Min 2 Gear Position Rot table Max Gear Follow Analogue velocity Error deceleration Analogue velocity with deadband Analogue velocity gear Y Inputs Outputs Velocity analogue torque Output 1 O1 User controlled gt Analogue torque direct Output 2 02 User controlled gear Invert In position output O1 oi cn Analoge Invert Error output O2 _ i Analogue to position IJO Type Seriel Data Profile data Positive edge position capture Max velocity Negative edge position capture _ iDisable brake n Acceleration Analogue input offset 2 50 2 5 S Curve 5 VW Zero search TT1177 01GB 108 JVL Industri Elektronik A S User Manual Integrated Servo Motors MACO50 3000 3 4 User 1 0 Status outputs of the MAC motor Power Supply User I O Max 32VDC Max 25mA peroutput Note The outputs are notshortcircuit protected Connector cable part Manufacturer AMP Housing 770602 8 2 54mm pitch Crimp contacts 770601 EMC filter EMC filter TT0917GB 3 4 3 Status Outputs
276. following hardware differences class VO andinterface and interface Power supply Bus interface Cable glands Cable glands Cable glands x 2 MACOO FP2 IP67 IP65 Mini crimp connec Screw terminals Screw terminals Y ones internally PES on MAC400 800 Both modules are delivered without any cables as standard Optionally the 2 module can be delivered with cable in selected lengths Also cables for the MACOO FP4 with M2 connectors are available The first part of this section deals with the common features of both modules Please see the latter pages for specific information about each module such as example connection diagrams A list of the typically used registers can be found in Serial Quick Guide MacTalk proto col page 357 The FlexMac commands are described in FastMac commands page 240 232 JVL Industri Elektronik A S User Manual Integrated Servo Motors MACO50 3000 4 7 Expansion Module MACOO FP2 FP4 4 7 2 MACOO FP2 and FP4 Address and Termination setup Each unit connected to the Profibus must be set up with a unique address The illustration below shows how the address and termination can be set on the internal dip switch The dip switch is located on the internal circuit board MACOO FP2 and FP4 Dip switch settings Please notice that in newer modules with firmware 3 01 or newer the address Rear side of the MACOO FP2 or FP4 can only be set by software Mini dip switc
277. functionality previ ously described The SSI position is stored in register P8 which is displayed under this section too The value is also accessible from the register tab Reset position procedure To reset the motor to a specific position first read the SSI encoder value by setting reg ister 211 This will reset the motor and read the SSI value Next set the Reset bit in the SSI SETUP register register 78 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 automatically be used when the motor starts up previously explained If this preset value is to be used simply write the position to position register P4 register 55 and save the value to flash memory by writing 211 2 Read SSI procedure Every time the motor is power cycled or a software is commanded the SSI encoder is read at startup To do a software reset simply write register 21 and let the motor startup The reading and the startup will take approximately 1 2 seconds JVL Industri Elektronik A S User Manual Integrated Servo Motors MACO50 3000 2 10 Using external SSI encoder I O Setup Because of the strict timing in the motor it is not possible to read the encoder value when motor has
278. ge must stay in the range 12 32VDC See also the How to connect the power supply only MAC800 page 97 or Power supply circuitry only MAC800 page 96 Power supply connections to a MAC140 and a MAC800 mounted with a M ACOO B1 B2 or B4 modules M ake sure that all Power supply involved units are connected to the same potential 12 48VDC Bus voltage 12 32VDC control voltage with MACOO B1 B2 or B4 It is recommended that a separate supply Power line is used for each motor Supply Control voltage Only MAC50 141 with B2 or B4 Optional MAC800 Motor with MACOO B1 B2 or B4 ied _ woe sane Mains 230VAC Main supply gt TT1053GB 120 JVL Industri Elektronik A S User Manual Integrated Servo Motors MACO50 3000 4 2 Expansion Module MACOO B1 B2 B4 Analogue input connection at the MAC motor mounted with a M ACOO B1 B2 or B4 modules Connected to a external controller Position or M AC motor M ake sure that all velocity 4MACOO B1 B2 or B4 involved units are controller connected to the same potential 10V out d AIN analogue input NN Ground v GND ground Note screen only connected to signal source Connected to a potentiometer W If only 24V supply is available MAC motor M ake sure that all insert a 2 7k resistor here M ACOO B1 B2 or B4 involved units are connected to the same potential Power supply
279. gear mode but the position range can be limited in such a manner that the motor changes direction every time the upper limit is reached and also if the lower limit is reached Both limits can be adjusted The mode is intended to be used for con trolling a wire cable guider on a winding machine The guide will follow the position of the coil driven by a main motor and using this mode it is possible to feed the wire in a very precise position regardless of the speed at which the main motor is run ning continued next page JVL Industri Elektronik A S User Manual Integrated Servo Motors MACO50 3000 7 1 2 Overall description Analogue bi position mode The motor will move a certain distance or go to one of 2 positions depending on the voltage 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 set up in 2 internal registers and saved permanently in the motor Analogue to position The position of the motor will change proportionally with the voltage at the analogue input between the zero position and a predefined position A typical apllication could be controlling a valve position using a voltage or a current control signal JVL Industri Elektronik A S User Manual Integrated Servo Motors MACO50 3000 1 2 Overall description All the motor families with subfeatures is shown below MAC Motors f
280. grated Servo Motors MACO50 3000 3 2 Power Supply 3 2 27 Current consumption The supply current measured in each of the 3 supply phases is as follows MAC1500 at nominal shaft load at 3000RPM 400VAC 460VAC 480VAC 460VAC 480VAC 15 18 ARMS 12 48 ARMS Please notice that the current values shown above is nominal values Higher values may appear depending on the quality of the supply 3 2 28 Emergency stop Please consult the chapter Emergency stop considerations page 339 JVL Industri Elektronik A S User Manual Integrated Servo Motors MACO50 3000 101 3 2 3 2 29 3 2 30 3 2 31 102 Power Supply How to connect power supply only MAC1500 amp The low voltage 24VDC power supply for the control circuitry is connected through the expansion module at the terminals called P and P or directly at the internal power supply connector The Main power 400 480VAC nom must be applied according to the illustration below Main power input connector Pin PE Earth Pin 6 Not in use Do not connect Pin 4 L2 V phase 400 480VAC Pin 2 L1 U phase 400 480VAC Pin 1 Not in use Do not connect Pin 5 L3 W phase 400 480VAC Terminal descriptions LI 400 480VAC input U phase WARNING Please be aware that high voltage can be present also when the terminal is unconnected L2 400 480VAC input V phase WARNING Please be aware that high voltage can be present also when the te
281. ground Isolation groups The MACOO R4 offers optical isolation at the digital inputs and outputs IN1 8 and O1 4 The table above shows a number for each pin This number refers to the isolation group to which the terminal is connected Isolation group 1 means that the terminal refers to the main ground Isolation group 2 means that the terminal refers to the I O ground IO O3 O4 AIN 4 10 18 Dip switch for R8232 TxPD Transmit pull down Default factory setting are On Then SW1 is on TX and TX PD are wired together TT1129GB If the MAC motor is connected to the same RS232 line as other motors the terminal TX PD should only be connected on one of the motors 310 JVL Industri Elektronik A S User Manual Integrated Servo Motors MACO50 3000 4 10 Expansion Module MACOO R1 R3 R4 4 10 19 Cables for the MACOO R4 The following cables equipped with 12 connector can be supplied by JVL MACOO R4 Connectors Description JVL Order no 101 IO2 COM PWR 8 pi a ie Female Female Male RS232 Interface cable Connects directly from MACOO R4 to PC Length 5m 197 inch Cable 05 5mm with M12 female 5 pin connector loose ends 0 35mme _ 22AWG and screen WI1000 M12F5TO5N Length 5m 197 inch Cable with M12 male 5 pin connec tor loose wire ends 0 35mm 22AWG and screen 85232 M 5 5 Length 5m 197 inch Cable with M12 female 8 pin connector loose wir
282. h expansion module Dip 1 7 Address setting address range 0 127 Dip 8 Address set by software Dip 9 10 Line termination Both set to ON Term enabled Both set to OFF Term disabled e 0000000000 Notes SW default setting All switches set to ON except 9 10 which are OFF which corresponds to Address is set by software Termination disabled Address set by software DIP8 means that the profibus address will automatically be set to the same value as the motor address Dip switch location on the MACOO FP2 Expansion module Cable glands Basic MAC motor housing Internal circuit boards Profibus and I O Dip Switch placed connectors on the rear side of the TT0946GB module Important On newer modules with firmware 3 01 or 3 02 the dip switch to 8 has been disabled and the address can only be set in software by using for example MacTalk Please contact your JVL distributor if it is crucial to use the dip switch for address setup JVL Industri Elektronik A S User Manual Integrated Servo Motors MACO50 3000 233 4 7 Expansion Module MACOO FP2 FP4 4 7 3 Output data Master gt Slave The MACOO FP2 FP4 module contains 9 bytes of output data DW ma Write data For 16 bit registers the data must be placed in Write data 0 and Write data For 32 bit registers the data must be placed in Write data 0 3 Write register selector The number of the regi
283. h module has it s own unique address so the PC PLC can address one module at atime and receive an answer on the shared line It can then address the next module with another address For this to work exactly one of the modules on the line must have the passive pull down resistor enabled If there is only one module connected to the PC PLC that module must have its pull down 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 9200 baud and address Opto isolation is recommended and always use screen cable The interface cable should not exceed more than 10 meters Make sure that GND is also connected Important information concerning RS 485 Please read this before using RS 485 serial port This note describes some important de tails of using this interface The most important difference to a standard RS 485 solution is that the MACOO xx modules drive the line transmit mode for up to one byte time longer than required JVL Industri Elektronik A S User Manual Integrated Servo Motors MACO50 3000 9 9 Bus serial communication The MACOO xx modules translate between the 5V TTL level RS 232 used by the basic motors 50 95 MACI40 MACI41 MAC800 and standard RS 485 and RS232 signals
284. h 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 JVL Industri Elektronik A S User Manual Integrated Servo Motors MACO50 3000 89 3 2 Power Supply 3 2 10 Sizing the external fuse Prefuse When using 1 15V supply voltage To met UL requirements the prefuse must be a class RK5 such as the type FRN R 10 10Amp from manufacturer Cooper Bussmann INC When using 230V supply voltage Prefuse T6 3A 230VAC type gG Do or Dz in the phase line Rated for600V 150kA 3 2 11 Connecting an external power dump resistor MAC400 with external power dump connection PD activated BO PD V when voltage exceeds 400V b Note Its only necessary to connect screen to signal source Time Voltage Energy fed back from 8 V the motor to the DC bus 1 R Use a value of 33 Nom 325VDC to 68 Ohm 50W Wirewound Time Velocity TTI173GB Time Shielding housing must be connected to earth Terminal description for the Dump connector CM Common Is internally connected to the ground of the DC bus Is only intended to be used if multiple motors share DC bus BO Bus output The internal DC bus is connected to this terminal PD Power Dump output Behind this terminal is placed a switch IGBT transistor which connect the terminal
285. has been transmitted It is a common requirement in many protocols to require a pause of 1 5 bytes times or more between telegrams With the JVL MacTalk protocol this pause can be considered to be two byte times at 19200 baud and six byte times at 5 7600 baud JVL Industri Elektronik A S User Manual Integrated Servo Motors MACO50 3000 349 5 10 Serial communication 5 10 1 Controlling the MAC motors and MACOO xx modules using serial com munications Introduction This chapter provides information on the operations that can be performed over serial lines either RS 232 or RS 485 In addition to regular register reads and writes a number of typical operations like Reset and Save in Flash memory is described Additionally this chapter describes how the MacTalk Windows program performs some of the more special operations available from the MacTalk program menus and buttons General information There are two serial channels to the basic MAC motors One of them always uses the MacTalk protocol and the other one always uses the FastMac protocol Communications can be used simultaneously on both channels The FastMac channel is a point to point connection where there can be only one client communicating with the basic motor while the MacTalk channel can be used to connect several motors to one controlling computer or PLC The FastMac channel consists of two sets of differential signals one for data sent to the motor and one fo
286. hat can be accessed explicitly for con figuration from the Devicenet network Another method for doing Zero search is to setup the motor for doing Zero search at startup selecting one of the Power up Zero search modes This can be done from the MacTalk configuration software and can be setup permanent the motor without any further actions done through the DeviceNet interface Please consult the chapter Me chanical Zero search page 32 If this method is prefered the motor will automaticaly perform the Zero search every time the motor is powered up or the 24V control supply is cycled Reading and clearing error codes The register 35 is a combined error status register that represent the actual information about errors and the current motor status accelerating decelerating motor in position etc All this information is put into a single register that can be read all the time To clear the errors either write register 35 0 Another method is to execute the special command 225 This is done by writing to reg ister 21 which will clear any actual errors Please notice that some errors are regarded as fatal and needs 24V power cycle to be cleared Please consult the chapter Error messages and error handling page 40 for further details about all the error types and what may have caused the error situation Resetting the position Sometimes it is necessary to reset the actual position counter When done manually it requires
287. he intended position is higher than the value specified in the Max imum follow error field in MacTalk Possible cause of this error The motor has been applied too high a load or the maximum fol low error value have been set at an unrealistic low value in re gards to the actual hardness of the servo filter Solutions to avoid error Increase the Maximum follow error value Adjust the servo filter hardness to a more aggressive value Make sure that the torque setting is not limiting the motor movement Set the Maximum follow error to O default which will disa ble the detection of this error type How to return to normal Reset the motor clear the error bit s in register 35 or cycle the operation power Error bit Firmware name Bit 1 FLW ERR Error message Function error Message Message 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 MacTalk it will trigger the function error If the actual motor torque never reaches the val ue specified in the torque field this error will never be triggered The above condition is valid when
288. he MACO00 B4 Setting up relevant parameters for using gear mode Optionally setting up input for enabling disabling motor operation enable input Optionally setting up input 2 as a coupling input for enabling the motor to follow the encoder or staying stationary at 0 RPM keeping the position Step Start by connecting the encoder to the multifunction IO channel according to the illus tration below This example is showing an encoder equipped with a 24V PNP source output A serial resistor must be inserted since the IO channels at the MACOO B4 is made for handling RS422 levels which means that no more than 5V must be applied Higher levels will be destructive Remember to set the internal dipswitch correctly in order to setup the module to handle a signal source with a PNP output See also General description Multifunction l O page 140 for configurering the MACOO B41 to other l O s formats than the PNP used in this example Concerning the physical connector layout of the O2 connector please see Expansion connector description page 147 Connecting 24 PNP source encoder to the 0 4 module MAC motor with MACOO0 B4 expansion module Warning Never connect voltages higher than 5V directly to Incremental encoder i the A terminals since with 24V PNP single this can damage the inputs ended output E S Screened cableis Multifunction 2
289. he STO function is to obtain a high safety level and make sure that no misunderstandings will occur concerning whether the STO func tion is active or not 82 JVL Industri Elektronik A S User Manual Integrated Servo Motors MACO50 3000 Hardware description JVL Industri Elektronik A S User Manual Integrated Servo Motors MACO50 3000 83 3 1 Connector overview Connector overview for the basic MAC motors Basic MAC050 14 motor Basic MAC 400 motor Basic MAC 800 motor Error LED red Rear end Rear end Power LED green M2 5 mounting threads for M2 5 mounting threads for M2 5 mounting threads expansion module Q RS232 Interface Signal levels 5V 4 Ground expansion module for expansion module User I O Power Supply Main signal ground Analogue input 10V 3 Transmit Tx 5V _ 2 Receive Rx 5V Status outputs 12 48VDC 5VDC out max 30mA Connector cable part Manufacturer JST Type ZHR 4 1 5mm pitch Crimp contacts SZH 002T P0 5 GND Multifunction I O cir see text Manufacturer Molex Maximum 5V Housing 09 9 0200 3 96 pitch Crimp contacts 08 50 106 Connector cable part Manufacturer AMP TTII6IGB Housing 770602 8 2 54mm pitch Crimp contacts 770601 3 1 1 Connector description The basic MAC motor is equipped with 3 connectors RS232 Interface The motor setup and monitoring is done via this interface The windows ba
290. he motor must be reset or power cycled to clear this error It is considered unsafe to continue because the electronics may not work correctly and may have lost data Bit 18 SHORT_CIRC This bit is not used with the 400 Watts or higher motors Bit 19 VAC_ON Reflects the status of detection of the mains AC input 230 or 120 VAC This bit is set when AC is detected and cleared when AC is not detected The motor will refuse to enter an active mode if it detects that AC is not present It will refuse to activate the power dump brake resistor if it determines that this bit is set Bit 20 PWM_LOCKED A critical error has occurred that makes further motor operation too unsafe to continue The motor must be reset to clear this error The cause of this error is one or more of bits IPEAK ERR INDEX ERR OLDFILTER U24V ERR At least one of these bits will be set when PWM LOCKED is set Bit 21 COMM ERR Communications error master or slave timeout with Modbus Gear mode Bit 22 CURLOOP ERR Less than 2 mA was detected on the 4 20 mA input on the MACOO P4 P5 module for more than 100 ms Bit 23 SLAVE ERR One or more error bits were set in an ERR STAT reading from the Modbus slave or COMM ERR Bit 24 ANY ERR single bit to make easier on PLCs to chefkc if the motor has any error bits set Reflect the logical operation of ERR STAT and ALL ERROR BITS different from zero Bit 25 INIT ERR Set if error was detected during motor startup that could preve
291. he signals but allows the user access to the FastMac protocol When mounted with intelligent modules the MacTalk channel is shared between the modules and the basic motor This means that data received on the module interface will be received by both the module and the motor at the same time while data sent from either the module or the motor will be combined in hardware and sent via the module interface connectors or cables 350 JVL Industri Elektronik A S User Manual Integrated Servo Motors MACO50 3000 5 10 Serial communication Some telegrams are handled and answered by the motor and other telegrams are han dled and answered by the module No telegrams are handled by both the motor and the module except for the command to select a baud rate of 57600 baud An exception to this coupling is the series of MACOO FSx modules These intelligent modules do not use the FastMac channel but allows the user exclusive access to it They share the MacTalk channel in the same way as the other intelligent modules but with the additional functionality that the FSx module uses the MacTalk channel to communi cate with the basic motor This means that the motor can experience conflicting traffic when both the FSx module and an outside computer try to talk on the line at the same time The FSx module detects traffic and will only start sending data to the motor on the MacTalk channel after the channel has been idle for several secon
292. he slave These parameters are setup during startup and cannot be changed during operation XX Input level Using these parameters the input level of the inputs INI IN2 IN3 IN4 NL and PL can be selected Possible values Active high The input will be active when a signal is applied Active low The input will be active when no signal is applied End limit action Using this parameter the action taken when an end limit is activated can be selected Possible values Velocity 0 When the end limit is activated the velocity will be set to 0 and the motor will decelerate and stop If the motor 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 Input debounce Using this parameter an input filter can be activated Possible values Disabled No filtering will be done on the inputs Enabled The inputs are filtered resulting in better noise immunity but slower response When the filter is enabled there will be a delay at the input of about 5ms Input x action Using these parameters up to 3 actions can be assigned to each input These actions are used when the custo
293. hen NOT using MacTalk The procedure for adjusting the an encoder offset and thereby resetting a certain motor position to be zero position Actual position 0 is basically described in 4 steps Set bit 7 in register 236 which will activate the extended encoder operation 2 Write 0 or another position value to register 4 P NEW The actual motor position will preset to the value written here in the next steps of this sequence 3 To actually preset the position value one of the following actions can be done Write 247 to register 21 COMMAND or alternatively set bit 6 in register 36 CNTRL BITS without changing the other bits 4 Save the new settings permanently in the flash memory This procedure is basically performed from the command register 2 1 by writing 211 2 When using a bus module please refer to the manual of actual type of bus module to do the save in flash operation Please notice that if the value is not stored in the flash memory the zero point is lost after a power cycle and the extended encoder option will not be activated For MAC800 users The encoder resolution at the MAC800 with absolute multi turn encoder is default 8192 The resolution can optionally be set to 8000 by setting bit 21 in register 39 HW SETUP Remember to save the change in flash memory according to step 4 shown above JVL Industri Elektronik A S User Manual Integrated Servo Motors MACO50 3000 2 11 2 11 9 Absolute Multitu
294. his section also covers the settings of the trans mit and receive PDOs in the module From section 4 3 21 to section 4 3 37 Survey over objects which are used in connection with the DSP 402 standard From section 4 3 38 to section 4 3 45 Cables for the MACOO FC4 section 4 3 46 Section with more detail explanations to the CANopen theory particularly DS 301 From section 4 3 47 to section 4 3 53 JVL Industri Elektronik A S User Manual Integrated Servo Motors MACO50 3000 151 4 5 Expansion Module MACOO FC2 FC4 4 5 2 CANopen Introduction The MACOO FC2 and FC4 expansion modules are CANopen slaves With these mod ules all of the registers in the MAC motor can be accessed over a CANopen network The modules implement an object dictionary that follows the DS 301 standard The modules contain a number of statically mapped PDOs that can be used to access the most common registers The MACOO FC2 and FC4 also support the DSP 402 standard from CiA Expansion modules MACOO FC2 and FC4 can be mounted on the standard MAC motors MAC50 MAC95 MACI40 MACI41I MAC400 and MAC800 Both modules offer the same functionality but with the following hardware differences Protection Connectors class I O and interface Power supply Cable glands Cable glands Cable glands x 2 MACOO FC2 P67 IP65 Mini crimp connec Screw terminals in Screw terminals in tors internally ternally ternally
295. ical Reference Guide which must be requested separately and is not part of this user manual See also MacTalk communication page 357 Multifunction I O s used as balanced serial interface User I O External RS422 com port Signal GND Termination resistor 1 20 270 Ohm is recommended To from internal control circuitry RS422 I O balanced Connector Manufacturer AMP Twisted pair cable is recommended Type 770602 8 2 54mm 0 1 pitch TT0932GB The Multifunction l O s must be set up in Mac Talk to function as a serial communication interface Man Registers Advanced Filter parameters Tests Scope Startup mode V handling Passive Iv Change actual mode Follow error 0 Counts C Velocit ay Function eror Counts Gear C C Analogue velocity Position limit max 0 Counts Analogue velocity with deadband Analogue velocity gear Error acceleration 0 RPMS munication can r Velocity analogue longue Position limit rin 0 Counts The serial com V Inputs Outputs Dutput 1 07 be used in all C Analogue torque direct modes Analogue gear C Invert Qutput 2 02 C Analogue brposition 101 User controlled 102 User controlled Protile data Max velocity The Multifunction I O s are setup as a serial data communication TT0931GB interface in this field JVL Industri Elektronik A S User Manual Integrate
296. ication Freeze Mode supp 0 Sync Mode supp 0 Auto Baud Min Slave Intervall Max Diag Data Len 8 Modul Offset 0 Slave Family 0 OrderNumber MACOO FPx JVL Industri Elektronik A S User Manual Integrated Servo Motors MACO50 3000 249 4 7 Expansion Module MACOO FP2 FP4 UserPrmData Length and Preset PrmText Text 0 Active low Text l Active high EndPrmText PrmText 2 Text 0 Velocity 0 Text l Passive mode EndPrmText PrmText 3 Text 0 Disabled Text 1 Enabled EndPrmText ExtUserPrmData INI Input level Bit 0 O Prm_Text_Ref EndExtUserPrmData ExtUserPrmData 2 IN2 Input level Bit 1 O Prm_Text_Ref EndExtUserPrmData ExtUserPrmData 3 IN3 Input level Bit 2 O Prm_Text_Ref EndExtUserPrmData ExtUserPrmData 4 IN4 Input level Bit 3 1 0 1 Prm_Text_Ref EndExtUserPrmData ExtUserPrmData 5 NL Input level Bit 4 O Prm_Text_Ref EndExtUserPrmData ExtUserPrmData 6 PL Input level Bit 5 O Prm_Text_Ref EndExtUserPrmData ExtUserPrmData 7 Endlimit action 0 0 0 1 Prm_Text_Ref 2 EndExtUserPrmData ExtUserPrmData 8 Input Action UnSigned8 0 0 255 EndExtUserPrmData 250 JVL Industri Elektronik A S User Manual Integrated Servo Motors MACO50 3000 4 7 Expansion Module MACOO FP2 FP4 ExtUserPrmData 9 Input 2 Action UnSigned8 0 0 255 EndExtUserPrm
297. ifier controller Controller capacity po 00 02503 MAC800 D5 D6 w brake Rated output so00RPM b ew ew Rated Torque RMS PeakTorque f _ 238 68 238 6 Inertia kgom 0 91 1 138 ego Maximum angular acceleration 40000rad sec 40000rad se tenth _ 2mm O Weight without expansion module e fesk 1430 Audible noise level measured in 30cm distance SBA Backlash when brake is activated 80 degree Amplifier control system Sinusoidal wave PWM control 20kHz switching Filter 6 th order filter with only one inertia load factor parameter to be adjusted Expert tuning also available for professionals Feedback Incremental A and B encoder 8000 CPR Physical 2000 PPR Optional multiturn absolute encoder Input power supply 115 230 240VAC 10 for main power circuit 18 32VDC for control circuit Consumption at 115 240VAC see power supply section Control circuitry consumption MAC800D1 2 and 3 wo brake 0 25A 24VDC 6W Control circuitry consumption MAC800D4 5 and 6 w brake 0 75A 24VDC 18W Control modes 10V Speed and Torque A B encoder outputs Pulse direction and 90 phase shifted A B Incremental RS422 or RS232 5V position and parameter commands Gear mode with analogue input speed offset different options Sensor Zero search or mechanical Zero search Front 80x80mm Rear 80x113mm Shaft 19m
298. ignal lines i e RS232 Digital input 1 4 Limit inputs NL and PL and the Digital out puts 1 4 Digital Inputs Internal connector J2 Signal name IN1 IN2 N N Co Digital input 4 Violet white Negative limit input If not used do not connect Grey r Positive limit input If not used do not connect Grey black 7 on This ground is shared with the output Pink black Reserved Black white Secondary supply Used during emergency stop Light green Secondary supply Used during emergency stop White Digital Outputs Internal connector J4 et for outputs Must be connected to an ext Red white Digital output 1 PNP output Green white Digital output 2 PNP output Yellow black 2 Oo Signal name N OJO ground This ground is shared with the input Black ground Interface including analogue input Internal connector J1 Analogue input 10V or Zero sensor input Orange GND Ground for AIN Brown Cable Screen The cable screen is internally connected to motor housing Externally it must be connected to earth Orange Black is not used internally It must be left unconnected Z O Signal name TXPD 29235 2 2 The light green wire CV can be difficult to distinguish from the green wire TX on some cables 202 JVL Industri Elektronik A S User Manual Integrated Servo Motors MACO50 3000 4 5 Expansion Module MACOO FC2 FC4
299. iion mode 3 position mode position 2 Finally push the Start botton and the motorwill start moving if the speed and other general parameters are set to Optionally propper values 2 Define a delay pause at each position before continuing the movement Illustration of the motor movement when the Test function is used Velocity d p C gt 1 Please notice that the movement is fully controlled by MacTalk If the communication cable is un plugged the movement will stop at the last demanded position Also some slight timing variations may exist depending at the windows opera tion system and which other application running at the PC at the same time Important Make sure that no other communication takes place when using the Test function since it may interrupt the function of the test 18 JVL Industri Elektronik A S User Manual Integrated Servo Motors MACO50 3000 Function description JVL Industri Elektronik A S User Manual Integrated Servo Motors MACO50 3000 2 1 Using Position mode 2 1 1 Position mode 20 Follow the description below to set up the MAC motor in Position mode The MacTalk program is used to set up the motor initially During normal operation po sitioning commands can either be given through MacTalk or via one of the serial interfac es The main window in MacTalk is as follows when position mode is selected Startup mode Choose Position mode
300. ilable at the external connector at MACOO B4 Use the internal switch to enable the feature Asynchronous serial interface SF RS232 Interface TT1052GB 4 2 3 General hardware description The MACOO BI B2 and B4 modules offer the following external connections e Power supply P P These terminals are used for the main supply of the motor A voltage between 12 48VDC MAC50 141 and 12 32VDC MAC400 800 must be connected Analogue input AIN The analogue input is used either as an analogue input or digital input When used as an analogue input it can control velocity torque or position depending on which mode is set for motor operation When used for digital input it can be used in posi tion related modes for the external zero search sensor Also in Air Cylinder Mode the analogue input is used as a trigger input For a functional description please refer to General Analogue input AIN description when using MACOO Bx page 121 continued 118 JVL Industri Elektronik A S User Manual Integrated Servo Motors MACO50 3000 4 2 Expansion Module MACOO B1 B2 B4 Multifunction I O A A B and B The functionality of these terminals is the same as for the basic MAC motor They can be set up in 3 different configurations Pulse inputs for functional description please refer to Multifunction I O used as pulse inputs page and General description General description Multifunction I O when
301. ill be modified to be within the valid rotary table position working range if a value outside this range is written to the Actual position register P SOLL When using the multiturn options 4 and 5 the position is limited as follows Multiturn CW rotation 4 Values below working range minimum are limited to the minimum Multiturn CCW rotation 5 Values above working range maximum are limited to the maximum 74 JVL Industri Elektronik A S User Manual Integrated Servo Motors MACO50 3000 2 12 Rotary table option 2 12 2 Configuration via MacTalk When using MacTalk for configuration the following parameters are used OE MacTalk Noname File View Motor Offline MACOO RxP Setup Update D W b Open Save Save inflash Reset p Main Registe Advanced Die parameters Test Command 0 Resyncronize position after passive mode Modbus setup Master Slave setup No ModBus Analog input filter setting Max slope 65535 Filter factor 0 Rotary table setup Rotary table selection No selection The desired Rotary table No selection function is selected here Singletum Cw rotation Singletum CCW rotation at the Advanced tab Shortest path Multiturn Cw rotation Multitum CCW rotation MacTalk Noname Ele Mo gt The working range be defined here after selecting the type of rotary table operation Minimum is the lowest posi
302. 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 is given by the value of register P6 which value must be 1 or I for either a positive or negative direction A typical setup could be PI 10000 Left position limit of basic function P2 12000 Left cut off position P3 58000 Right cut off position P4 60000 Right position limit of basic function P5 2000 Starting position at left edge P6 Start traversing right positive direction Positioning at the start position is initiated by setting the analogue input AIN high When setting this input low the MacMotor will resume normal coiling function 24 JVL Industri Elektronik A S User Manual Integrated Servo Motors MACO50 3000 2 3 2 3 2 2 3 3 2 3 4 Coil Mode The rules for setting up PI P6 are PI lt P2 lt P3 lt P4 PI lt P5 lt P4 P6 1 or The gear ratio in coil mode The gearing ratio must be specified in the exact same manner as GEAR mode using the Input and Output registers See Gear Mode overall description page 21 Initiating Zero search in coil mode The MAC motor can be set up to make an initiating Zero search at power up When using the sensor Zero sea
303. ines what is necessary to fulfil the essential health and safety requirements of the Machinery Directive and thus also which protective measures are required It is also the risk assessment that determines whether an emergency stop function is required JVL Industri Elektronik A S User Manual Integrated Servo Motors MACO50 3000 339 9 7 9 7 2 340 Emergency stop considerations An emergency stop is not required only in cases where it is completely evident that an emergency stop would not prevent an injury minimise an injury or stop an injury In practice this means that essentially all machines must incorporate an emergency stop function It must be emphasised that a machine s emergency stop function is NOT a preventive measure but is regarded as a supplementary measure This means that the protective measures that must be implemented as a result of the machine s risk assessment cannot be replaced by an emergency stop function The protective measures required must be implemented such that they are reliable i e not themselves prone to error or failure The extent to which this is required depends on the risk that the actual protective measure is designed to eliminate i e the greater the hazard the more secure and reliable the protective measure Protective measures and the emergency stop function are often implemented using the machine s electrical control system For guidelines on how the control system s safety related
304. ing guide Bus serial communication Serial communication MacTalk communication Internal registers Connecting to other equipment Accessories Cable drawings CE Declaration of Conformity UL Certificate of Compliance OUA W ee 85 106 107 115 116 117 133 150 151 208 232 252 258 274 314 320 323 324 333 336 339 345 347 350 357 361 391 394 396 397 399 JVL Industri Elektronik A S User Manual Integrated Servo Motors MACO50 3000 JVL Industri Elektronik A S User Manual Integrated Servo Motors MACO50 3000 Introduction JVL Industri Elektronik A S User Manual Integrated Servo Motors MACO50 3000 1 1 Features The MAC series of brushless servo motors with integrated electronics represents a major step for ward in motion control systems All of the neces sary electronics for a servo system are integrated into the motor itself Traditional motor systems typically have the con troller and drive electronics placed some distance away from the motor This increases machine costs and has the negative effect that installation time and costs are
305. int but for applications that require a specif ic mechanical zero position the general Zero search in the MAC motor can be used Please consult the chapter Mechanical Zero search page 32 22 JVL Industri Elektronik A S User Manual Integrated Servo Motors MACO50 3000 Example 1 Example 2 Gear Mode Encoder quadrature input An external encoder feeds the MAC motor The I O type is set to Pulse input and Input type is set to Quadrature in order to de code the encoder signal The encoder is connected to the A and B terminals Multifunction I O s See also Multifunction I O used as pulse inputs page I I 1 The resolution of the external encoder is 500 ppr The MAC motor itself has 1024 MAC50 141 or 2000 ppr MAC800 If this appli cation requires that the MAC motor rotates rev each time the ex ternal encoder has rotated rev the Input parameter is set to 500 external encoder and the Output parameter is set to 1024 or 2000 Now the ratio between the external encoder and the MAC motor will be 1 1 Ensure the Profile data is set to proper values in order not to limit motor operation unintentionally Pulse and direction input A step motor system is replaced by a MAC motor meaning that the MAC motor receives a pulse and direction signal which is a very com mon signal format in step motor applications The I O type is set to Pulse input and Input type is set to Pulse direction in ord
306. interface M12 8 pin female connector JVL Cable WI1000 M12 Isolation Signal name Description C SW3 5 OFF PL input Whi 3 SW3 5 O7 output Me M8TO5N group RS232 interface transmit output Brown 1 Important DIP1 must be turned ON If addressing is used it must be turned ON at minimum one of the connected motors 5232 interface receive input 3 RS232 Ground also used with analogue input 4 I O ground to be used with IN1 NL PL O1 O2 7 SW3 6 OFF NL I O terminal D mae Ant output supply CNN 4 SW3 2 ON SW3 DIP3 OFF AIN Analogue input SW3 2 OFF and SWDIP IOA I O terminal A O2 output 2 5 AIN is the analogue input Remem ber to use the GND terminal with AIN Cable Screen Some standard cables with M12 connector offer a screen around the cable This screen on some cables is fitted to the outer metal of the M12 connector When fitted to the MACOO FD4 module this means that the screen will have contact with the complete motor housing and thereby also the power ground main ground Isolation groups The MACOO FD4A offers optical isolation at the digital inputs and outputs IN1 NL PL and 01 2 The table shows a number for each pin This number refers to the isolation group to which the pin is connected Isolation group 1 means that the terminal refers to the main ground P GND and the motor housing Isolation grou
307. ion If the MAC motor is connected to the same RS232 line as other motors the terminal TX PD should only be connected on one of the motors If one of JVL s standard RS232 cables RS232 9 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 How to connect the RS232 interface of the MACOO R3 JVL cable WG04xx PC RS232 standard COM port cable 24 wire Interface connector Nip ee If the RS232 lines are extended through another cable this cable must also be screened Screen must be connected to Connector main ground Cable Female 9pin DSUB At PC Male 9 DSUB Remember to connect TX PD Red If JVUs standard programming to TX Green in order to achieve cable type RS232 9 1 or n is stable communication used between the shown connector and the PC the RX and TX signal must be swapped MACOO R3 internal Tx to pin 2 and Rx to pin 3 connector board TTO967GB v INTERFACE 308 JVL Industri Elektronik A S User Manual Integrated Servo Motors MACO50 3000 4 10 Expansion Module MACOO R1 R3 R4 Expansion module MACOO R4 front plate 101 Basic O s Power M12 8pin male E MI2 5pin male connector including i connector including INI 4 and 1 2 f adf NM P and P O and IO HA SP IO2 ur ji Interface RS232 and RS485 Extended l O
308. ion parameter search Torque the speed will under Profile data drop to zero And the actual in MAC Talk position is set to the value specified in Zero search position The speed and acceleration is set to the general setting Velocity in MacTalk under Profile data C Zero search started Zero search Move away from Move to position 0 active collision point only if Zero search The move is done position was lt gt 0 in 500mS with the zero search velocity TT0921GB The Zero search method using a torque as a reference is a cheap simple way to find the mechanical zero position but please be aware of following critical points Make sure that the Zero search torque is set to a proper value higher than the me chanical friction in the system in order to avoid a faulty zero point being found It is a good idea to let the motor run in velocity mode with the same velocity and observe what the actual motor torque is This value can be observed in the status area in the right side of the main window Set the Zero search torque to a value 10 20 higher than the actual torque observed during this procedure improve the repeatability precision of the zero point make sure that the mechan ical collision point is as stiff and well defined as possible 34 JVL Industri Elektronik A S User Manual Integrated Servo Motors MACO50 3000 2 6 Mechanical Zero search 2 6 5 Sensor type 1 Zero search Senso
309. irmed SYNC Producer SYNC Consumers Request Z2 q Indication TTIO9IGB The SYNC does not carry any data L 0 The identifier of the SYNC object is located at object 005h JVL Industri Elektronik A S User Manual Integrated Servo Motors MACO50 3000 195 4 5 4 5 49 196 Expansion Module MACOO FC2 FC4 NMT Network Management services The Network Management is structured according to nodes and follows a master slave structure NMT objects are used for executing NMT services Through NMT services nodes are initialised started monitored resetted or stopped All nodes are regarded as NMT slaves An NMT slave is uniquely identified in the network by its Node ID NMT requires that one device in the network fulfils the function of the NTM master The NMT master controls the state of the NMT slaves The state attribute is one of the values Stopped Pre operational Operational initialising The module control services can be performed with a certain node or with all nodes simultaneously The NMT master con trols its own NTM state machine via local services which are implementation depend ent The Module Control Service except Start Remote Node can be initiated by the local application A general NMT protocol NMT master NMT Slave s 0 2 CS Node ID Request Indication COB ID 0 Indication Indication TT1082GB Where CS is the NMT command specified The Node ID of the N
310. is always measured in native motor units Conversion from generic engi neering units is only supported for the commands Set a register in the MAC motor Jump according to a register in the MAC motor and Wait for a register value before continuing 300 JVL Industri Elektronik A S User Manual Integrated Servo Motors MACO50 3000 4 10 Expansion Module MACOO R1 R3 R4 4 10 10 25Calculator Options Dialogue Velocity Reg 5 Velocity Reg 5 1 Basic Options Debug Calculation precision Register listing and naming f Numbered list with long MacTalk names Simple list with short firmware names Function The options tab contains various settings that affect the operation of the Calculator command Calculation precision is at the time of writing locked to 32 bit precision This is not an error and should not be reported Register listing and naming provides 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 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 expression in the caption of the dialogue box A recognized register name will appear in the expression An unrecognized register
311. is repeatedly bent If this is required use a special robot cable 2D or 3D cable 270 JVL Industri Elektronik A S User Manual Integrated Servo Motors MACO50 3000 4 9 Expansion module MACOO P4 P5 Expansion module MACOO P5 front plate Control I O CNT p M 12 5pin male Harting 3HAN 8pin male connector includes Contains y RS485 modbus 4 20mA input 24VDC to slave 4 20mA output Error output 24VDC supply input Communication M 12 5 female connector includes RS232 interface 5485 Modbus same as SLV 4 9 13 Expansion MACOO P5 connector description The MACOO P5 offers IP67 only IP65 on MAC400 800 protection and MI2 connectors which makes it ideal for process control and automation applications where no additional protection is desired The MI2 and Harting connectors offer solid mechanical protection and are easy to unplug compared to modules with cable glands or DSUB connectors The connector layout CNT Control I O Harting 3HAN 8pin male connector JVL Cable Isolation Signal name Description WI10xxxxx group AIN 4 20mA input Positive terminal AIN 4 20mA input Negative terminal Red 4 20 output Positive terminal Apply 7 to Grey 3 disabled AOUT 4 20mA output Negative terminal AOQUT 24V to this terminal if internal AOUT supply is OUT1 Error output PNP ouput Control supply input 12 28VDC Consump tion ty
312. is the offset register 4 Save the offset value permanently in the flash memory This procedure is basically per formed from the command register 21 by writing 21 2 When using a bus module please refer to the manual of actual type of bus module to do the save in flash opera tion Please notice that if the value is not stored in the flash memory the zero point is lost after a power cycle For MAC800 users The MAC800 is default set to a resolution of 8000 counts rev compared to other motors which have 8192 counts rev as default The MAC800 default resolution can be changed from 8000 to 8192 by setting bit 21 to in register 39 HW SETUP Default it is set to I If the default has not been changed the 4 step procedure shown above can simply be used If the default have been changed and the MAC800 is set to 8192 counts rev bit 2 0 Read register 226 which is the absolute encoder position value 2 Register 225 8192 register 226 8000 Remember that the result must be ne gated before entering it into register 225 3 Save the offset value permanently in the flash memory This procedure is basically per formed from the command register 21 by writing 21 2 When using a bus module please refer to the manual of actual type of bus module to do the save in flash opera tion Please notice that if the value is not stored in the flash memory the zero point is lost after a power cycle JVL Industri Elektronik A
313. ister overview in MacTalk The following screen is shown in MacTalk when selecting Coil Mode Main parameters used in coil mode MacTalk Monae Fle Setup pel z i i bs g p open Seb ish Reset piton Clear Registers Adeanced Fine parameters Scope mode V Etter hand Parse Pe Change achas mode Filis i Funchon om i i i inst i i Feshon kit me Analogue veloci wat deaan Startup mode Anagua is r Tongue Y Inputs Choose Coil mode Ene one Hen imet up iv fol T odes 7 binanton 101 Usnrc Profile Data Prot de E Max velocity 180 Rm ON All these parameters secen tsi f EN fe Fad re can be used to limit the sg m ij Gear factor Load 10000 f Unt motion For example SERE The ratio between the maximum torque E the incomming pulses or velocity dim d enses and the actual motor T Co parameters Tar nma m Lower ba NUI movement is specified Coil mode parameters ss pro VE TE V Unde here Set P to P6 in this Upper cip i J Me vols F Unda field according to SA E ire Under the description in Sist recten eel Bate start ponder now Mol addit th is chapter Dont watie start pasiben command accolas TTII27GB Th
314. it inputs NL or PL are enabled and one of these is activated the error action will be executed The error action is defined in object 201 Ih subindex 8 Bit Input Mirror Setting this bit will transfer the state of the inputs NL PL INI 4 to the Input register in the basic motor This is usefull if the inputs are used in for ex ample a eRxP program graphic programming Notice that only MACOO FCx Firmware newer than 3 00 supports this feature ur at 5 4 Bit Input we mew wmm moo 172 JVL Industri Elektronik A S User Manual Integrated Servo Motors MACO50 3000 4 5 Expansion Module MACOO FC2 FC4 4 5 29 Object 201 1h Subindex 8 Setup bits This object is used for auxiliary setup of the module gu 7 6 55 4 et 0 Endless Error SCAN SCAN SCAN P IST When this bitis the P IST is scanned all the time The transmit PDO2 1 will then send the last scanned position instead of reading the position SCAN V IST When this bit is 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 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 passive mode stop motor by setting velocity to zero JVL Industri Elektronik A S User Manual Int
315. ject Object 6092sub1 Feed constant factor Object 6092sub2 Position factor Numerator 5 in section 4 3 39 Position factor Numerator formula a Feed constant Feed Position factor Position factor Feed constant Shaft revolutions or as and object Object 6092sub1 Position factor Position factor Numerator Object 6092sub2 JVL Industri Elektronik A S User Manual Integrated Servo Motors MACO50 3000 185 4 5 4 5 39 4 5 40 186 Expansion Module MACOO FC2 FC4 Digital Inputs 6 in section 4 3 39 Bits 31 24 The Motor Status register 201 1 3 Bits 23 16 HardWarelnputs 2011 1 the 6 HW inputs on the module Bit 2 sensor state Bits 1 0 Bits 5 4 from Hardwarelnputs ANDed with InputSetup 201 1 7 in reality in puts 5 and 6 Dititallnputs UINT32 Inputs lt lt 16 UINT32 MotorStatus lt lt 24 Inputs amp InputSetup gt gt 4 amp 0x3 unsigned 5 0 lt lt 2 Outputs 7 in section 4 3 39 Outputs DigitalOutputs amp OutputMask gt gt 16 amp 0x3 Note that the module outputs come from the manufacturer specific bits 7 16 and that bit 0 Set Brake is not implemented Home offset 8 in section 4 3 39 P Home PositionFactor HomeOffset HomeTable Method HomeOffset In dexDistance Uselndex Changing operation mode A change
316. k Funcion eoe Fiir emit inr Pretoria indu Dew ace nion Walch analogues tomos T ipinta Acuerdo liepe bhert Tie Save Plast eet pain Ow eron omgi j Error Handling Use these fields to define error limits for the position range etc E Wer whip STOP Mote A COM acan Court 7 ae Court APL gea Cal Aang Fe pi porn 1m vei condendi Oum 29123 Un controled breast In selbe mess E ror cuis A 2 prier raplum Conable abun r jh Using MacTalk to setup the motor Input Outputs The functionality of the I O s is specified here Motor status This field shows the actual motor load position and speed etc Inputs This field shows the actual supply voltage the speed at the pulse input and the voltage at the analogue input Errors NT p Zed sooth ida If a fatal error occurs information will be displayed here U rga 10000 Zea search omie 4883 pach Sey Profile Data All the main para meters for control ing the motor behaviour are set up in this field Ziri search orar Zero Search All the parameters regarding the position zero search can be specified here MAC motor connection information Always shows if the motor is on line or not Undervoltage handling Determine what hap pens
317. ktronik A S User Manual Integrated Servo Motors MACO50 3000 2 8 Under Voltage Handling Undervoltage Handling Use these fields to define the behaviour of the motor when mains power disappear Y Undervoltage handling Undervoltage gt Set error bit F Undervoltage gt Stop controlled and go to passive T Undervoltage gt Set velocity to 0 TT1130GB 2 8 1 Undervoltage handling The MAC motor offers the possibility to define the behaviour during and after the mains voltage disappear This situation could for example be during an emergency stop which causes the mains supply to be cut while the control voltage is still applied to the motor 3 options exist 2 8 2 Undervoltage gt Set error bit Default Off If this option is selected an under voltage will be handled like an error situation and the corresponding error bit will be set The motor is stopped using the error deceleration before the motor is switched to passive mode like any other error situation When the main power is re applied the motor will stay in passive mode 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 If this function is activated it will have first priority and the error deceleration will be used compared to the 2 other options Undervoltage gt Stop controlled and go to passive and Undervoltage gt Set volocity to 0 which both uses no
318. l cable MacTalk JVL commands special commands with high security 19200 bit sec 19 2kBaud 67 000 000 0 3000 RPM 0 3606 RPM 250 444 675 RPM sec Point to point on RS422 Up to 32 units on the same serial RS232 RS485 interface with built in expansion module Ad Communication Baud rate Position range Speed range Digital resolution Acceleration range Addressing dress range 1 254 Standard 85 With MacReglO software 156 Only for experts Max 4 RPM variance between command and actual speed Number of parameters Speed variance SPEED TORQUE Analogue speed torque input 11bit sign Nom input voltage 10V 10kOhm input resistance Voltage range max 10 to 32VDC Offset typical 50mV Sampling rate at analogue input 750 Hz Encoder output signals A A B B RS422 Line driver Typical 1 1 3 7 Volt outputs Driver SN75176 90 Phase shifted Analogue speed input Zero speed determination 0 rated speed Speed variance at rated speed Power Supply 10 0 0 Ambient temperature 0 40 C 0 0005 50ppm Torque limit in speed mode 0 300 by parameter Analogue torque input Torque control accuracy VARIOUS Electromechanical brake Regenerative Protective functions Error trace back Overload l T Regenerative overload follow error function error regenerative overload over voltage software position limit Abnormality in flash memory under voltage over current temperature to
319. le Multifunction l O s A P A 9101 connector including analogue input AIN and RS485 Interface RS232 interface and GND 4 8 3 254 TTIOS8GB Expansion MACOO FS4 hardware description The MACOO FS4 offers a IP67 on 50 141 protection and MI2 connectors which makes it ideal for automation applications where no additional protection is desired The M12 connectors offers a solid mechanical protection and are easy to operate JVL Cable Wl1000 Isolation M12F5TO5N group 1 The connector layout PWR Power input M12 5pin male connector mM in P Main supply ground Connect with pins 3 _ P Main supply round Connectwih pind 5 Grey D 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 JVL Cable WI1000M12 Isolation M5TO5N group 1 Leave open Leave open CR RS485 interface positive terminal Radea Leave open if unused RS485 interface negative terminal Leave open if unused Interface ground Continued next page JVL Industri Elektronik A S User Manual Integrated Servo Motors MACO50 3000 4 8 Expansion Module MACOO FS1 FS4 Continued from last page 101 Basic l O s M12 8pin male connector JVL Cable 1000 1 2 Isolation Signal
320. le Phoenix MACOO R3 IP67 IP65 Cable glands Cable glands No eee m M2 Note IP65 on MAC400 8 The MACOO R3 module can also be delivered with cable in selected lengths Cables with M I2 connectors can also be supplied for the MACOO R4 module The first part of this section deals with the common features of both modules Please see the latter pages of the section for see specific information about each module for exam ple connection diagrams 274 JVL Industri Elektronik A S User Manual Integrated Servo Motors MACO50 3000 4 10 Expansion Module MACOO R1 R3 R4 4 10 2 Important before use Please note that two different types of firmware setup are available Graphic programming setup Firmware MACOO RxP Fixed formats MACOO Rx See User Manual LB0047 8GB Until Q3 2004 the only firmware available was the fixed format type Since this date the fixed format firmware has not been updated and the Graphic Programming Setup is the preferred type i e all new modules by default contain this new type of firmware The graphic 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 Vie
321. le mounted _ 138 4 5 45 a50 h7 1 97 5 4 5 3 0 12 E ih i 30 1 18 25 0 98 214 hG 0 55 60 2 36 49 5 1 95 1 83 0 07 ail TI1148GE 49 5 1 95 60 2 36 Model MAC400 D2 D3 MACA4D0 D5 D amp Download CAD drawings from www jvl dk default asp Action Details amp ltem 426 JVL Industri Elektronik A S User Manual Integrated Servo Motors MACO50 3000 325 5 4 Physical Dimensions 5 4 3 Physical dimensions MAC800 41 2 1 63 92 7 3 65 i 115 230VAC supply cable The cablegland accepts an outer cable dia between 5 0 Shown with a 2 ca woa Profibus module mounted 119 5 4 71 00 08 Q 019 0 0 013 0 75 0 0 0005 0 0 03 7 2 76 0 0 0011 d 90 3 54 63 64 2 5 80 3 15 OA RBAARAAARAHOo oBBgba9blBHEBHEEBHBHO9 i 63 64 2 5 970 0 0 03 2 76 0 0 0018 4 05 5 0 217 80 3 15 MAC800 D1 D2 175 6 89 13 8 0 54 MAC800 D3 201 6 7 94 19 8 0 78 MAC800 D4 D5 All dimensions in millimetres inches esses Download CAD drawings from www jvl dk default asp Action Details amp ltem 426 326 JVL Industri Elektronik A S User Manual Integrated Servo Motors MACO50 3000 5 4 4 Physical dimensions MAC1500 D1 204 8 103 9 110
322. less relative Dispensers for film labels etc Dosing pumps Turntables Torque controlled screw machines Make the choice on the MACOO RxP tab N MacTalk Noname File view Motor MACOO RxP Setup Updates Help X 9 c p rid 3 Open Save Save inflash Reset position Clear errors Reset motor MACOO Rx Programmable Select program type for new program With this mode it possible to use both Relative absolute absolute and relative positioning But the moving range will be limited Choose one of these program types This mode is only for relative movement Endless relative but there will be na limit on the move range Program Optionally upload the actual program Upload from module Use this to upload a program previously downloaded to the module stored in the module last time TT0980GB After making one of these 3 choices above the program window will be opened JVL Industri Elektronik A S User Manual Integrated Servo Motors MACO50 3000 277 4 10 Expansion Module MACOO R1 R3 R4 4 10 5 278 MACOO RxP Main window The main window for creating a new program or editing a program is shown below MACOO RxP menu Main menu for creating a new program Verifying program size and other basic details for the MACOO RxP module MacTalk Noname Transfer amp Start Will transfer the complete MACOO RxP Status texts The message Program not transferred means that there is a differenc
323. logue to position parameters Offset 1000 1000 Counts Full range 4992 5000 Counts Hysteresis 50 50 _ Counts JVL Industri Elektronik A S User Manual Integrated Servo Motors MACO50 3000 3 2 6 1 2 6 2 32 Mechanical Zero search Mechanical Zero search modes In all positioning systems there is a requirement to be able to find a mechanical zero po sition after the system is powered up or at specific times during operation For this pur pose the MAC motor offers 5 different Zero search modes which can be selected in the MacTalk main window or by sending a command at one of the serial interfaces The 5 different Zero search modes can in addition be selected to be started automatically after power up of the motor or done by sending a command during normal operation to the motor Select the Zero search mode vy Zero search an ie ds Disabled H using this field The selected format will be used as follows Use index alier zero search Immediately after the motor is powered up Zero search position only the Power up Formats Zero search velocity If a search is initiated via the serial interface or search terque From an expansion module MACOO RI R4 FP4 EC4 etc Please note that the 3 formats for 17 Zero search Power up Zero search must not be Zero search mode Disabled selected if an expansion module is used Disabled R3 or FP2 If an automa
324. low shows the SW3 Dip switch location The various settings of SW3 is shown on the previous page Dip switch location on the MAC00 FC4 Expansion module Dip Switch SW3 placed on the rear side of the module M12 Connectors Internal circuit boards Mini dip switch shown with default setting OFF ON C 100000000005 TT 1072GB Switch description Description Function Signal name RS232 interface transmit output ON Enable Dip 2 DIP2 ON and DIP3 OFF vO terminal A AIN Analogue input Dip 2 DIP2 OFF and DIP3 ON I O terminal A O2 output 2 DIP4 ON Output 1 DIP4 OFF Input 1 DIP5 ON O1 output ops Vo terminalit DIP5 OFF PL positive limit input DIP6 ON O Output supply rg I O terminal D DIP6 OFF NL Negative limit input The factory default setting is X __ RSea interace Enable Dp2 X pa X Ds X Dee X 206 JVL Industri Elektronik A S User Manual Integrated Servo Motors MACO50 3000 4 5 Expansion Module MACOO FC2 FC4 4 5 55 Cables for the MACOO FC4 The following cables equipped with M12 connector can be supplied by JVL MACOO FC4 Connectors Description JV
325. lowest field area in a CAN mes sage Header A CAN message transmits the communications object and a variety of management and control information The management and control information bits are used to ensure error free data transmission and are automatically removed from the received message and inserted before a message is sent A simplified CANopen message could be as the figure below 11 bit Header Data frame TT1093GB The two bit fields Header and Data form the simplified CANopen message The bit Header are also designated as the identifier or as the COB ID Communication Object identifier JVL uses bit format type CAN A but not 29 bit format type CAN B The COB ID carries out two task for the controller communications object Busarbitration Specification of transmission priorities Identification of communications objects The COB ID comprising two sections Function code 4 bit in size 0 15 Node address Node ID 7 bit in size 0 127 See section 4 3 12 JVL Industri Elektronik A S User Manual Integrated Servo Motors MACO50 3000 4 5 4 5 7 Expansion Module MACOO FC2 FC4 The function code classifies the communications objects and controls the transmission priorities Objects with a small function code are transmitted with high priority For ex ample in the case of a simultaneous bus access an object with the function
326. lowing units MACS50 to 141 Fits directly to the 8 pole I O connector inside the basic MAC motor MACO00 CS Passes through the CS module and connects to the basic MAC motor JVL Industri Elektronik A S User Manual Integrated Servo Motors MACO50 3000 9 14 9 14 2 9 14 3 9 14 4 Accessories Connectors connector kits MACOO CONKIT This kit contains all 3 connectors for the Basic Mac Motor Power connector JVL no 3069 02 Housing 2p Pitch 3 96mm Molex no 09 91 0200 JVL no 2478 TL Crimp contacts Molex no 08 50 0106 RS232 Connector JVL no WG0200 Since this connector is very small pitch 5mm it is supplied as an assembled connector with 65mm cable WG0200 is the JVL number I O Connector JVL no 254H08 Housing 8p Pitch 2 54mm AMP no 770602 8 JVL no 4809C P9 4L Crimp contacts AMP no 770601 1 By ordering this connector kit all of the above mentioned parts are included Please en sure that a proper crimp tool is used when the contacts are fitted The type numbers mentioned in brackets are the original type numbers from either Molex or AMP Power Supplies PSUOO PDI Combined power dump resistor and capacitor unit For a complete power supply sys tem only a transformer with a secondary winding supplying 32VAC is required For systems with up to 5 8 MAC motors this unit can serve as a central power dump unit The capacitor offers an efficient and economical way of storing the energy retu
327. lows you to connect a JVL MacMotor to a DeviceNet net work Using this module all the registers in the MAC motor can be accessed over a DeviceNet network The module supports Baud rates of 125 250 and 500kbit The module includes galvanic isolation between the motor and the DeviceNet network The Baud rate and node id must be configured via the internal dip switch before the module is connected to the net work The module supports polled IO with 8 bytes in and 8 bytes out The specification of the IO is according to the position controller device type Important Please refer to the following sections of the DeviceNet specifications for additional infor mation Volume ll Section 3 12 Position Controller Volume ll Section 6 24 Position Controller Supervisor Object Volume ll Section 6 25 Position Controller Object Volume ll Section 6 14 Parameter Object Volume l Appendix DeviceNet Error Codes Volume Appendix J Data Type Specification The expansion module MACOO FD4 can be mounted in standard MAC motors MACSO 95 MACI40 MACI41 MAC400 and MAC800 The connectors are grouped as follows Protection class I O and interface Power supply MACOO FD4 IPe7 IPO5 Mi2 Mi2 o Note IP65 on MAC400 800 Cables with M12 connectors can be supplied for the MACOO FD4 module The first part of this section deals with the software features of the module Please see
328. ly Use a proper resistor as indicated in the table below PNP sour utput connec o the A and B inpu to the Aand put MAC motor with MAC00 B41 expansion module Supply Resistor size Warni arning VD h SEC ds Eu Never connect voltages I2VDC kOhm higher than 5V directly to A1 i i Multifunction 1 ISVDC 1 2 kOhm the A or B terminals since INPUT SETUP p 18 1 8 kOhm t Signal source PLC 24VDC 2 7 kOhm 30VDC 3 3 kOhm this can damage the inputs Multifunction 2 icd INPUT SETUP B2 Al or A24 Optional Output resistor Al or A2 Power gt Supply 7 switch T nee BIE BI or B2 see communication chapter 5 32VDC Bl orB2 Ground GND 1 Ifused the B terminal mustbe connected in the same manneras the A terminal TTH41GE Thenegativeinputterminals Ax and Bx mustbeleftunconnected JVL Industri Elektronik A S User Manual Integrated Servo Motors MACO50 3000 141 4 3 Expansion module MACOO B41 4 3 12 Connecting a balanced push pull signal to the Multifunction 1 0 The drawing below shows how to connect a balanced or push pull signal source to the MACOO B4 multifunction I Os Use twisted pair cable for the balanced signals in order to ensure noise immunity Note If inputs are used in pulse direction format input A Ax Ax is pulse input and input B Bx Bx is direction input Warning Voltag
329. ly or the last node on the line in order to terminate the line Remember to configure I O type as Pulse Input in MacTalk if none of the 4 terminals A A B and B are used the multifunction I Os This must be done to avoid random function of the motor since the mul titunction I Os are defined as Serial data by default Important Please note that the cables are a standard type They are not recommend ed for use in cable chains or where the cable is repeatedly bent If this is required use a special robot cable 2D or 3D cable JVL Industri Elektronik A S User Manual Integrated Servo Motors MACO50 3000 4 2 Expansion Module MACOO B1 B2 B4 Expansion module MAC00 B4 front plate lO Basic O s p IN l dem M12 8pin male connector including I NET Multifunction A j and Ol O2 GND the analogue input AIN COMI Communication MI2 8pin female connector including RS232 RS485 PWR Power supply MI2 5pin male connector including P primary supply and O secondary supply and P COM2 Communication 2 MI2 5 female connector including RS232 RS485 interface 4 2 15 4 2 16 TT1015 02GB General description MACOO B4 The MACOO B4 expansion module is protection class IP67 MACO50 141 and is basical ly similar to the and B2 modules except that it offers M12 circular industrial connec tors which makes th
330. m Flange and shaft dimension POSITION pulse inputs Command input pulse Input frequency Electronic gear Follow error register In position width Pulse direction or 90 phase shifted A B RS422 0 8 MHz 0 1 MHz with input filter A B A 10000 to 10000 B 1 to10000 Simulation of all step resolutions 32 bit 0 32767 pulses 32 bit Infinity Flip over at 231 Position range POSITION serial communication Communication facility pulses From PLC PC etc via RS422 or asynchronous serial port RS232 with special cable MacTalk JVL commands special commands with high security 19200 bit sec 19 2kBaud 67 000 000 0 3000 RPM 0 3606 RPM 250 444 675 RPM sec Communication Baud rate Position range Speed range Digital resolution Acceleration range 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 Standard 85 With MacReglO software 156 Only for experts Number of parameters Speed variance SPEED TORQUE Max 4 RPM variance between command and actual speed 11bit sign Nom input voltage 10V 10kOhm input resistance Voltage range max 10 to 32VDC Offset typical Analogue speed torque input 50mV Sampling rate at analogue input Encoder output signals A A B B RS422 Line driver Typical 1 1 3 7 Volt outputs SN75176 90 Phase shifted Analogue speed input Zero speed determinatio
331. m input mode is selected See Input modes page 238 The action is defined by a FlexMac command See FastMac commands page 240 Possible values are 0 127 where 0 represents no action JVL Industri Elektronik A S User Manual Integrated Servo Motors MACO50 3000 239 4 7 Expansion Module MACOO FP2 FP4 4 7 8 FastMac commands Using the FastMac commands it is possible to activate a set of registers and set the mode of the motor using a single command The command is composed of two parts The first part is the mode that the motor will use The following 4 modes can be selected Value Motor mode after command Formt ss Nocnngee Commana 98 Sub command N _ The second part of the command is a register number or sub command number The following table shows the register numbers N Register N Register fo fe je w eia ne h Jv wie a s m ww a jm ale e v eg n fafa ees ve ele i1s a The following table shows the sub commands N Command N commana o Nooperatin i6 Sursenhzwo s Select relative positon mode using P FNG 8 P FNC FLWERR PT 16 s FNC FLWERR 16 240 JVL Industri Elektronik A S User Manual Integrated Servo Motors MACO50 3000 4 7 Expansion Module MACOO FP2 FP4 Examples of FastMac commands Change velocity mode and activate register VI 32 8 FastMac command 40 Activate r
332. m is larger than the maximum at startup Register 39 HW SETUP Bits 24 25 and 26 only The value of bits 25 and 24 define the rotary table options Bit26 Bit25 Bit24 Operationselected ____ No Rotary table operation normal motor operation with full position range 0 o 1 Always CW rotary table operation Always Always CW rotary table operation si rotary table operation Always CCW rotary table operation BEEN DO roary able operaien Shortest rotary table operation Always _ _ rotary table operation with multiturn operation Always CCW rotary table operation with multiturn __ _ Bit 26 in register 39 HW SETUP select the multiturn operation This bit is used only with the CW and CCW operations and allows complete turns to end at the same me chanical position as it started from by specifying a target position P SOLL that lies out side the rotary table position range For instance if the working range is 0 7999 a range of 800 valid positions one full motor shaft revolution on the MAC800 and the current target position is at 3000 writing 1000 3000 8000 will make the motor perform ex actly one full turn and leave both P SOLL and P IST TURNTABLE at 300 afterwards In general P SOLL will be modified to be within the valid rotary table position working range if a value outside this range is written to P SOLL Important Please remember to sa
333. me mem mS ee present 0 HW type for the second value in each sample reque oe ro mr mr present 0 RW type for the third value in each sample mpre fee 6655055 NM present RW type for the fourth value in each sample 162 REC_CNT not Word Index into the sample buffer used for scope functionality present RW The length of the sample buffer and thus the range of this parameter if determined by bit 23 SBUF_2048 in Reg39 HW_SETUP See document section YY for further information on the sample system Id GEN EXT not ia Unscaled Raw velocity of external encoder input in pulses per 1 3ms lm not Nal ward Velocity of external encoder input V_EXT after being present 0 R scaled by the ratio GEARF1 GEARF2 165 G FNC not Na Word present 0 R n emm je present 0 R 167 FF OUT not Na Word present 0 R 168 VB OUT not a present 169 VF_OUT Actual Nay ime torque RW eme present RW 171 ANINP_OFFSET not TY Word present 0 RW 172 ELDEG OFFSET not Na Word used with motor current loop present 0 R PHASE COMP PNE ZEN used with motor current loop present 0 R 174 AMPLITUDE not Na Word used with motor current loop present 0 R 175 MAN I NOM not Na Word used with motor current loop present 0 RW 176 MAN ALPHA not Na Word used with motor current loop present 0 RW 177 UMEAS not Na Word used with m
334. mit request Indication Response COB ID 700h Node ID Request Remote transmit request Indication Confirmation Response Node Guarding event Life Guarding event Indication Indication TT1083GB Where s is the state of the NMT slave s NMT state 7 Pre operational t is the toggle bit it alternate between 2 consecutive responses from the NMT Slave The value of the toggle bit of the first response after the guarding protocol becomes ac tive is 0 The Toggle Bit in the guarding protocol is only reset to 0 when the NMT mes sage Reset Communication is passed no other change of state resets the toggle bit If a response is received with the same value of the toggle bit as in the preceding response then the new response is handled as if it was not received Heartbeat With the Heartbeat protocol a Heartbeat Producer 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 generated Heartbeat producer Heartbeat consumer COB ID 700h Node ID Request 6 0 Indication Heartbeat Heartbeat producer time
335. motor mode Gear or Passive mode Index and Index 2 is refering to the mode registers which are shown below MacTalk Noname View Motor Offline MACOO RxP Set The Mode field is found in the lower mee ae a Nee part of the register tab Set the c Mode reg and 2 as shown in order LJ a to set the motor in Passive mode or Gear mode depending on the state of input selected above 0 ii pos window 4 24 100 Louris Select the Registers tab V Mode Made reg 1 Mode reg 2 Ba of Mode reg 3 Passive e Mode reg 4 Pasive No connection on COMI Baudrate 192f TT1191GB Continued at next page JVL Industri Elektronik A S User Manual Integrated Servo Motors MACO50 3000 145 4 3 Expansion module MACOO B41 Step 4 Optionally an input can be used for enabling motor movement according to the external encoder when the input is active or decelerating the motor to a stationary position when the input is passive Setup the motor according to the following illustration Offline MACOO RxP Setup Updates Help 4 We i aji Filter setup ilter parameters Tests Scope Special comman E HW 1 function setup Vy Hw 2 function setup Input selection Input 2 unts rewv Input function Copy register to register Input in active register Do Nothing Select the Advanced tab Input active register Do N
336. mple the drive is allowed to use during normal operation Also note Reg32 ACC EMERG used during emergency stops T SOLL Torque 0 1023 The maximum torque that the drive is allowed to use The value 1023 corresponds to 300 of nominal load and is the absolute maximum peak torque allowed The value 341 gives 10096 nominal load named _ SIM E IN P FNC P SIM P IST 32 bit NEN __ actual motor position measured by the internal encoder Updated every 1 9ms Note that this register is maintained incrementally which means that the user can update it to offset the working range When updating when the drive is not in Passive mode P_IST and P SOLL should be updated together in an atomic operation using Reg163 NEW or other special measures Also note that the firmware will change this register after a zero search operation has completed Ht high word of P S fe 12 VISTO of the drive T the inertia of the motors rotor itself 4 GEARF CTC Gear factort Nominator 15 2 X J Gearfator2 Denominator 46 T Energy dissipated in the motor windings _ _ _ Safety limit for I2T above Motor will set an error bit if I2T gets above IZ TLIMIT Energy dissipated the internal power dump E SL Limit for Reg18 UIT Motor will set an error bit if UIT gets a
337. n 0 Counts 1 0 Setup 101 Input Output 102 Power Power management management TT1155GB 2 10 1 SSI Encoder SSI support is added to the 50 141 series of servomotors this feature is very useful to determine the absolute position of the motor shaft if an encoder is connected directly to this or another encoder position The SSI interface When the differential lines are used for SSI the Al lines work as a Clock signal from the motor to the encoder while the B signals work as a Data signal from the encod er to the motor The figure above shows the SSI protocol principle The Clock line is normally high When a reading is requested the Clock goes low for t 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 before each rising Clock After the last data bit has been sampled the Clock stays high In the MAC motor several registers are available for storing values for different purposes Position registers P P8 available from MacTalk etc are used to hold SSI positions 58 JVL Industri Elektronik A S User Manual Integrated Servo Motors MA
338. n Speed variance at rated speed Power Supply 10 0 0 Ambient temperature 0 40 C 0 0005 50ppm Torque limit in speed mode 0 300 by parameter Analogue torque input Torque control accuracy VARIOUS E Electromechanical brake Regenerative Protective functions Error trace back Overload I T Regenerative overload follow error function error regenerative overload over voltage software position limit Abnormality in flash memory under voltage over current temperature too high LED functions Power Green LED Error Red LED Note that the LED s are only visible when no module is mounted Output signals 3 general purpose NPN 30V 25 mA outputs Error and In position Zero search 1 Automatic Zero search with sensor connected to input 2 formats 2 Mechanical Zero search without sensor Torque controlled Shaft load maximum Radial load 18kg 20mm from flange Axial load 11kg Optional brake D4 option Controlled automatic or from input 3 25Nm inertia 0 22cm2 turn on time 50ms turn off time 15ms Rated power rate motor Mechanical time constant motor Electrical time constant motor Standards Protection Ambient 0 to 40 C 32 104 F 20 85 C 4 to 185 F Humidity 90 Error on 75 C 167 F Usage Storage Temperature Temperature shut down and error message generated at 73 C 163F The heatsink fan starts at 55 C 131F JVL Industri Elektronik A S User Manual Integrat
339. n Flash from the nano PLC program Note that the Bluetooth and WLAN modules are similar to the RxP modules in that the wireless link replaces the RS 485 interface It is therefore supported to send Reset sequences over Bluetooth and WLAN Note that saving parameters to flash can only be performed a few thousand times before the flash wears out The number of times may differ significantly between units If the flash wears out the motor will load a default set of register values at start up The elec tronics in the motor must be repaired or replaced to be able to save reliably to flash again JVL recommends to avoid saving in flash when it is not strictly necessary Clear Errors Pressing this button will clear the error bits in the Error Status motor register 35 With the MAC800 motor MacTalk will normally write a value of zero to register 35 However if the Position Limits error bit is set it will pop up and ask the user if the po sition limits should be temporarily disabled until the position 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 14 is not set the motor will refuse to move while
340. n addition to these features many more are accessible In total the MAC motor contains more than 200 internal registers such as nominal velocity actual position etc but please note that several registers are not for the normal user and damage may occur if the con tents of these registers is changed The following pages descripe the communication protocol that is used when communi cating with the MACSO 141 motors Serial Quick Guide MacTalk protocol This section describes control of the MAC motor via the serial interface RS232 485 con nector on the or equivalent module The interface is RS232 compatible and uses 19200 baud with 8 data bits and no parity The MAC motor is completely controlled by reading and writing to registers The registers are numbered 1 255 The width of the registers is 16 bits 32 bits To protect the communication 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 MacReglO program This program lists all of the registers and the serial commands sent and received can be monitored JVL Industri Elektronik A S User Manual Integrated Servo Motors MACO50 3000 357 9 11 MacTalk communication 5 11 2 Writing to a register Controller sends MAC motor response Write Address RegNum Len Data End
341. n sampling is active after trigger has been detected Bit 12 TRIGGER ARMED BIT Set when sampling is active but trigger has not been detected yet Bit 13 ADVSAMPLE BIT If set enables div shift min max avg bitfield sampling START MODE not Na Word Determines in what mode the motor should start after power present 0 HW on and after a Zero Search but is This register works closely together with Rege MODE REG preset as od Bits 31 16 are reserved mode Bits 15 8 are used to select the type of zero search to register perform when the FastMac command 16 96 is received This should be one of 12 13 14 or zero Bits 7 0 select the value to transfer to Rega MODE REG at motor power up and after a zero search has completed If bits 15 8 are non zero the motor will remain in Passive mode at power up regardless of the value in bits 7 0 The intention is then to wait for a FastMac command 16 96 It is also possible to simply write a new value to Reg2 MODE REG to change mode 38 P HOME Zero Na Word Encoder The offset value to use to adjust P IST at the end of a Zero search 10000 RW counts Search position 39 HW SETUP not Na Word Bit 0 DIRAWR present 9 RW Bit 1 DIRBWR Bit 2 PULSEOUT Bit 3 XSEL1 Bit 4 XPRINP Pulse Direction or Quadrature input type Bit 5 NOFILT Disable lowpass filtering of external encoder pulses Bit 6 INVXDIR Bit 7 INVROTDIR Bit 8 USER_INPOS Bit 9 USER_ERROR Error output pin
342. nable Dip 2 DIP2 ON and DIP3 OFF Dip 2 DIP2 OFF and DIP3 ON DIP4 ON Output 1 l DIP5 ON O1 output DIP5 OFF PL positive limit input DIP6 ON O Output supply rg geben DIP6 OFF NL Negative limit input The factory default setting is SW3 OFF Function Dp X RSSemedesEmbe _ Dip2 X pes X Jouw Des X 230 JVL Industri Elektronik A S User Manual Integrated Servo Motors MACO50 3000 4 6 Expansion Module MACOO FD4 4 6 27 Cables for the MACOO FD4 The following cables equipped with M12 connector can be supplied by JVL MACOO FD4 Connectors Description JVL Order no BUS1 BUS2 5 8 Female Female B coded RS232 Interface cable Connects directly from MACOO FD4 to PC RS232 M12 1 8 Length 5m 197 inch Cable 5 5mm with M12 female 5 pin connector loose wire ends 0 35mm 22AWG and foil screen WI1000 M12FSTOSN Length 5 197 ie Same as above but 20m 787 inch WI1000 M12F5T20N Cable with M12 male 8 pin connector loose wire ends 0 22mm 24AWG and screen WI1000 M12M8TOSN Length 5m 197 inch 44 gt Same as above but 20m 787 inch WI1000 M12M8T20N DeviceNet cable with M12 male 5 pin connector loose ends arid Greer WI11006 M12M5S05R Length 5m 197 inch Same as above but 15m 591 inch WI11006 M12M5S15R Devicenet cable with M12 female 5 pin connector loos
343. name will appear as a zero You can switch between the two methods of data entry at any time JVL Industri Elektronik A S User Manual Integrated Servo Motors MACO50 3000 301 4 10 Expansion Module MACOO R1 R3 R4 4 10 10 26Jump according to a comparison Dialogue Jump condition Reg No Requested position Operator gt Greater or equal Cancel Reg No 11 Position Reg 2 Function Compares two registers to each other 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 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 position registers are compared Both hold position information both measure position in encoder counts Such a comparison will always yield meaningful predictable results For other types of registers consult section 5 6 302 JVL Industri Elektronik A S User Manual Integrated Servo Motors MACO50 3000 4 10 Expansion Module MACOO R1 R3 R4 4 10 11 General hardware aspects All internal and
344. ncoming 1 Megabit Modbus telegrams for a few seconds after startup Stay in Modbus if any valid Modbus telegrams detected else switch to 19200 baud FastMac and stay in Fastmac 1 Run the FastMac protocol at 19200 baud from the beginning and stay in FastMac 2 65535 Run 1 Megabit s Modbus from the begi and stay in Modbus 183 STATUS BITS px e mom 185 MODEI M2 186 2 J S P 6 187 _ J o P P sl 188 HWIO S2bit J o 89 h wordofHWI 190 HWH S2bit 191 h wordof Hwi J S _____ 192 HwI2 32 bit J 193 hiwordofHwWi2 194 HWIS 32bit 195 hi wordof HWIS 196 HWI4 32 bit J J o 197 j hi wodofHWM TI1527GB JVL Industri Elektronik A S User Manual Integrated Servo Motors MACO50 3000 369 5 12 Internal registers Only MAC5O 141 fe _ MacReglo Default Access 89 Rewer ot pI 20 HWi6 32 bit _ _ _ 21 hi wordof HWI S ooo Poo Eo 22 2 j h wordof HWI7 Jo ooo Poo _ O 204 Reserved for future purposes 205 Reserved for future purposes 200 J Reserved for future purposes 207 l Reserved for future purposes 208 Reserved for future purposes 209 Reserved for future purposes
345. ncy stop considerations Paragraph 9 2 5 4 2 Emergency stop DS EN 60204 1 Principles for the design of emergency stop equipment including functional aspects are given in ISO 3850 The emergency stop shall function either as a category 0 or as a category stop para graph 9 2 2 in DS EN 60240 1 The choice of the stop category of the emergency stop depends on the results of a risk assessment of the machine In addition to the requirements for stop functions paragraph 9 2 5 3 in DS EN 60204 1 the emergency stop function has the following requirements it shall override all other functions and operations all modes power to the machine actuators that can cause a hazardous situation s shall be either removed immediately category 0 stop or shall be controlled in such a way to stop the hazardous motion as quickly as possible stop category without creating other hazards reset shall not initiate a restart Considerations are also given regarding the safety and reliability of control circuits Paragraph 9 4 Control functions in the event of failure Paragraph 9 4 General requirements DS EN 60204 1 Where failures or disturbances in the electrical equipment can cause a hazardous situation or damage to the machine or to the work in progress appropriate measures shall be taken to minimize the probability of the occurrence of such failure or disturbances The required measures and the extent to which they are impleme
346. ndustri Elektronik A S User Manual Integrated Servo Motors MACO50 3000 4 10 Expansion Module MACOO R1 R3 R4 4 10 10 6 Move Relative set outputs Dialogue Move type Relative Cancel Relative velocity change at distance Relative set outputs Absolute Sensor General parameters Output type Multiple Distance 0 w Counts Y Output No Output state Acceleration 0 RPM s Pas E Is utpu M Velocity 0 RPM Output 2 High 7 Output 3 Low pulse ms Enter 0 in velocity or acceleration to use Output 4 High pulse ms the current velocity or acceleration x Dutput 5 Output 6 Output 7 Dutput 8 Function Performs a movement relative to the current position and sets one or more outputs on the RxP module when the operation is completed The distance moved is given 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 motor register no 6 A SOLL will be over written with the acceleration value you specified Register no 49 P1 is always over written by this command This command always wait until the movement is finished before proce
347. nected correctly The format chosen is not compatible with the actual encoder Improper cabling have been used Solutions to avoid error Use proper cabling between the motor and the external SSI en coder A screened cable with twisted pair wires is recommend ed Make sure that the right SSI format is selected How to return to normal Reset the motor clear the error bit s in register 35 or cycle the operation power Error bit Firmware name Bit 15 SSI_ERR JVL Industri Elektronik A S User Manual Integrated Servo Motors MACO50 3000 47 2 7 Error messages and error handling 2 7 16 Error message Internal Encoder error only MAC400 to MAC3000 Message no Message 16 Internal Encoder error Type Motor action Unrecoverable error Motor is set in passive mode A malfunction in the internal encoder has been detected Possible cause of this error he encoder disc is broken because the motor have been ex posed to mechanical shock Typical the shaft have been hit very hard during mounting of the motor Solutions to avoid error Do not expose the shaft or the motor for mechanical shocks How to return to normal Return the motor for service operation Error bit Firmware name Bit 15 INDEX ERR 2 7 17 Error message Invalid Filter settings only MAC400 to Message no Message 17 Invalid Filter settings Type Motor action Unrecoverable error Motor is
348. nently connected if control circuitry must be keept active while main power is disconnected Power Supply Control Core 18 PS0VDC Optional Power dump output Bus output 320VDC Bo 4 put Bus common Dump CM eae Safety Overvolt Mains Inrush 90 240VAC Fuse Protection Filter limiter 22214 A lel gt ai Hl 5VAC setup EMERGENCY STOP and RELAY See section 5 6 2 for further information Single phase 90 240VAC Earth 1T1162GB The circuit above is shown with an emergency relay box which can be omitted 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 connected between the terminals PD and BO 3 2 19 Emergency stop Please consult the chapter Emergency stop considerations page 339 3 2 20 Sizing the external fuse Prefuse When using 1 15 supply voltage To met UL requirements the prefuse must be a class RK5 such as the type FRN R 15 I5Amp from manufacturer Cooper Bussmann INC When using 230V supply voltage Prefuse TI0A 0230VAC type gG Do or Dz in the phase line Rated for600V 150kA 96 JVL Industri Elektronik A S User Manual Integrated Servo Motors MACO50 3000 3 2 3 2 21 3 2 22 Pow
349. ner of the MacTalk main window will now show the complete type of firmware and version HINES PRR Step 6 The MACOO RxP tab is now available among File View Motor MACOO RxP Setup Updates Help A the other standard tabs Gs X e fo Proceed with the setup and or programming Open Save Save in flash esetposiion Clear according to the description for each firmware Main Registers Filter parameters Tests WACO type MACOO Re Pragrammabl Select program type for new program With this made it possible to use both TTI079GB Relative absolute absolute and relative positioning But the moving range will be limited 276 JVL Industri Elektronik A S User Manual Integrated Servo Motors MACO50 3000 4 10 4 10 4 Expansion Module MACOO R1 R3 R4 Getting started with MACOO RxP When using the MACOO RI R3 or R4 module with MACOO RxP firmware almost any kind of program can be created using a set of user friendly icons To create a program first of all it must be determined whether the application requires that the motor always stays within the allowed position range 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 End
350. nnect with pin 3 Note P4 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 Cable user Isolation Signal name Description supplied group 2 Reserved for future purpose do not connect 1 Terminal A Siemens syntax for the Profibus DP interface E o P Ln Profibus DP interface ground e 244 GENE CENE LEN NEN By Terminal A Siemens syntax for the Profibus DP interface SHIELD Cable shield Internally conn to the motor housing Continued next page 246 JVL Industri Elektronik A S User Manual Integrated Servo Motors MACO50 3000 4 7 Expansion Module MACOO FP2 FP4 MACOO FP4 connection description continued BUS2 Profibus DP Interface M12 5 pin female connector Signalname Description supplied group 2 Profibus DP interface ground Terminal B Siemens syntex for the Profibus interface IO I Os RS232 interface M12 8 pin female connector JVL Cable Signal name Description WI1000 M12 Isolation M8sTO5N group DIP 5 OFF PL input terminal DIP 5 ON default O1 output PNP 25mA RS232 interface transmit output Important DIP1 must be turned ON If addressing is used it must be turned ON at minimum one of the connected motors IO X
351. nsfer by the SDO Multiplexer It repren sents the index sub index of the data to be 8 n 7 do not contain data transfer indicated expedited set size is transfer by the SDO CCS Client command specified SCS Server commander specified JVL Industri Elektronik A S User Manual Integrated Servo Motors MACO50 3000 193 4 5 194 Expansion Module MACOO FC2 FC4 Table for upload and download SDO protocol continued a Resened 0 s 0 d is reserved for further use 0 s 1 d contains the number of bytes to be downloaded Download Byte 4 contain the Isb and byte 7 contain the msb 1 s 1 d contain the data of length 4 n to be downloaded the encoding depends on the type of the data ref erence by index and sub index not used Reserved for further always 0 use always 0 e 0 5 0 d is reserved for further use 0 s 1 d contains the number of bytes to be uploaded not used Reserved for further Byte 4 contain the Isb and byte 7 contain the msb always 0 use always 0 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 Abort SDO transfer protocol SDO tasks which the MACOO FC2 FC4 cannot process are responded to using an abort SDO protocol If the module does not respond in the expected time the CANOpen master also sends an abort SDO The following figure show a abort SDO tr
352. nstitute an error of 0 5 mo tor revolution Adjustment of the Zero search point must be done regardless of which of the 6 3 Zero search formats is selected The illustration below shows the MacTalk Tests tab which must be used for adjusting the Zero search point Season NENNEN MACOO RxP Setup Updates Help S amp S wie H o TC 1 pen Save File View Main Registers Advanced Filter parameters Tests Scope Wet for In 0 o Courts Position 1 P1 Postion 2 P2 Press this botton to see where the zero search sensor Sensor search mode or mechanical stop torque search mode is located Daley 1 1 00 ms Delay 2 100 ms Zen Search sensor stop position vs Index position The circle diustrates a motor rev The actual position will be displayed by the little white dot in left side of the window Adyst the extemal zero search Sensor or mecharacal zero pomi until the cucle rs in the green t Acceptable range range unacceplable range Sensor stop position Index position 1 per rew TT0975 02GB Start Zero Search Ensure that the zero point test is made several times to ensure that the white dot is lo cated in the acceptable interval each time JVL Industri Elektronik A S User Manual Integrated Servo Motors MACO50 3000 39 2 7 Error messages and error handling Error Handling Use these fields to define error limits for the maximum f
353. nstructions for use a EC declaration of conformity and furthermore that the machine is CE marked The Essential Health and Safety Requirements are specified in the Directive s appendix l 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 5 priority the machine s construction must ensure that is it not dangerous Example The machine construction is such that it is not possible to come into contact with rotating parts of other potentially dangerous components either during operation set up or maintenance 2nd priority in cases where it is not always possible to achieve a construction that does not present a potential hazard additional protective measures must be incorporated to eliminate risk Example No direct access to rotating or other potentially hazardous parts and components is possible without the removal of a screen guard protective cover or other means of protection 3rd priority to the extent where a machine construction and the built in safety measures still leave some potential risk clear warnings of hazard must be given using signs on the machine itself and by information in the operation manual and by training if necessary It is the risk evaluation of the machine that determ
354. nt 2 9 7 Damping In almost any application it can be useful to damp suppress certain oscillations The damping selector can be used for this purpose The following damping types are available None Damping feature is disabled Low frequency When selecting Low frequency oscillations caused by a poor mechanical transmission can be reduced Poor mechanical transmission means backlash 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 audible noise High Low frequency only available on MAC400 800 This is a combination of High and Low frequency settings Low Low frequency only available on MAC400 800 This setting is similar to Low frequency but adds extra tolerance to variations in the inertia Damping selector High low freq Low ow freq TT1027GB JVL Industri Elektronik A S User Manual Integrated Servo Motors MACO50 3000 55 2 9 Servo filter adjustment 2 9 8 Follow error compensation This feature makes it possible to achieve a minimum position error during movement dynamically The 2 main types are Static Will reduce follow error at constant spee
355. nt reliable operation This includes mainly that the shaft moved at the time the encoder Hall information was read so there is a great risk that the motor will start with an uncontrolled movement and possibly go into error This bit can also catch some types of internal misconfigurations like hardware version checks mainly to help JVL production employees Bit 26 FLASH ERR An error was detected related to the internal flash memory during startup In most cases this is related to the use of the multi turn absolute encoder value saved in flash at power down and restored during power up Bit 27 STO ALARM ERR This bit gets set if the supervisor circuitry of the Safe Torque Off STO system detects an error This will normally indicate an error in the electronics Bits 28 29 Unused so far firmware v2 06 July 2013 Bit 30 OUT1 STATUS Status of the physical pin normally used for the IN POSITION signal hardware output The pin can also be used for user defined purposes and this bit will reflects its state also in this case Bit 31 OUT2 STATUS Status of the physical pin normally used for the ERROR OUT signal hardware output The pin can also be used for user defined purposes and this bit will reflects its state also in this case 111534 01GB 376 JVL Industri Elektronik A S User Manual Integrated Servo Motors MACO50 3000 5 12 Internal registers Only MAC400 to 3000 Re een ea eee MacReglo Name Name Default Access
356. nted either individually or in combination depend on the level of risk associated with the respective application paragraph 4 lin 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 requirements of IEC 62061 and or ISO 13849 1 1999 ISO 13849 2 2003 shall apply Measures to reduce those risks include but are not limited to Protective devices on the machine for example interlocks guards trip devices Protective interlocking of the electrical circuit use of proven circuit techniques and components paragraph 9 4 2 1 in DS EN 60204 1 provision of partial or complete redundancy paragraph 9 4 2 2 in DS EN 60204 1 or diversity paragraph 9 4 2 3 in DS EN 60204 1 Provision for functional tests paragraph 9 4 2 4 in DS EN 60204 1 As noted reference is made to several other standards which describe how safety relat ed parts of the control system can be implemented In practice DS EN 954 1 can be used although this will be superseded by DS EN ISO 3849 1 in 2009 The principles of both standards is the same to first determine the required level of safety and reliability of the control circuits and thereafter design the safety related components of the control system to achieve the required level In DS EN 954 the architecture of the safety related circuits is used exclusively as the goal for the l
357. ntrol 5kHz switching Filter 6 th order filter with only one inertia load factor parameter to be adjusted Expert tuning also available for professionals Feedback Incremental A and B encoder 8192 CPR Physical 2048 PPR lines per rev Optional multiturn absolute encoder Input power supply 3 phase supply 400 to 480AC for driver circuit Absolute max 550VAC 18 32VDC for control circuit Control circuitry consumption MAC3000 D1 2 and wo brake 20 3A 9 24VDC 8W Control circuitry consumption MAC3000 D4 5 and 6 w brake 1 2A 24VDC 24W Control modes 10V Speed and Torque A B encoder outputs Pulse direction and 90 phase shifted A B Incremental RS422 or RS232 5V position and parameter commands Gear mode with analogue input speed offset different options Sensor Zero search or mechanical Zero search Front 130x130mm Rear 130x203mm excl connectors Shaft 024 0mm 0 0 013mm Flange and shaft dimension POSITION pulse inputs Command input pulse Input frequency Electronic gear Follow error register In position width Pulse direction or 90 phase shifted A B RS422 0 8 MHz 0 1 MHz with input filter A B A 10000 to 10000 B 1 to10000 Simulation of all step resolutions 32 bit 0 32767 pulses 32 bit Infinity Flip over at 231 pulses Position range POSITION serial communication Communication facility From PLC PC etc via RS422 or asynchronous serial port RS232 with specia
358. nts smpl MAC800 the scaling is RPM x 2 771 so 1000 RPM 2771 counts smpl 4 To stop the motor set the velocity to 0 This will force the motor to decelerate and stay stationary keeping the actual position obtained after running with a velocity gt 0 Optional If the motor needs to be switched into a position related mode the actual position coun ter and some other position related registers need to be modified or reset Otherwise the motor will return to the original motor position which was present before the JOG function was executed A simple way of doing this is to send the special command 247 to the Special command register register number 211 JVL Industri Elektronik A S User Manual Integrated Servo Motors MACO50 3000 221 4 6 Expansion Module MACOO FD4 Zero search how to activate In almost any system which is using some kind of position related mode it is necessary to find the mechanical zero point before normal operation of the motor can take place Following description gives a guide line on how to activate the build in Zero search func tion It is necessary to determine which kind of Zero search type that needs to be activated The MAC motors offers a number of various Zero search types Please consult the chap ter Mechanical Zero search page 32 which explain in details which Zero search functions that exist and how they perform the Zero search Please find the section specifying the object 0x25 t
359. o high LED functions Power Green LED Error Red LED Note that the LED s are only visible when no module is mounted Output signals 3 general purpose NPN 30V 25 mA outputs Error and In position Zero search 1 Automatic Zero search with sensor connected to input 2 formats 2 Mechanical Zero search without sensor Torque controlled Shaft load maximum Radial load xxN xxmm from flange Axial load xxkg Optional brake D5 or D6 option Controlled automatic or from input Brake torque 16Nm turn on time 16ms turn off time motor released 55ms Standards CE approved UL recognized file number E254947 20130524 Pending Protection IP55 D2 or D5 version IP67 D3 or D6 version Ambient 0 to 40 C 32 104 F Storage power not applied 20 to 85 C 4 to 185 F Humidity 90 Usage Storage Temperature Temperature warning is given before reaching max Temperature shut down and error message generated at 84 C 183F The heatsink fan starts at 55 C 131F JVL Industri Elektronik A S User Manual Integrated Servo Motors MACO50 3000 319 Torque Curves Oz Inch MACO50 Torque versus speed 1000 2000 3000 MAC095 Torque versus speed 4000 Oz Inch Nm Oz Inch MACI40 Torque versus speed 1 0 0 8 0 6 0 4 0 2 RPM 0 Nm Oz Inch MACI4I Torque versus speed 248 5 213 177 5 142 106 5 7 35 5 RPM 1000 2000 2800 3000 4000 Only MACO50 to 141 Conditions Supply voltage
360. o these signal from last node in the chain PB0062 13 BUS OUT 2 terminals 12 48VDC Profibus In and Profibus Out Please note that these two connectors are Profibus signal definitions internally hardwired no electronics added in between GND Signal ground can optionally be used for the cable screen wire colour with SN 30000 A Negative profibus signal line Green B xP B Positive profibus signal line Red 5VDC 5VDC output to be used for external termination optional 242 JVL Industri Elektronik A S User Manual Integrated Servo Motors MACO50 3000 4 7 Expansion Module MACOO FP2 FP4 4 7 11 MACOO FP2 option with cables optional The MACOO FP2 type number only covers the basic module i e without any cables If a number is added after the basic type number for example MACOO B2 I0 this suffix indicates that the module is fitted with 10 m of cable in the I O The I O cable covers all the signal lines i e RS232 Digital input 1 4 Limit inputs NL and PL and the Digital out puts 1 4 Please note the WG0420 table below is not valid for cables delivered before 1 10 2002 Digital Inputs Internal connector J2 Digital input 1 Red black Digital input 2 Green black Signal name IN1 IN2 IN3 Digital input 3 Violet Digital input 4 Violet white 2 N Digital Outputs Internal connector J4 1 ied for outputs Must be connected to an ext Badwilire I O ground This ground is
361. oced Fiter sr Y Positions 1 Counts Lounts Posbon 3 P Position 2 P2 123 12 amp 25 The calculated working range constant is typed in here Posbon 4 Counts Bu i s Finally remember to Save in flash in order to save all the settings permanent in the motor Poston Fb Counts TT1198GB 4 9 9 Basic setup of the Slave motor If a second motor with a syncronous movement is needed the MACOO P4 5 offers the posibility to connect 2 MAC motors in a master slave configuration The 5pin MI2 male connector located at the MACOO P4 5 is the master slave connector By connecting the 5 pins in the master mot or to the equivalent pins in the slave motor all communication and also 24V supply is taken care of in the slave motor see supply op tions at previous page Beside these connections only 1 15 230VAC need to be supplied the slave motor Continued next page JVL Industri Elektronik A S User Manual Integrated Servo Motors MACO50 3000 265 4 9 Expansion module MACOO P4 P5 If a slave motor is connected to the master the slave needs to be setup in order to estab lish permanent communication with the master motor Please following these steps to setup the slave motor Enter the program MacTalk version 1 50 or newer 2 Atthe Advanced tab select Paired Slave under Modbus setup Set the startup mode to Position mode By doing this the mot
362. 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 115 11 lI is received it means the motor can not change to the new baudrate probably because it is not in Safe Mode or if some other error has occurred If no reply is received within the 10 ms it can be assumed that the motor has changed to 57600 baud and further communications can continue at the higher speed General notes on the MAC00 xx interface modules operation Modules generally have two functions One is to translate between an industrial fieldbus like CANopen DeviceNet ProfiBus and high speed RS 485 The other is to execute small userdefined programs much like a traditional PLC During execution the modules communicate extensively with the basic motor over a serial connection that is typically much slower than the fast fieldbusses The following points are important to consider to understand the limitations regarding module capabilities When writing a value to the basic motor via an intelligent module the write operation is queued in a buffer in the module which can typically hold up to 16 operations The values are written to the motor at the speed of the FastMac channel either 19200 or 57600 baud The FastMac
363. of S ORDER may not be changed unless the motor is in Passive mode MODE_REG 0 157 OUTLOOPDIV not Na Word Divider value for the velocity loop With the standard value of 1 present 0 HW the velocity loop is recalculated every 1 3 ms With a value of 2 the loop is recalculated every 2 6 ms which can give better performance for slow movements and or large inertia It is absolutely necessary to use a different set of filters in Regs121 142 when changing this value To change this value from MacTalk and gain access to the extended filters open the Filter Setup window then hold down both the Control and Shift keys and double click on the text More to the left of the Stability slider at the green end After entering the correct password Sample Frequency can be selected and MacTalk will use the appropriate filter set Note that the units of all velocity related register measured in counts sample will now be doubled and all acceleration related registers measured in Counts sample will be four times larger T11512GB 386 JVL Industri Elektronik A S User Manual Integrated Servo Motors MACO50 3000 9 12 Internal registers ne macRegio name Aecess o _____ __ _ MacReglo Name Name Default Access 158 SAMPLE1 not Na Word SAMPLE1 4 controls the scope sample function present 0 RW mr ND Register number bit field and min max average sample type for the first value in each sample m
364. ogue input status Input power status Full RS232 and RS485 protocol support for use with standard 9 pin DSUB Sourcing PNP outputs for status signals Ol and O2 instead of sinking NPN The following illustration shows all the connectors on the MACOO Bl module M ACOO B1 connector descriptions Q signal ground OCM GND fo gt Status outputs Balanced pulse in or outputs used for 40 ell Default Pulse and direction signals or 3 Q O2 01 In position output Quadrature encoder signal 02 E tput Optional these terminals can be l2 01 iae 6 Analogue input 10V used for the MAC high speed O0 AIN communication using RS422 9 2 Optional zero sensor input LED s for showing the output status of A O1 and O2 Notice that LED s are only Betton Y active if the O terminal is supplied aie SEIUF LED for showing the voltage level at the analogue input AIN LED for showing the voltage level at the power supply input P SETUP Power Analogue input RS232 Note The TX PD terminal must u P Main power 12 48 32 VDC pe connecten 6 Tx pint 3 E Analog input zero switch input 1 if the MAC motor is not one 5 6 using addressing P Power ground also for AIN RS232 Rx Eu 7 HE C X RS232 amp O sl 4 O U m Terminato
365. ollow error etc Error handling Follow error Pulses Function Pulses Position limit min Pulses Position limit mas Pulses Error acceleration RAPS TT0969GB 2 7 1 Error messages and error handling The MAC motor incorporates 5 fundamental parameters used for protection related purposes They all have effect regardless of the operation mode the motor is set up to use Follow error It is possible to define the maximum allowable difference between the actual position of the motor and the desired position Depending on the setting of the servo filter etc this position difference will change For protection it can be useful to define that the differ ence is not allowed to exceed for example 500 counts the motor has 4096 counts per rev fixed If a mechanical collision occurs the position difference will typically be ex ceeded and cause a follow error making 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 physical limit switches but performed by software Default is 0 meaning that the feature is disabled Error acceleration If an unrecoverable error occurs it can
366. olt div Motor fear 3 1 Regenerative load Inputs Supply voltage 23 8 Volts Analogue input 0 26 Volts Errors Max velocity 2000 RPM Acceleration 19123 RPMjs Torque 300 95 Load 1 0 Status Motor in position TTIIIOGB Sample setup Trg tpe 1 Forward and backward move distance 5000000 Manual Regsler condition fi2 Actualvelocty fo Edge rigged In postion High Low Time Samples 512 Total sample tme 512 ms Trig point gt Time betore me Time after 512 ms Channels Channel 1 12 Actual velocity Color Channelg 10 Actual position Color Channel 3 Color Channeld Color TTIIO6GB 80 JVL Industri Elektronik A S User Manual Integrated Servo Motors MACO50 3000 2 15 Safe Torque Off STO 2 15 1 Introduction to the STO function The STO function can be used for disabling the energy to the motor The motor will thereby be set in a state where it produces no torque The STO function have its own input connector mounted at the front of the motor It is a 2 input system and it is required that both inputs are activated applied with a volt age before the motor is energized and can operate normally The STO is only available on following products MAC400 MACI500 MAC3000 in the standard versions The STO input connector is placed as shown below The illustra
367. oltage error can be set when either the AC sense detects missing 230 or 120 V AC input or when the DC bus voltage get below a threshold voltage of approximately 80 V DC Note that this error will only get set if bit O in Reg23 UV HANDLE is set The AC sense input is not used with MAC402 Bit 10 UV DETECT Reflects the current status of missing AC input or low DC bus voltage on the same condition as UV ERR above The bit will be cleared when the under voltage condition is no longer present for about one second Note that there is a hysteresis builtin so the DC bus voltage must be 1 25 times higher than the cut off voltage threshold before the under voltage condition is cleared Bit 11 OV ERR Overvoltage error gets set when the DC bus voltage is measured to be above 450 V for MAC400 and MAC800 or 1000 V DC for MAC1500 and MAC3000 or 54 V DC for MAC402 Overvoltage often comes when the motor is braking a large inertia and the internal or external power dump brake resistor can no longer accumulate the energy It can also come from connecting a too high AC or DC supply voltage perhaps by connecting 230VAC to the 120 VAC input on MAC400 Bit 12 IPEAK_ERR A much too high current was measured in one or more of the motor phases This can happen if the supply voltage is too low relative to the rotational speed It can also happen in more extreme shorttime overload conditions This error requires a reset or power cyding of the drive since it cannot
368. om Usedfor Part description Hummel part JVL part Connector kit with all necessary Power 3 phase connector parts f 400 480VAC Contains 1pcs WG0241 4pcs MAC1580 CONKIT1 PWR WG0243 1pcs WG0245 Connector kit with all necessary Brake resistor connector parts MAC1530 CONKIT1 DCPD DC bus Contains 1pcs WG0240 4pcs WG0242 1pcs WG0245 Individual connector components M23 Female conn insert nylon Accepts 3 PE crimp sockets 7 084 951 102 WGO0241 400 480VAC Use 1 pcs per connector M23 Crimp socket female Power 3 phase Accepts 0 75 2 5 2 wires 400 480VAC AWG14 to AWG18 Use 4 pcs connector M23 Straigth metal housing Power 3 phase Accepts cable with outer dia 400 480VAC 7 0 to 12 0mm 0 28 to 0 47 220 900 000 eee a 1 Coe personnes per connector Brakeq sistorl EA Male conn insert nylon Accepts 3 PE crimp pins 7 084 951 101 WG0240 DC bus Use 1 pcs per connector M23 Crimp pin male Brake resistor Accepts 0 75 2 5mm wires DC bus AWG14 to AWG18 7 010 942 001 WG0242 Use 4 pcs per connector M23 Straigth metal housing Brake resistor Accepts cable with outer dia DC bus 7 0 to 12 0mm 0 28 to 0 47 7990 900 000 Use 1 pcs per connector Brake resistor Metal protection cap Mounted Gimp toot 7000500501 104 JVL Industri Elektronik A S User Manual Integrated Servo Motors MACO50 3000 3 2 Power Supply
369. ommendations for networks with less than 64 nodes Recommended bus cable cross section are according to CiA BusDistance Cross sec Terminator Baud rate m tion mm ohm Kbit s 0 34 0 6 150 300 500 0 34 0 6 150 300 250 0 5 0 6 150 300 125 The bus wires may be routed in parallel twisted and or shielded depending on EMC re quirements The layout of the wirering should be as close as possible to a single line struc ture in order to minimize reflections The cable stubs for connection of the bus node shall be as short as possible especially at high bit rates The cable shielding in the house shall have a large contact area For a drop cable a wire cross section of 0 25 to 0 34 mm would be an appropriate choice in many cases In section 4 3 46 of this chapter there is an overview showing various JVL standard cables All the JVL cables are twisted and shielded For bus lenghts greater than 500m a bridge or repeater device is recommended Galvanic isolation between the bus nodes is optional In the MACOO FD4 modules the galvanic isolation is integrated to obtain best possible immunity against noise and differ ences in the voltage potential between the nodes JVL Industri Elektronik A S User Manual Integrated Servo Motors MACO50 3000 4 6 4 6 25 Expansion Module MACOO FD4 Necessary accessories to MAC FD4 On our web page www jvl dk you can under the downloads menu find the EDS file for the MACOO FD4 modul
370. on Continued from last page Expansion module overview 4 E C ov 285 otg 2282 gra 8 339 2 81 MACOO FS I RS232 RS485 High Speed w DSUB 19 2kbaud connectors Multiaxis control Full Duplex MACOO FS4 RS232 RS485 High Speed w M12 19 2kbaud connectors Multiaxis control Full Duplex Programmable modules MACOO RI Nano PLC w DSUB connect RS232 19 2kbaud Full Duplex RS232 19 2kbaud Full Duplex MACOO R3 Nano PLC w cable glands 2 MACOO R4 Nano PLC w M12 circular connectors RS232 19 2kbaud Process Control modu MACOO P4 Process module 4 20mA w only MI2 MACOO P5 Process module 4 20mA w M12 Harting connectors RS232 19 2kbaud Full Duplex RS232 19 2kbaud Full Duplex For setup sending commands Balanced async serial interface RS485 460kBaud Opto isol RS485 460kBaud Opto isol RS485 19 2kbaud Half Duplex RS485 19 2kbaud HalflDuplex RS422 3 RS485 19 2k Full Duplex RS422 3 RS485 19 2k Full Duplex 10 Analogue input modules For controlling speed torque Also used for zero search Accepts pulse and direction or quadrature encoder signal Pulse inputs RS422 3 2 5Mhz or 150kHz LP RS422 3 2 5Mhz or 150kHz LP RS422 3 2 5Mhz or 1 50kHz LP RS422 3 2 5Mhz or 50kHz LP overview Pulse outputs 90 degree phase shifted outputs from internal encoder Digital user inputs For control of program flow
371. on 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 service The Write PDO service is unacknowledged There is a PDO producer which sends its PDO to the PDO consumer There can be 0 or more consumers in the network For receive PDOs MACOO FC2 FC4 is the consumer and for Transmit PDOs the producer The following figure shows a Write PDO service PDO Producer PDO Consumers Request 0 L 0 8 Proces data Indication TT1086GB Read PDO service The read PDO service is an acknowledged service One of the several PDO consumers send a message to the network After it has received the message the PDO producer sends the requested PDO This service is used for RTR queries Using this ser vice an actual value can be interrogated independently of the selected cycle time The following figure show a read PDO service PDO Producer PDO Consumers Indication Request Response Confirmation Proces data TT1087GB JVL Industri Elektronik A S User Manual Integrated Servo Motors MACO50 3000 19 4 5 4 5 47 192 Expansion Module MACOO FC2 FC4 PDO identifier In the CANOpen profile it is only possibly to have four transmit and four receive
372. on top of a more thorough explanation on the different data formats For a general motor register overview please consult MacTalk communication page 357 Register addressing in the motor To access the registers in the motor there are 2 ways of doing this Either use explicit messages or the I O message approach Explicit register access To access the registers in the motor explicit not cyclic use the object 0x64 with the instance number as a reference to the register number and the attribute as the amount of bytes that needs to be handled Example The velocity of the motor needs to be set In order to do this the velocity register register 5 named V SOLL must be used To setup the explicit message setup the following parameters as follows Object 0x64 Instance 5 register 5 V SOLL register Attribute Data for write operation Attribute 2 Bytes write operation I O message access cyclic transmission To gain access to the motor registers directly using the l O message approach simply use the command message type OxIF Please see O messages page 213 in order to see deatails concerning the OxlF message frame JOG function Often it is necessary to run the motor a certain distance in positive or negative direction in order to find a certain reference point or similar The MAC motor can be controlled in several different modes Typically used modes are Position mode for positioning purpose or Velocity mode which
373. onik A S User Manual Integrated Servo Motors MACO50 3000 5 8 Trouble shooting guide 5 8 1 Troubles related to communication with the motor Problem RS232 MacTalk is not communicating with the motor The status at the bottom of the screen shows No Connection but the power LED on the motor is lit and the serial cable is connected Action Check that the right COM port is selected in the MacTalk Setup menu If a USB to RS232 converter is used the COM port normally must be selected as COM3 or COM4 Check that the connection to the motor is made according to the specifications If using only one motor on the RS232 line the TX PD must be shorted to TX other wise communication can be very unstable See also the individual descriptions by each module in chapter 4 Ensure that a firmware update has not been interrupted before the communication problem was observed If such an update is aborted interrupted it must be restarted and completed before the internal processor is back to normal and can handle com munication 5 8 2 Troubles related to the setup of the motor Problem The motor is not behaving as expected Action I Check that the following registers are set properly Torque 30096 Velocity 20 Acceleration gt 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
374. ons where no additional protection is desired The M12 connectors offer solid mechanical protection and are easy to unplug compared to modules with cable glands or DSUB connectors The connector layout PWR Power input M12 5pin male connector JVL Cable Wl1000 Isolation Signal name Description M12F5TO5N group 1 Main supply 12 48VDC Connect with pin 2 7 Main supply 12 48VDC Connect with pin 1 i P Main supply ground Connect with pin 5 Output supply Control voltage 12 32VDC PP Main supply ground Connect with pin 3 Note P and P are each available at 2 terminals Make sure that both terminals are connected in order to split the supply current in 2 terminals and thereby avoid an overload of the connector Continued next page 268 JVL Industri Elektronik A S User Manual Integrated Servo Motors MACO50 3000 4 9 Expansion module MACOO P4 P5 CNT Control I O M12 12pin female connector JVL Cable WI1009 Isolation Signal name Description M12M12T05N group 4 20mA output Positive terminal Apply 7 to 24V to this terminal if internal AOUT supply is 3 disabled AOUT2 4 20mA output Negative terminal 3 Supply term to the OUT1 and 2 circuitry OUT1 Output 1 Default Error output PNP ouput 1 2 Output 2 PNP ouput 1 Control supply input 12 28VDC Consump tion typical 350mA 24VDC and 700mA 24VDC if a slave motor is connected At MACOO P
375. ontrol velocity torque or position depending on which mode is set for motor operation When used for dig ital inputs it can be used in position related modes for the external zero search sen sor Also in Air Cylinder Mode the analogue input is used as a trigger input For a functional description please refer to Analogue input page 107 continued 34 JVL Industri Elektronik A S User Manual Integrated Servo Motors MACO50 3000 4 3 Expansion module MACOO B41 4 3 4 e Multifunction I O I and 2 Al BI A2 B2 The functionality of these terminals is the same as for the basic MAC motor They can be set up in 3 different configurations Pulse inputs for functional description please refer to Multifunction I O used as pulse inputs page 111 and General description Multifunction 1 0 when using a Bx module page 124 Pulse outputs for functional description please refer to Multifunction I O used as pulse outputs page 112 and RS422 interface for functional description please refer to Multifunction I O used as serial communication interface page 113 Important Remember to configure I O type as Pulse Input in MacTalk if none of the 8 ter minals Al 2 Al 2 2 and 2 is used the multifunction l O s This must be done to avoid random function of the motor since the multifunction I Os are de fined as Serial data as default High speed I O s IOI 102 103 104
376. or Part description Hummel part no JVL part no Connector kit with all necessary Power 115 230VAC Connector parts MAC400 CONKIT1 PWR Contains 1pcs WG0227 4pcs WG0229 1pcs WG0230 Connector kit with all necessary Brake resistor DC bus COMnector parts MAC400 CONKIT1 DCPD Contains 1pcs WG0226 4pcs WG0228 1pcs WG0230 Individual connector components M16 Female conn insert nylon Power 115 230VAC Accepts 3 PE crimp sockets 7003 9431 02 WG0227 Use 1 pcs per connector M16 Crimp socket female Accepts 0 34 to 1 5mm wires Power 115 230VAC AWG16 to AWG22 7010 9816 02 WG0229 Use 4 pcs per connector M16 Straigth metal housing Accepts cable with outer dia Power 115 230VAC 5 0 to 9 0mm 0 2 to 0 53 7810 4000 00 WG0230 Use 1 pcs per connector Optional same as above but Power 115 230VAC 90 degree housing 7830 4000 00 WG0231 M16 Male conn insert nylon Brake resistor DC bus Accepts 3 PE crimp pins 7003 9431 01 WG0226 Use 1 pcs per connector M16 Crimp pin male Accepts 0 34 to 1 5mm wires Brake resistor DC bus AWG16 to AWG22 7010 9816 01 WG0228 Use 4 pcs per connector M16 Straigth metal housing Accepts cable with outer dia Brake resistor DC bus 5 0 to 9 0mm 0 2 to 0 53 7810 4000 00 WG0230 Use 1 pcs per connector Optional same as above but Brake resistor DC bus 90 degree housing 7830 4000 00 WG0231 Brake resistor DC bus Metal protection cap Mounted 7949
377. or Type MAC8O0 Filter version 2 1 Current filter C Soft low noise max 3000 RPM C Medium medium noise C Hard high noise r Position velocity filter Fast Soft Hard Stability Wo NN Le r Damping C None C High freq C Low freq C Hiahdaw freq C Low ow freq Follow error compesation Feed forward type C None C Static C Dyni C Dm2 Feed forward degree 0 0 Load Filter i TT1024GB r Position velocity filter Soft Hard Stability More NN Les r Damping None C High freq Low freq Hightlow freq C Low ow freq Follow error compesation C None C Static Feed forward type E Dun 1 r Jun 2 gt Jur 3 Feed forward 0 0 JVL Industri Elektronik A S User Manual Integrated Servo Motors MACO50 3000 2 9 Servo filter adjustment 2 9 5 Adjusting the current filter only 5 to 141 The current filter is adjustable in the 50 to MACIA4I models This feature is useful if the audible noise from the motor needs to be decreased Please note that the band width of the current filter will also be lowered which can cause efficiency at higher speeds also to be lowered As shown in the selector box below it is not recommended to select the Low noise filter if the motor is operated above 3000 RPM MACI41 2000 RPM A general recommendation is to select the high noise filter
378. or will start to follow the position of the master motor 4 Itis recommended to set the max velocity and acceleration to appropriate high values since they can cause a limitation in the motion of the slave compared to the master 6 After changing relevant parameters please remember to save the changes permanent in the motor by pressing Save in flash 7 t may be needed to cycle the 24V supply for both motors in order to establish full syncronization between the 2 motors UI FR MacTalk Noname Setting up the Slave motor in MacTalk File View Motor MACOO0 RxP Setup Updates Help 1 Save Saveinflash Reset positic mode C Passive C Velocity n Position Select Position mode C Gear C GeafFollow C Analogue velocity C Analogue velocity with deadband C Analogue velocity gear C Velocity analogue torque C Analogue torque direct C Analogue gear C Coil Analogue bi position C Analogue to position Iv Change actual mode Profile data Max velocity 98 RPM 485 RPM S Setup the desired max velocity and acceleration 30 x Torque and Load may also need a different Torque Load 1000 2 setting compared to the default setup TT1199GB Finalize the setup by pressing the Save in Flash button FastMac Special command Command Encoder setup Motor resolution 8132 counts rev Y Resyncronize position after passive mode Modbus setup Master Slave setup Paired Sla
379. osition to be in millimetres The circumference of the drive wheel is 389 56mm 124mmY pi The parameters should be set as follows 6091h subindex 1 Gear ratio Motor revolutions 6091h subindex 2 Gear ratio Shaft revolutions 6092h subindex 1 Feed constant Feed 38956 6092h subindex 2 Feed constant Shaft revolutions Please note that it is not necessary to set the encoder resolution This is automatically set by the module Positions factor formula y Gear ratio Motor rev Feed constant Shaft Rev Position encoder res Encoder Increments Position factor Feed constant Feed Feed constant Shaft rev Position encoder res Motor rev or as and object Object 6091sub1 Object 6092sub2 Object 608Fsub1 Position factor Object 6092sub1 Object 6092sub2 Object 608Fsub2 The Position factor is calculated to in the above example zi 35 100 4096 Position _factor 36 8 38956 10 1 for a 50 141 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 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 6094h subindex 1 Velocity encoder factor Numerator 8000 6094h subindex 2 Velocity encoder factor Divisor 6 JVL Industri Elektronik
380. othing copy register to register In amp ctive Source 65 65 Value Active Source Value Destination 14 14 Value Setup as shown 7 function setup The result will be that input 2 102 is used for setting the motor speed to 0 RPM stationary position or any velocity above 0 RPM allowing the motor to move according to the external encoder The Velocity field is found in the lower left part of the register tab Set the e View Motor Offline MACDO RxP Seti Velocity to and Velocity 2 to the pF 3 desired speed when input 2 is active I i Gs a lt Note that the unit will toggle from RPM D Save ve in Flas to cnt smp when activated by the mouse Advanced Filter parameters mt IE BE 0 ee V Y Velocities Position 2 921 Velocity 1 V1 0 RPM Loai Velocity 2 V2 3000 3000 Cts Smp Select the Registers tab Velocity 3 o Lo Velocity 4 V4 0 RP TT1192GB 146 JVL Industri Elektronik A S User Manual Integrated Servo Motors MACO50 3000 4 3 Expansion module MACOO B41 Expansion module MACOO B41 front plate IO1 p 2 PWR Basic O s y Power supply M12 8pin male M 4 M12 5 male connector including connector including 6 I O s IOI to 106 A M P primary supply and CVI j CVO and GND J A secondary supply and P s 4 Communication YAN P Extended l O
381. otor current loop present 0 R NOM ei leo lt used with motor current loop gt present 0 R PHI SOLL IRAN SEN used with motor current loop present 0 R 180 IA SOLL not Na Word used with motor current loop present 0 R 181 IB SOLL not Na Word used with motor current loop present 0 R 182 lC SOLL not Na Word used with motor current loop present 0 R T11513GB JVL Industri Elektronik A S User Manual Integrated Servo Motors MACO50 3000 387 9 12 Internal registers Firmware MacTalk Range Size Description MacReglo Name Name Default Access 183 IA_LIST not Na Word lt used with motor current loop gt present 0 R 184 IB IST not Na Word used with motor current loop present 0 R 185 IC IST o e me used with motor current loop present 0 R 186 IA OFFSET not Na Word used with motor current loop present 0 R 187 IB OFFSET not Na Word used with motor current loop present 0 R 188 K not Na Word used with motor current loop present 0 R 189 K not Na Word used with motor current loop present 0 R 190 ELDEG IST not Na Word used with motor current loop present 0 R 191 V ELDEG not Na Word used with motor current loop present 0 R 192 UA VAL not Na Word used with motor current loop present 0 R 193 UB VAL not Na Word used with motor current loop present 0 R 194 UC VAL not Na Word
382. ource register to use Reg215 IO POLARITY will be applied after these ul 0 H This value will be Reg113 possibly modified by Regs115 registers to allow general inversion of each digital output bit Controls 102 on MACOO B41 bit 1 in 41 DO B41 CONF1 W See Reg115 B41 CONFO for description B41 CONF2 W B41 CONF3 0 RW 41 4 0 RW 120 _15 Word B41 CONF5 0 RW Controls IO3 on MACOO B41 bit 2 in 41 DO See Heg115 B41 CONFO for description Controls 104 on MACOO B41 bit 3 in B41 DO See Heg115 B41 CONFO for description Controls IO5 on MACOO B41 bit 4 in 41 DO See Regi15 41 CONFO for description Controls IO6 on MACOO B41 bit 5 in 41 DO See Reg115 B41_CONFO for description 384 JVL Industri Elektronik A S User Manual Integrated Servo Motors MACO50 3000 9 12 Internal registers Firmware MacTalk Range Size Description MacReglo Name Default Access Name 121 KFF5 KFF5 Na Word E 0 HW 122 KFF4 KFF4 Na Word 0 RW 123 KFF3 KFF3 Na Word 0 RW 124 KFF2 KFF2 Na Word 0 RW 125 KFF1 KFF1 Na Word 0 RW 126 KFFO KFFO Na Word 0 HW 127 KVFX6 not Na Word present 0 RW 128 KVFX5 not Na Word present 0 RW 129 KVFX4 not Na Word present 0 RW 130 KVFX3 not Na Word present 0 RW 131 KVFX2 not Na Word present 0 RW 132 KVFX1 not Na Word present 0 RW 133 KVFY5 not Na
383. outside the position limits at least in one of the directions depending on the firmware version With the 50 141 motors MacTalk will normally write a value to register 35 where all bits are zero except it will leave 9 and 10 unchanged This means it will perform a bit wise ORing of the value last read from the register with 600 hex and then write the re sult back to register 35 Other than that MacTalk handles the Position Limits bits just like with the MAC800 see the above paragraph for more information Reset Motor Pressing this button will send a reset command to the motor and to the module if pre sent The operations performed by MacTalk are 4 Set the motor into Passive Mode set register 2 to zero by sending a telegram of 52 52 52 FF 00 02 FD 00 FF 00 FF AA AA and wait for an answer with data lt 11 gt lt 11 gt lt 11 gt Ifthe motor uses an address instead of using the broadcast address 255 FF substitute the lt FF gt lt 00 gt with address inverted address gt See the MacTalk protocol description for more information 5 Continue sending the telegram 57 57 57 FF 00 AA AA and wait for the lt gt lt gt lt gt sequence As soon as any communications error occurs like a wrong answer or a missing answer timeout it means the motor has started its reset sequence Again you can substitute a specific motor addr
384. p White Brown Green Yellow Grey Pink Digital output 2 PNP output Ground intended to be used together with the other signals in this connector Analogue input 10V or used for Zero search Use the OCM terminal pin 7 as ground for the analogue input Blue COM1 Communication connector 1 M12 8pin female connector JVL Cable Signal name Description WI1000 M12 Isolation i M8T05N group i wie RS232 TX RS232 interface Transmit terminal 2 Leave open if unused 5232 interface Receive terminal ilo Leave open if unused 3 GND Ground intended to be used together with the 4 other signals in this connector RS485 B RS485 interface Leave open if unused 5 RS485 A RS485 interface Leave open if unused COM2 Communication connector 2 12 5pin female connector JVL Cable WI1000M12 Isolation Signal name Description M5TO5N group RS232 interface receive terminal i i Leave open if unused RS232 Tx RS232 interface transmit terminal Leave open if unused RS485 B RS485 interface Leave open if unused RS485 A RS485 interface Leave open if unused Brown Green Yellow Grey Pink Blue Brown White Blue Black Grey 2 3 4 5 Interface ground Same as main ground For complete drawings of the M12 cables please see the appendix Cable drawings page 396 130 JVL Industri Elektronik A S User Manual Integrated Servo Motors MACO50 3000 4 2 4 2
385. p 1 means that the terminals refers to the main ground P GND and the motor housing Isolation group 2 means that the terminals refer only to the RS485 interface Isolation group means that the terminals refer to the I O ground 1 Blue 2 JVL Industri Elektronik A S User Manual Integrated Servo Motors MACO50 3000 255 4 8 Expansion Module MACOO FS1 FS4 MAC00 FS4 Dip switch settings Dip 1 6 I O setup Mini dip switch Makes it possible to OFF X ON share I O signals in z Rear side of the 4 the same cable expansion module Function l Connect CV to O 2 Connect P to IO 3 Connect IN3 to AIN 4 Connect IN4 to AIN 5 Connect OI to AIN 6 Connect O2 to AIN To activate the mentioned connection please set the actual switch to position ON SW IB default settings 2 and 4 set in position ON 3 5 and 6 set in position OFF Dip l 2 Line termination Both set to ON M Term enabled SW2 Both set to OFF Term disabled SW2 default settings Both switches in position OFF Dip 1 10 For Future use SWI default settings all set in position ON Dip switch location on the MAC00 FS4 Expansion module MI2 external connectors Basic MAC motor SWIB housing I O setup Internal circuit boards SWIA For Future use Dip Switches placed on the rear side of the module SW2 Line termination TTIOI7GB 256 JVL Industri Elektronik A S User Manual In
386. p 2 means that the terminal refers to the DeviceNet interface ground V Isolation group means that the terminal refers to the I O ground IO Defaults Dipl 6 ON ON OFF OFF ON ON TXPD ON IOA AIN IOB INI O1 Oc 4 6 23 General wirering considerations Due to the nature of Devicenet needing a handshake procedure at initialization it is NOT recom mended to power cycle 24V while the Devicenet bus system is running If MAC400 800 motor types are used keep the 24V control power on but cut the AC voltage for the motor In this way the DeviceNet connection is kept but the motor is held powerless and all motor movement is inhibited For the smaller series of MAC motors 50 141 there is a separate power connection for the mo tor driver P terminal which can be disabled while the control power the CV terminal is kept supplied with 24VDC without loss of communication JVL Industri Elektronik A S User Manual Integrated Servo Motors MACO50 3000 227 4 6 4 6 24 228 Expansion Module MACOO FD4 Connecting MACOO FD4 to the DeviceNet bus Before you connect the MACOO FD4 to the DeviceNet bus make sure that the Baud rate the Node ID and the termination is setup to the desired values On the DeviceNet bus it is possible to have a transmission speed Baud rate of maxi mum 500 Kbit s and a minimum of 125 Kbit s The Baud rate depends on the cable length and the wires cross section The table below have some rec
387. p1 10 OFF ON OFF ON OFF ON OFF ON OFF OFF Input Ax and Bx for both MF I O s are setup for PNP outputs TT1146GB RS485 Termination is disabled JVL Industri Elektronik A S User Manual Integrated Servo Motors MACO50 3000 135 4 3 Expansion module MACOO B41 4 3 5 136 General power supply description The MACOO B4 module can be used in the MAC400 MAC800 MACI500 and MAC3000 motor Notice that only MAC800 motors with serial numbers higher than 85000 support the B41 module The diagram below shows how to connect power to a MAC400 motor mounted with a MACOO B4 Please notice that the voltage connected to P and or CVI must stay in the range 12 32VDC Precautions must therefore be taken if the system also contains MACSO 95 40 or 141 which may require 48VDC in order to reach maximum motor speed See also the general power supply description Power Supply page 85 Power supply connections to a MAC140 and a MAC400 mounted with a MACOO B1 B2 or B4 and B41 modules Make sure that all Power supply involved units are connected to the same potential control voltage Bus voltage It is recommended that a separate supply Power line is used for each motor Supply Control voltage Only M AC50 141 with B2 or B4 Optional MAC400 Motor with MACOO B41 Power P Supply p Max 32VDC Control Volt CV o M ain supply 4 Mains 115 or 230VAC lt TT1137GB JVL Industri
388. parameters Standard 85 With MacReglO software 156 Only for experts Speed variance Max 4 RPM variance between command and actual speed SPEED TORQUE ee NENNEN Analogue speed torque input 9 bit sign Nom input voltage 10V 10kOhm input resistance Voltage range max 10 to 32VDC Offset typical 50mV Analogue input tolerance Sampling rate at analogue input Encoder output signals Analogue speed input Zero speed determination Speed variance at rated speed Initial error 20 C 0 5 Torque limit in speed mode 0 300 by parameter Analogue torque input Torque control accuracy VARIOUS C a Electromechanical brake Regenerative Protective functions Error trace back Overload Regenerative overload follow error function error regenerative overload over voltage software position limit Abnormality in flash memory under voltage over current LED functions Power Green LED Error Red LED Note that the LED s are only visible when no module is mounted Output signals 2 general purpose NPN lt 32V 25 mA outputs Error and In position Zero search 1 Automatic Zero search with sensor connected to input 2 formats 2 Mechanical Zero search without sensor Torque controlled Shaft load maximum Radial load 75N 20mm from flange Axial load 15N Standards CE approved UL pending Protection IP42 or IP67 IP55 on request Usage Storage Temperature Ambient 0 to 40 C 32 104 F 20 to 85 C 4 to
389. pause that can be specified is 0 milliseconds Note that this command over writes Timer 1 in the RxP modules memory JVL Industri Elektronik A S User Manual Integrated Servo Motors MACO50 3000 293 4 10 Expansion Module MACOO R1 R3 R4 4 10 10 14Wait for an input combination before continuing single input 294 Dialogue m Single Multiple Cancel Input Input condition fe nput 1 f Low nput2 C High Input 3 Falling Edge Input4 Rising Edge nput 5 Input 6 Input 7 Input 8 Motor Error In Position Function 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 intervals JVL Industri Elektronik A S User Manual Integrated Servo Motors MACO50 3000 4 10 Expansion Module MACOO R1 R3 R4 4 10 10 15Watt for an input combination before continuing multiple inputs Dialogue Operand And ok fe Or Cancel Input 1 High Dont care Input 2 C High Dont care Input 3 High Low Don t care Input 4 C High Dont care Input 5 High Dont care Input High Low Don t In
390. pical 350mA 2 24VDC and 700mA P CVI1 24VDC if a slave motor is connected At MACOO P5 the CVI1 is not present but White CVI1 is internally hardwared to P Main ground to be used with CVI1 and CVI2 Black y Note Isolation group indicate which terminals circuits that a galvanic connected to each other In other words group 1 2 3 and 4 are all fully independantly isolated from each other Group 0 correspond to the housing of the motor which may also be connected to earth via the 115 230VAC power inlet pm T NN 8 Continued next page JVL Industri Elektronik A S User Manual Integrated Servo Motors MACO50 3000 271 4 9 Expansion module MACOO P4 P5 COM Communication connector M12 5pin female connector JVL Cable Isolation RS232 group Signal name Description M12 1 5 5 See note RS232 interface Transmit terminal meen Was Leave open if unused Brown RS232 RX RS232 interface Receive terminal 2 Leave open if unused Ground intended to be used together with the IGND i mare 3 other signals in this connector RS485 A RS485 Modbus Leave open if unused RS485 B RS485 Modbus Leave open if unused SLV Slave connector M12 5pin male connector JVL Cable W11005 Isolation M12F5TF5T group Signal name Description 03P see note RS485 A RS485 Modbus Positive terminal RS485 B RS485 Modbus Negative terminal CVI2 Supply output optionally input 12 28VDC 2 2 Ha
391. position T Motor status Br 7215 0 16777716 Actual mode Actual velocity m Follow error Encoder position 9656 eter EE Actual motor torg Motor load mean Encoder offset 0 Set offset 0 Regenerative load Positive revs before position wrap 2048 porco ED m nputs Negative revs before position wrap 2049 Bus voltage offset encoder singleturn resolution is 8192 Counta When the motor position is within 15 000 000 to 15 000 000 the encoder position bar is coloured green indicating a safe position for doing a position reset Outside this range the bar is coloured red indicating a range that is not recommended for position resetting the encoder position since it leaves a minor free working range The free working range is displayed under the bar as positive and negative motor revo lutions available before wrap around AGE MacTalk Noname File View Motor Setup Updates Help G Wb 9 amp w 8 2 G Open Save Save flash Reset position Clear errors Reset motor Filter setup STOP Motor Main Registers Advanced Filter parameters Tests Scope Absolute positioning Status Absolute encoder position Matar sta 5777215 16777716 Actual mode T Follow error Encoder position 15625001 Function erra gt Position offset encoder singleturn resolution is 6192 CountsAev Encoder offset 0 Set offset 0 Positive re
392. position or velocity mode Use Inserts a remark Comment in the program source code Use Initiates any motor movement relative or absolute Use Unconditional Use Conditional jump Select command jump from program line to another Use Inserts a delay in the program specified in milliseconds Use Write a value to almost any register in the basic MAC MIS motor Use Wait for a certain state at one or more of the digital inputs Use Initiates a zero search to a sensor or a torque no sensor Use Change mode and activate register using a single command TT1103 02GB Enter your own remarks LA Set operation mode Move operations S al Set outputs Unconditional jump i Al Conditional jump Wait for ms before I Wait for an input combination continuing before continuing Set a register in the MAC motor Al rel Haag to a register in Wait for a register value before WWE Save position continuing Zero search af Set position Send FastMAC command D Binary command Jump according to a comparison Basic Calculator 2258 mu H Use Performs a Use Compares two calculation using register values and contants before jumping or JVL Industri Elektronik A S User Manual Integrated Servo Motors MACO50 3000 registers to each other moving in the program from one program line to another Input dependent Use
393. position is however locked to a specific mechanical zero position and a fixed position range Therefore the encoder position can not be manipulated as flexible as for the standard encoder type since some upper and lower limits in the working range need to be respected in order to avoid overflow wrap around issues during operation The en coder position can maximum operate in the range from 2047 to 2047 mechanical rev olutions The following pages describe the basic operation and how to set the zero point Extended encoder operation selectable For applications that require a larger position range or applications that require that the motor position is still valid even if the maximum position range is exceeded the extended encoder operation can be selected The main advantage of the extended encoder operation is that the position range is 4 times higher and the overflow wrap around is handled in a manner that the position data is still valid after any condition that would normally have caused the position data to be lost or invalid such as power cycling reset or save in flash The full description of the extended encoder operation can be found in the section Ex tended encoder operation detailed description page 69 JVL Industri Elektronik A S User Manual Integrated Servo Motors MACO50 3000 2 11 2 11 2 Absolute Multiturn Encoder How to setup the mechanical zero point quick guide The tab Absolute positioning is vi
394. power cable 20 m Straight M16 conn and free end Female WP0102 MAC400 Brake resistor cable 2 m Straight M16 conn and free end Male WP0105 MAC400 Brake resistor cable 5 m Straight M16 conn and free end Male WP0120 MAC400 Brake resistor 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 power cable with earth 5m Straight M16 conn and free end Female WP0420 MAC400 230V power cable with earth 20m Straight M16 conn and free end Female Please use the illustration below when connecting the cables Warning Please notice that it can be fatal connecting 230V to the 15 input Input supply cable type WP0002 WP0005 WP0020 Blue Neutral 0 Input 115VAC phase Input 230VAC phase Earth 4 Power dump DC output cable type WP0102 WP0105 WP0120 Whit m Bus Out 325VDC Power Dump Output Common Earth Input supply cable type WP0402 WP0405 WP0420 Blue Grn Yel Neutral 0 Earth Input 230VAC phase Brown General information TT1194GB Make sure that any unused wires are isolated and stay unconnected JVL Industri Elektronik A S User Manual Integrated Servo Motors MACO50 3000 9 3 2 Power Supply 3 2 13 Power connector parts for MAC400 Manufacturer Hummel AG Germany General web http www hummel group com US web http www sealconusa com Usedf
395. pped 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 included The table below shows the difference between Siemens IMPORTANT naming conventions and the naming on the MACOO FPx use spring washer MACOO FPx Siemens Standard name name wire colour Be __ Red 244 JVL Industri Elektronik A S User Manual Integrated Servo Motors MACO50 3000 4 7 Expansion Module MACOO FP2 FP4 4 7 13 MACOO FP2 How to connect the RS232 interface The illustration below shows how to connect the MACOO FP2 directly to a PC COM port The drawing is based on standard cables from JVL type WG0402 WG0410 or WG0420 See also Accessories page 394 for a complete list of cables and connectors If the MAC motor is connected to the same RS232 line as other motors the terminal TX PD should only be connected at one of the motors If one of JVL s standard RS232 cables RS232 9 or n is used between the DSUB connector shown and the PC com port the RX and TX pins must be swapped since they cross in these standard cables How to connect the MACOO FP2 RS232 interface Remember to connect TX PD Red to TX Green in order to achieve Interface connector stable communication JVL cable WG04xx incl analogue input PC RS232 standard 1 COM port Sremiamiraed cable 24 wire
396. pply 12 48VDC Connect with pin 2 1 2 JVL Cable WI1000M12 Isolation group Main supply 12 48VDC Connect with pin 1 PP Main supply ground Connect with pin 5 Control voltage 12 48VDC Main supply ground Connect with pin 3 Note P 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 CAN open interface M12 5 pin male connector WI1006 Signal name Description M12F5SxxR Shield for the CAN interface internally con CAN SHLD nected to the motor housing Reserved for future purpose do not connect CAN interface ground CAN interface Positive signal line CAN interface Negative signal line JVL Industri Elektronik A S User Manual Integrated Servo Motors MACO50 3000 4 5 Expansion Module MACOO FC2 FC4 BUS2 CANopen interface M12 5 pin female connector Description IO I Os RS232 interface M12 8 pin female connector JVL Cable WI1000 M12 Signal name Description O lO TE SW3 DIP 5 OFF PL input fem SW3 DIP 5 ON O1 output M8TO5N RS232 interface transmit output Important DIP1 must be turned ON If addressing is used it must be turned ON at minimum one of the connected motors 5232 interface receive input 3 RS232 Ground also used with analogue input 4 SW3 DIP 4 OFF
397. pports and possible I O module The default value 0192h inform that the DSP402 Device profile are supported and the value 0002h announce that the MACOO FC2 FC4 module supports servo drives Emergency object The EMCY emergency object is used to transfer an error message to the CANopen master or also to another node which can process the error message The reaction on the emergency object is not specified An emergency object is transmitted only once per error event The MACOO FC supports the EMC object Emergency The following error codes can be generated Errorcode 1001h Generic error Motor error Errorcode 1002h Generic error Limit switch error Errorcode 1003h Generic error Internal communication error Errorcode 004h Generic error Queue overflow in communication queue The EMCY object 1001h are sent as an 8 bit header an have the following structure CANopen CANopen CANopen MAC motors MAC motors error code error code 8 bit error ERR_STAT ERR_STAT MSB 10 LSB 01 register MSB 16 bit LSB 16 bit error register error register Reserved 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 Motor status table Overload Follow error Function error Regenerative error In position Byte 3 4 The ERR STAT register is located in the motor not in the MACOO FC2 4 module but the
398. program ensure that the basic parameters for controlling accelera tion torque safety limits etc are set to proper values When saving the program on the hard disk or floppy disk all of these basic parameters will be saved together with the program as a complete motor setup package 3 Aprogram 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 282 JVL Industri Elektronik A S User Manual Integrated Servo Motors MACO50 3000 4 10 4 10 9 Expansion Module MACOO R1 R3 R4 Command toolbox description The toolbox used for programming comprises 16 different command types The idea is for the commands to give easy access to the most common functions in the motor Some functions may seem to be missing at first sight but the buttons Set register in the MAC motor or Wait for a register value before continuing give direct access to 50 registers down in the basic MAC motor such as the gear ratio or the actual torque register In total this provides a very powerful programming tool since gt 95 of a typical program can be built using the simple command icons and the remaining part is obtained by ac cessing the basic motor registers directly A short description of all 16 command icons is given below Use Set a certain state at one or multiple digital outputs Use Set the motor in the desired mode such as
399. protection degree it is very im portant that the various components are mounted and fasten properly according to the illustration below 338 JVL Industri Elektronik A S User Manual Integrated Servo Motors MACO50 3000 9 7 9 7 1 Emergency stop considerations Emergency stop Fundamental considerations regarding the safety of machines In the construction of machines there are several basic requirements that a machine manufacturer or producer must fulfil It is the machine manufacturer s responsibility to ensure that applicable regulations are fulfilled The following presents a broad overview of the applicable regulations in Europe the EEC If a machine manufacturer markets its products in other countries it is the manufacturer s responsibility to ensure compliance with local national regulations It cannot therefore be assumed that a machine that is produced in accordance with European requirements will automatically also comply with regulations that are applicable in other markets even though these are acknowledged in several countries The most important European regulation in this context is the Machinery Directive which in Denmark is implemented via the Danish Working Environment Authority s Executive Order no 561 This Executive Order prescribes requirements to ensure that machines are safe that a technical dossier including a health and safety risk analysis is prepared and that the machine is supplied together with i
400. protocol has some overhead and the basic motor only performs operations once per sample period so a full register write or read can take up to almost 20 milliseconds at 19200 baud The normal time is 10 5 to 15 milliseconds for a single register transfer JVL Industri Elektronik A S User Manual Integrated Servo Motors MACO50 3000 353 5 10 354 Serial communication When reading one or more register values from the basic motor the remaining operation of the module waits for the operation s to complete before continuing operation For the fieldbus modules this means that the response time for a read operation can be quite long since in addition to the requested read operation other read and write operations can be queued up and must complete before the requested read operation can be completed and the value can be returned over to fieldbus For the PLC like modules the long transmission time means that a program line that manipulates a motor register in a way that requires reading can take 20 or more milliseconds to execute Some fieldbusses like CANopen expect that the motor is able to transmit a value when it has changed more than a certain amount since the last time it was transmitted The current fieldbus modules do not have this capability since it would load the serial link to the motor too much to continuously poll the value of motor registers Module register addressing and module commands Some of the modules hav
401. ption 3 the unprecise one Write a value to the target position register 3 P_SOLL that is the actual position plus minus the distance to move This is unsafe inaccurate because the actual position may have changed in the time it took to read the value do the calculation and write back the new target position This may still work on some applications or even be desirable but note that a position error might accumulate over time In some applications it may be useful to prepare several position distances in the differ ent through P8 registers and then activate them using different FastMac commands 72 JVL Industri Elektronik A S User Manual Integrated Servo Motors MACO50 3000 2 12 2 12 1 Rotary table option General description The Rotary table option also sometimes called Dividing head Indexing table or turntable option makes the motor work in three different ways that limits the actual position and target position to a smaller position range than normal This is useful for supporting some mechanical systems One of the strong features of this is the motor s ability to calculate the shortest move ment to a new target position automatically The option can also be used to have the motor always move in the same direction for any target position value even if the new target position value is below the old position in this case the motor will turn in the configured CW or CCW direction until it returns to the lower
402. punoJs J9 og 008 OSODVW 21529 3 002 V YXM DY 21529 225 JVL Industri Elektronik A S User Manual Integrated Servo Motors MACO50 3000 4 6 Expansion Module MACOO FD4 Expansion module MACOO FD4 front plate BUS1 PWH Primary DeviceNet Power connector W M12 5pin male M12 5pin male 59 lc connector including connector including 408 NA 7 P P and secondary DeviceNet interface A d j supply optional BUS2 c Gee MI2 8pin female Second DeviceNet CIMA FT CN connector including connector iN e 1 Se N RS232 Interface M12 5pin female Selectable I O s such connector including yA as analogue input OI DeviceNet interface O2 INI NL PL TTIOI6GB 4 6 22 Expansion MACOO FD4 hardware description The MACOO FD4A offers IP67 protection on 50 141 MI2 connectors which make it ideal for automation applications where no additional protection is desired The M12 connectors offer solid mechanical protection and are easy to operate The I O sig nals available are restricted since only 4 I O terminals are available The I Os connected to these 4 terminals must be selected via a small dip switch The connector layout PWR Power input M12 5 pin male connector JVL Cable WI1000M12 Isolation Signal name Description group 1 re Main suppl
403. put 7 High Don t care Input 8 High Don t care Motor error High Don t care In position High Dont care Function 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 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 care are not tested The inputs are tested with 30 microsecond intervals JVL Industri Elektronik A S User Manual Integrated Servo Motors MACO50 3000 295 4 10 Expansion Module MACOO R1 R3 R4 4 10 10 16Sets a register in the MAC motor Icon Dialogue Value Function Sets a register in the motor to a specified value The register is selected from a list of Known user accessible registers The value can either be entered as native motor units or it can be entered as generic engineering units The dialogue shown provides an example register no 3 P_SOLL or requested position depending on your preference can either be set to an integer number of encoder counts or it can be set to a non integer number of revolutions 4 10 10 17Jump according to a register in the MAC motor Icon Dialogu
404. r RS485 ol Cc RS485 B 50 141 Signal ground E P is main supply terminal for RS232 and RS485 2 Apply 12 48VDC MAC800 P is the control supply terminal Apply 12 32VDC max 32V Notes RS232 Interface between MAC motor and a PC MACOO B1 Do not apply higher voltages than 32VDC to the AIN terminal niles 117 Use JVL programming cable type RS232 9 for connecting to PC TT0900GB 126 JVL Industri Elektronik A S User Manual Integrated Servo Motors MACO50 3000 4 2 Expansion Module MACOO B1 B2 B4 Shown trom front Shown from rear inside GND oO Status Outputs RS485 Balanced B serial interface ind IN OUT SETUP cable enters here TT e DipSwitch for setting signal source type for the Multifunction I O when used as pulse inputs B Multifunction I O 85232 Unbalanced Rx ial i TX serial interface TXPD POWER cable enters here Power Supply and analogue input TT0935GB 4 2 13 General description MACOO B2 The MACOO B2 expansion module is an industrial interface that mates with the standard MAC motors and offers a number of feature enhancements including e P67 protection if mounted on basic MACO050 141 motor with the IP67 option and IP65 on MAC400 600 e Direct cable connection through sealed compression cable glands e Addition of a Zero switch input for locating a mechanical zero point of the actuator when
405. r 5 5 12345 5432l 6789 9876 Male front view Female front view Male front view Female front view TTIO96GB 4 5 51 MACOO FC2 Connectors Rear plate layout Expansion module M ACOO FC2 front plate I O PWR M16 cable gland Available signals N AD d M12 5pin male RS232 Interface general p w connector including I O s such as analogue m P P input AIN 01 02 IN1 IN4 NL PL and secondary supply optional Gi BUS2 BUSI Second CANopen Primary CANopen 2 connector connector M16 cable E M16 cable gland gland supporting screen supporting screen TT1007GB The MACOO FC2 module is function as node in the CAN bus network and the following terminals are available B and A are Bus in and B and A are Bus out The con nectors are placed on the dismantled module as the figure show below Cable glands nternal circuit boards CAN open I O Dip Switches placed on the rear side of the module TTI069GB connectors 200 JVL Industri Elektronik A S User Manual Integrated Servo Motors MACO50 3000 4 5 Expansion Module MACOO FC2 FC4 The illustration below shows all the internal connectors in the module The CAN bus and power connectors are easy to use screw terminals If the I Os are used they require JVL cable type WG0402 2m WG0410 10m or WG0420 20m See also the appendix for cable and connector accessories Overview MACO
406. r 12 48VDC connector parts MAC402 CONKIT1 PWR Contains 1pcs WG0253 7pcs WG0254 1pcs WG0230 Individual connector components M16 Female conn insert nylon Power 12 48VDC Accepts 6 PE crimp sockets 7003 9431 02 WG0253 Use 1 pcs per connector M16 Crimp socket female Accepts 0 34 to 1 5mm wires Power 12 48VDC AWG16 to AWG22 7010 9812 12 WG0254 Use 7pcs per connector M16 Straigth metal housing Accepts cable with outer dia Power 12 48VDC 5 0 to 9 0mm 0 2 to 0 53 7810 4000 00 WG0230 Use 1 pcs per connector Power 12 48VDC Optional same as above but 7556 4699 90 WG0231 90 degree housing Grim col 7000 900904 JVL Industri Elektronik A S User Manual Integrated Servo Motors MACO50 3000 95 3 2 Power Supply 3 2 18 Power supply circuitry only 200 The MAC800 supply is split into 2 individual circuits with full galvanic isolation between the circuits The control circuitry requires a voltage in the range 18 to 30VDC and the power circuity must be supplied with 90 to 240VAC Set by solder jumper Using 15V supply voltage only MAC800 page 98 Having 2 independent supply circuits offers the feature that the supply voltage for the power circuitry 90 240VAC can be removed for safety reasons while the control circuitry can continue operating and thus keep the po sition counter updated and keep other vital functions such as communication active P mustbe per MAC800 Supply diagram ma
407. r Manual Integrated Servo Motors MACO50 3000 397 5 16 CE Declaration of Conformity EU Declaration of Conformity Manufacturer Company Name Address Telephone E mail Web Hereby declare that Product No Name Type alone or combined with one of the following expansion modules is in conformity with JVL Industri Elektronik A S Blokken 42 DK 3460 Birkered Denmark 45 45 82 44 40 jvl jvl dk www jvl dk 400 MAC800 MACI500 and MAC3000 Integrated AC Servo Motor Series D2 D3 D4 D5 and D6 MACOO B2 MACOO B4 MACOO B4 MACOO CS MACOO P5 MACOO EC4 4 MACOO EI4 4 MACOO EL4 4 4 41 MACOO EP4 4 MACOO FSI MACOO FSA MACOO RI MACOO R3 MACOO RA MACOO FP2 MACOO FP4 MACOO FC2 MACOO FCA MACOO FD4 DIRECTIVE 2004 108 EC OF THE EUROPEAN PARLIAMENT AND OF THE COUNCIL of 5 december 2004 on the approximation of the laws of the Member States relating to electromagnetic compatibility was manufactured in conformity with the following national standards that implements a harmonised standard EN 61800 3 Adjustable speed electrical power drives systems Part 3 EMC product standard including specific test methods July 2014 Pek V Jessen Technical Director JVL Industri Elektronik A S TT1077 02GB LX0021 02GB 398 JVL Industri Elektronik A S User Manual Integrated Servo Motors MACO50 3000 5 17 UL
408. r Select program type for new program With this made it possible Relative absolute absolute and relative posi moving range will be limite Program setup Upload program Program information MACOO RxP New program Stop Sizes Program Source 80B 1 REM Demonstration Program Source REM 808 2 Set outputs 2 high a Program only 53B 3 Move Rel dist 40 Checksum Lines MGeneral Information Program type Absolute and relative 4 Wait 500 ms 5 Set outputs 2 low an s Jump to 2 2957 5 TT0981GB JVL Industri Elektronik A S User Manual Integrated Servo Motors MACO50 3000 4 10 4 10 6 Expansion Module MACOO R1 R3 R4 MACOO RxP menu The MACOO RxP menu found at the top of the main window gives access to following possibilities MACOO RxP menu MACOUO RXxP Mew program Described elsewhere in this chapter Program setup Upload program Upload the program from the module to MacTalk Program inFormation Program Source Shows the memory usage if the program compiled 4 source program and remarks is downloaded into the module Program Source REM Same as above but without remarks Program Source Program only Program Source REM Same as above but without source Program only program and remarks Program information Sizes General Info
409. r data sent from the motor This provides a high degree of noise immu nity which allows the protocol to have less overhead for error checking and thus work very fast Both of these protocols use binary data rather than text data It is not possible to use a text terminal program like Windows Hyper Terminal to communicate on any of these protocols Depending on the type of MACOO 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 MACOO xx modules drive the RS 232 and RS 485 lines in a slightly non standard way which must be taken into account This is described in detail elsewhere in this manual but the overall differences are that for RS 485 the modules drive the line in transmission mode up to approximately 560 micro seconds longer than necessary and for RS 232 the TxD line is only driven actively high while it must be pulled passively low by a resistor provided on the module and selectable via a DIP switch This special non standard RS 232 coupling allows several motors to be connected to a single controlling computer or PLC much like RS 485 The MAC motors can be mounted with either intelligent MACOO xx modules that have an integrated processor to handle the communications to the basic motor or they can be mounted with dummy modules that just do minimal hardware translation of t
410. r end Error LED red Power LED green Connector d Manufacturer Molex Fuse TIOA Type 09 91 0200 3 96 pitch See text lt 3metres The distance between the P motor A4700uF 50V capacitor nal anc y capacitor must be less in the power supply out than 3 metres otherwise put is recommended the peak performance of Earth the motor is reduced TT09 10GB 3 2 1 Power supply only MACO5O to 141 The power supply must be connected to the terminals marked 48V and GND The supply voltage can be in the range 12VDC up to 48VDC however the maximum speed of the motor 4000 RPM is based on 48VDC A lower voltage will decrease speed performance This curve below shows the relationship between voltage and recommended speed Speed in RPM 4000 MACSO 95 140 Restricted area 3000 motor losses will MACI4 be too high Max 2800 RPM 248VDC 2000 1000 Supply 0 Voltage VDC 0 12 24 36 48 ge WPS Operation below 2V is not recommended TT0925GB If a supply voltage lower than 48VDC is used it will not influence the motor torque unless the corresponding speed at this voltage is overridden The MAC motor continuously measures the actual supply voltage and optimises the current control filter This feature ensures that the motor always produces full torque within the safe area of operation 3 2 2 Power supply grounding only 5 to 141 No additional grounding earthing
411. r standard data types like boolean integer floating point etc These entries are included for reference only they cannot be read or written Index 0020 003F Complex data types are pre defined structures that are composed out of standard data types and are common to all devices Index 0040 005F Manufacturer specific data types are also structures composed of standard data types but are specific to a particular device Index 1000 FFF The communication Profile area contains the parameters for the communication profile on the CAN network These entries are common to all devices Index 2000 5FFF The manufacturer specific profile area for truly manufacturer specific functionally JVL Industri Elektronik A S User Manual Integrated Servo Motors MACO50 3000 89 4 5 4 5 45 190 Expansion Module MACOO FC2 FC4 Index 6000 9FFF The standardised device profile area contains all data objects common to a class of de vices that can be read or written via the network The drives profile uses entries from 6000h to 9FFFh to describe the drive parameter and the drive functionality Within this range up to 8 devices can be described In such a case the device are denominated Multi Device Modules Multi Device Module are composed of up to 8 device profile segments By this feature it is possible to build devices with multiple functionality The different de vice profile entries are shifted with 800h A 6 bit index is used to add
412. r to control the actual motor position by an analogue input 3 Max velocity Acceleration torque etc must be adjusted for the actual application This can be done now or at any other time 4 Atthe Advanced tab select Paired Master under Modbus setup 5 Select AIN3 as analogue input in order to use the 4 20mA input at the MACOO P4 5 module instead of the default input AIN I Noname Setting up the Master motor in MacTalk File View Motor MACOO0 RxP Setup Update J Q Save Save in flash Rese Registers Advanced Filter parameters Te Stup mode Passive Change actual mode Velocity Position Gear Gear Follow Analoque velocity Analogue velocity with deadband Analogue velocity gear Velocity analogue torque Analogue torque direct Analogue gear Coil Analogue bi position O le 1e 19 ie te le le Select Analogue to position mode Profile data Max velocity 98 a RPM ams RPM S Setup the desired max velocity and acceleration e wH Torque and Load may also need a different we 1 000 uni setting compared to the default setup S7 Motion parameters Hee window 100 Counts TT1197GB File View Motor MACOO0 RxP Setup Updates a J t Open z Save in flash Reset po Main Registers Advanced Filter parameters Tests Special Command Command 0 Encoder setup Motor resolution 8132 counts rev v
413. r trace back Overload I T Regenerative overload follow error function error regenerative overload over voltage software position limit Abnormality in flash memory under voltage over current temperature too high LED functions Power Green LED Error Red LED Note that the LED s are only visible when no module is mounted Output signals 3 general purpose NPN 30V 25 mA outputs Error and In position Zero search 1 Automatic Zero search with sensor connected to input 2 formats 2 Mechanical Zero search without sensor Torque controlled Shaft load maximum Radial load 24 5kg 13 5mm from flange Axial load 9 8kg Controlled automatic or from input 3 25Nm inertia 0 22cm2 turn on time 50ms turn off time 15ms Rated power rate motor Mechanical time constant motor Electrical time constant motor Standards Protection Optional brake D4 option Usage Storage Temperature Ambient 0 to 40 C 32 104 F Storage power not applied 20 to 85 C 4 to 185 F Humidity 90 Temperature warning is given before reaching max Temperature shut down and error message generated at 84 C 183F W 16 JVL Industri Elektronik A S User Manual Integrated Servo Motors MACO50 3000 5 1 Technical Data General Al data specified for the MAC motor only i e without any expansion module mounted AC servomotor brushless with built in 2000 PPR encoder hall sensors and 3 phase servo ampl
414. r type Zero search is carried out according to the following illustration ero Select the mechanical zero search made Sensor type 1 search mode using this field Findindez after zero search T search position 1000 1 000 Counts Mer oe Zero search velocity 50 50 activated The motor then decelerates Zero search torque 1 x and moves the reverse distance back to the position where the sensor was activated Velocity i Zero search position is an optional offset See description in other chapter Zero search velocity defines the velocity used during Zero search t Zero search The sign of the specified velocity Sensor status started defines the zero search direction Zero search torque is used as the trip level when the zero position is reached active high active low Time TT0922GB The Zero sensor must be connected to the analogue input AIN which during Zero search functions as a digital input For connection information and electrical specification see Analogue input page 107 2 6 6 Sensor type 2 Zero search Sensor type 2 Zero search is carried out according to the following illustration Select the mechanical Zero Zero search mode Sensor type 2 e 7 5 search format in this menu Find index after zero search When the zero search sensor is activated the search postio 1000 1000 Counts motor decelerates and starts to move in
415. rameters Speed variance SPEED TORQUE Analogue speed torque input 11bit sign Nom input voltage 10V 10kOhm input resistance Voltage range max 10 to 32VDC Offset typical 50mV Sampling rate at analogue input 750 Hz Encoder output signals A A B B RS422 Line driver Typical 1 1 3 7 Volt outputs Driver SN75176 90 Phase shifted Analogue speed input Zero speed determination 0 rated speed Speed variance at rated speed Initial error 20 C 0 0 Power Supply 10 0 0 Ambient temperature 0 40 C 0 0005 50 Torque limit in speed mode 0 300 by parameter Analogue torque input Torque control accuracy VARIOUS ee 2 NN Electromechanical brake Regenerative Protective functions Error trace back Overload I T Regenerative overload follow error function error regenerative overload over voltage software position limit Abnormality in flash memory under voltage over current temperature too high LED functions Power Green LED Error Red LED Note that the LED s are only visible when no module is mounted Output signals 3 general purpose NPN 30V 25 mA outputs Error and In position Zero search 1 Automatic Zero search with sensor connected to input 2 formats 2 Mechanical Zero search without sensor Torque controlled Shaft load maximum Radial load xxN xxmm from flange Axial load xxkg Optional brake D5 or D6 option Controlled automatic or from input xxNm turn on time 50m
416. rated Servo Motors MACO50 3000 402 6 Index MACOO FC2 FC4 Expansion Modules 151 153 173 174 180 187 207 152 MACOO FC2 cables 152 MACOO FC2 RS232 interface cables 203 MACOO FC4 cables 207 Transmit PDOs 177 MACOO FD4 Expansion Module 208 211 213 225 227 Cables 208 231 DeviceNet 208 Hardware general 225 Node id Baud Rate Termination 210 Position controller 213 MACOO FP2 FP4 Expansion Modules 232 234 235 238 244 246 248 249 251 Address Termination 233 Assembly instruction for profi cables 244 Cables 232 Connectors 242 Dual supply operation 245 FlexMac commands 240 GSD file 249 Input data Slave Master 237 Input modes 238 MACOO FP2 RS232 cable 245 MACOO FP2 with cables 243 MACOO FP4 cables 248 Profibus 232 RS232 245 Slave parameters 239 MACO00 RI R3 R4 Expansion Modules 274 276 278 281 283 305 308 309 General description 274 Command toolbox description 283 Firmware setup 275 MACOO R3 cables 274 MACOO R3 RS232 cable 308 MACOO R3 with cables 307 MACOO R4 cables 311 Programming hints 282 Rx fixed format 275 RxP Graphic programming 275 276 278 281 283 MAC050 141 Adjusting the current filter 54 Efficiency curves 323 Physical dimensions 324 Power supply 85 86 Power supply dimensioning 86 Power supply grounding 85 Serial communication 357 360 Technical data 314 Torque curves 320 MAC800 Physical dimensions 325 Power dump resistor 99 Power supply circuitry 96 Power suppl
417. rch modes the Zero search function uses the analogue input as zero sensor input and the coiling function uses the signal to sense the go to start position com mand Still the two signals can be coupled in parallel if the Zero search sensor is activated away from normal working area Normally open In conjunction with the above setup for registers P P6 the setup for the Zero search could therefore be Zero search type Sensor 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 Filter setup in coil mode Recommended filter setting for this application using the filter selector Please note that the filter setting can also depend on other factors such as the inertia fric tion etc in the actual system Current filter Medium or high Position filter x y coordinate 3 3 fast almost hard Follow error type Static degree 75 Remember load factor to finely adjust the LOAD factor MacTalk main tab Other settings recommended Max velocity Set limit higher than the normal speed used Acceleration Set high value example 300000 RPM sec Torque 30096 Gear factor Set value Follow error 0 Function error 0 JVL Industri Elektronik A S User Manual Integrated Servo Motors MACO50 3000 25 2 0 Coil Mode 2 3 5 Reg
418. rd 85 With MacReglO software 156 Only for experts Max 4 RPM variance between command and actual speed Number of parameters Speed variance SPEED TORQUE 11bit sign Nom input voltage 10V 10kOhm input resistance Voltage range max 10 to 32VDC Offset typical Analogue speed torque input 50mV Sampling rate at analogue input Encoder output signals A A B B RS422 Line driver Typical 1 1 3 7 Volt outputs SN75176 90 Phase shifted Analogue speed input Zero speed determination Speed variance at rated speed Power Supply 10 0 0 Ambient temperature 0 40 C 0 0005 50ppm Torque limit in speed mode Analogue torque input Torque control accuracy VARIOUS Electromechanical brake Optional feature The brake is activated automatically when an unrecoverable error situation occur Regenerative Integrated power dump External attachment is possible Protective functions Error trace back Overload I T Regenerative overload follow error function error regenerative overload over voltage software position limit Abnormality in flash memory under voltage over current temperature too high LED functions Power Green LED Error Red LED Note that the LED s are only visible when no module is mounted Output signals 3 general purpose NPN 30V 25 mA outputs Error and In position Zero search 1 Automatic Zero search with sensor connected to input 2 formats 2 Mechanical Zero search withou
419. rding 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 operation Expected ball bearing life time V S distance Life time hrs 1000000 100000 20 25 Distance mm TT1059G8 JVL Industri Elektronik A S User Manual Integrated Servo Motors MACO50 3000 335 5 6 Installation instructions 5 6 1 Mounting a gear or a brake at the motor When a gear or a brake is to be mounted on the front end of a motor it is very important that this is done in the right way since a wrong way of mounting may have fatal influence at lifetime of the motor or gear brake and performance Please follow this instruction step by step to make sure that the mounting is done with a good result Step 1 Make sure that the shaft collar is oriented correctly in order to assure that the right tension around the motor shaft is possible Hint Tighten the shaft collar gently just to keep it in the right position The inner and outer slit is NOT aligned Make sure The inner and outer slit they are aligned as shown is aligned as they should at right illustration Step 2 Mount the gear or brake at the motor but make sure to fasten the 4 shaft bolt first before fastening the shaft collar lts recommended to use Locktite 278 in the threats to make sure that the bolt
420. rdwired internally to CVI1 4 4 Ground to be used with CVI2 GND This ground is hardwired internally to the main power ground P Multifunction 1 02 terminal B2 4 The RS485 pins in and SLV is not for general use but only for master slave configuration 272 JVL Industri Elektronik A S User Manual Integrated Servo Motors MACO50 3000 4 9 Expansion module MACOO P4 P5 4 9 14 Cables for the MACOO P5 The following cables equipped with connectors can be supplied by JVL MACOO P5 Connectors Description JVL Order no CNT COM SLV Harting M12 con M12con 5pin 5pin Female Male RS232 Interface cable Connects directly from MACOO P5 to a PC Length 5m 197 inch 4 RS485 Interface cable Connects directly from a master to a slave WI1005 M12F5TF5T03P motor Length 3m 197 inch Cable with M12 female 5 pin straight connector loose ends WI1000 M12F5TO5N Length 5m 197 inch Please contact JVL for further de X tails Protection caps Optional if connector is not used to protect from dust liquids IP67 protection cap for M12 female connector WI1000 M12FCAP1 IP67 protection cap for M12 male connector WI1000 M12MCAP1 Important Please note that the cables are a standard type They are not recommended for use in ca ble chains or where the cable is repeatedly bent If this is required use a special robot cable 2D or 3D cable JVL Industri Elektronik A S User Manual Int
421. re level and it use the 05 301 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 ISO I 1898 stand ard The major performance features and characteristic of the CAN protocol are de scribed below Message oriented protocol The CAN protocol does not exchange data by addressing the recipient of the message but rather mark each transmitted message with a message identifier All nodes in the net work check the identifier when they receive a message to see whether it is relevant for them messages can there for be accepted by none one several or all participants Prioritsation of messages As the identifier in a message also determines its priority for accessing the bus it is pos sible to specify a correspondingly rapid bus access for messages according to their im portance Especially important messages can thus gain access to the bus without a prolonged wait time regardless of the loading on the bus at that moment This characteristic mean that especially important messages are transmitted with priority even in exceptional situations thereby ensuring proper functioning of a system even dur ing phases of restricted transmission capacity JVL Industri Elektronik A S User Manual Integrated Servo Motors MACO50 3000 153 4 5 4 5 6 154 Expansion
422. re on o on on fore oom on n orm on _ ew ore on one Se oom ore n a Jor orfon ow or or ore Ss oon ore n on on m orar ew ow orn ore n e oon on oe om rm _ oon ore on fore oom on or ors on a foro ore onon sp oon on or on orm _ foror on forr ore oom om on or on ow m joo on or on oo oon on o Lm ron on or fore omen on on on om on Table continued on next page 158 JVL Industri Elektronik A S User Manual Integrated Servo Motors MACO50 3000 4 5 Expansion Module MACOO FC2 FC4 Address table continued from previous page Dip Switch no SW1 Dip Switch no SW1 ES ACES ww m up ANN A MR ea Mw Tee ne ee ede ee CCl e cue A Tee re ee ae ed aa al ee ee eee LM mei ue M n AN TON Te TR eee ee c Tom M De Le Oe ree Ree oe der Le ee ae NERLILZLIILILILIELGLICOLILILICULI LT eejeeov wem ww CE s jw WIN NEGLLLILICILILOMAEU aad jedem wa LR uw iH Ee ee ee MCI e SLO ee Ee e ae ee eee M L Tr eee we el He eee EC ee ee eee Te a ee ee ede Le ae eee a LN
423. register and 0 if reading from a l6 bit register Bit 3 Auto write When this bit is 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 the data in read data 0 3 is updated all the time re gardless of the read toggle bit Bit land Bit O should be O Input setup 7 6 S 4 J3 2 1 0 Function f Resetendlimit PL Enable NL Enable Input mode Bit 6 Reset end limit When this bit is the end limit condition is reset if no end limits are activated Bit 5 PL Enable When this bit is the positive end limit is enabled Bit 4 NL Enable When this bit is the negative end limit is enabled Bit 3 0 Input mode these bits select the current input mode See section Input modes page 238 for details JVL Industri Elektronik A S User Manual Integrated Servo Motors MACO50 3000 235 4 7 4 7 4 236 Expansion Module MACOO FP2 FP4 Write to a register example If a new velocity need to be written to the motor it is done after this step by step proce dure 2 Write the new speed value to the 4 databytes 32 bits on address O to 3 Setup the register number where the data must be written to In this case its the velocity register which is register 5 so this number must be written into the write register selector address 4 In the Command register at address 7 the Write 32bit and the
424. ress all entries within the object dictionary In case of a sim ple variable this references the value of this variable directly In case of records and arrays however the index addresses the whole data structure To allow individual elements of structures of data to be accessed via the network a sub index has been defined For single object dictionary entries such as and Unsigned8 Boolean 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 05 30 1 standard is the application and the communications profile for a CANopen bus and is the interface between the devices and the CAN bus It defines the standard for common data and parameter exchange between other bus devices and it controls and monitors the devices in the network In the table below are listed some of the com munications profile objects Data Parameter Special Transfer functions a O Service Data Objects ___ o The access from the CAN network is done through data objects PDO Process Data Ob ject and SDO Service Data Object Boot up telegram After the initialization phase a CANopen slave log on with a boot up message The node address of the slave is contained in this This allows a CANopen master to know which slaves are connect
425. ription TXPD Transmit pull down connect with TX if addressing is not used RS232 Transmit If not used do NOT connect Remember to connect with TXPD if addressing is not used 232 Receive If not used do NOT connect Ground for RS232 and RS485 RS485 B RS485 If not used do NOT connect RS485 A RS485 If not used do NOT connect Cable Screen The cable screen is internally connected to motor housing Externally it must be connected to earth 2 0 lack 4 gt lt 0 20 2 gt lt lt O Orange Black is not used internally It must be left unconnected The light green wire ICM can be difficult to distinguish from the green wire on some cables Important Please note that the cables are a standard type They are not recommended for use in cable chains or where the cable is repeatedly bent If this is required use a spe cial robot cable 2D or 3D cable JVL Industri Elektronik A S User Manual Integrated Servo Motors MACO50 3000 307 4 10 Expansion Module MACOO R1 R3 R4 4 10 16 Connecting the RS232 interface of the MACOO R3 module The illustration below shows how to connect the MACOO R3 directly to a PC COM port The drawing is based on standard cables from JVL types WG0402 WG0410 or WG0420 See also Accessories page 394 for a complete list of cables and connectors Please remember to connect the TX and T X PD wires from the MACOO R3 together to achieve stable operat
426. rking range is available 3 Mount the motor in the application and move it to the intended zero position 4 Pressthe Reset position button to reset the Actual position P IST and press the Save in flash button in order to store the zero point setting permanent in the mo tor JVL Industri Elektronik A S User Manual Integrated Servo Motors MACO50 3000 65 2 11 2 11 3 66 Absolute Multiturn Encoder How to stay within the encoder working range detailed guide The motor is equipped with a offset register that holds an encoder position offset When 24V power has been applied the motor will read the position from the encoder and set the actual shaft position according to this calculation Absolute motor position P IST Absolute Encoder Position Encoder Offset So if the motor shaft is placed in position 1000 and the offset is set to 1000 the motor will set the actual position register P IST to O The encoder has a limitation in the dynamic working range to be 16 777 216 counts which corresponds to 2048 shaft revolutions Within this range the offset can be placed at any point but considerations regarding the wrap around of the position value must be made Cycling 24V power for the motor when the shaft is placed in a wrapped position results in an unexpected position Example 1 The motor position has been reset when the Absolute Encoder Position was 16 000 000 This limits the positive working range
427. rmal deceleration 2 8 3 Undervoltage gt 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 in passive mode To get the motor back in normal operation an operation mode must be selected 2 8 4 Undervoltage gt Set velocity to Default Off This option simply just set the velocity to 0 causing the motor to decelerate and stay sta tionary except in torque direct mode when mains power is removed The velocity setting will stay at 0 also after the main power is re applied A velocity value gt ORPM must be written into the velocity register to get the motor moving again JVL Industri Elektronik A S User Manual Integrated Servo Motors MACO50 3000 5 2 9 1 2 9 2 2 9 3 52 Servo filter adjustment Servo filter adjustment The MAC motor contains a higher order digital filter regulation core The purpose of the filter is to ensure that the desired speed torque and or position are achieved and sec ondly that stability is obtained The motor s default setting when delivered is normally appropriate for most applica tions The only necessary adjustment is the LOAD parameter which is available via the Main setup in the MacTalk software For more demanding applications the Filter selector can be used Adjusting the LOAD parame
428. rmation Checksum 2957 Lines 5 Program type Absolute and relative Checksum Shows the checksum 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 Lines The number of program lines used in the source program Mac Talk Mode Specify the program type actually used Enable input filter Enables an oversampling filter at the inputs INI to IN8 This feature can be used to remove noise from the inputs Skip initialization advanced Bypasses internal initialization routines after powerup Only for very special use Setup Settings Enable input filter Skip initialization advanced r Transfer settings Program Source Remarks Default Choosing this will transfer everything into the module memory This can be an advantage if remarks and source program must be uploaded to MacTalk later Program only Program Source Same as above but without remarks Program only Only the compiled program is transfered TTO982GB Program Source Remarks C Program Source JVL Industri Elektronik A S User Manual Integrated Servo Motors MACO50 3000 279 4 10 Expansion Module MACOO R1 R3 R4 4 10 7 How to build a program When choosing New program in the menu or entering MacTalk for the first time programming can be started Press the button at
429. rminal is unconnected L3 400 480VAC input W phase WARNING Please be aware that high voltage can be present also when the terminal is unconnected PE Earth make sure to connect this terminal to a proper ground in order to avoid elec trical shock C A U TIO N Risk of electric shock Disconnect all power and Wait 5 min before servicing Sizing the external fuse Prefuse To met UL requirements the prefuse must be a class RK5 such as the type FRN R 8 8Amp for MACI500 and FRN R 15 I5Amp for MAC3000 from manufacturer Cooper Bussmann INC MAC1500 amp 3000 Grounding Make sure that the machine part on which the MAC 500 or 3000 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 JVL Industri Elektronik A S User Manual Integrated Servo Motors MACO50 3000 3 2 Power Supply 3 2 32 Power dump connector Power dump connector Pin 5 Not in use Do not connect Pin 4 Not in use Do not connect Pin 6 CM Common bus ground Pin PE Earth Pin 2 BO Bus out 560 680VDC JVL Industri Elektronik A S User Manual Integrated Servo Motors MACO50 3000 103 3 2 Power Supply 3 2 33 Power connector parts for MAC1500 amp 3000 Manufacturer Hummel AG Germany General web http www hummel group com US web http www sealconusa c
430. rn Encoder Extended encoder operation endless relative moves In some applications the motor keeps moving in one direction with a certain length per move Since the position counter have a limited working range this kind of operation will sooner or later cause an overflow wrap around situation To avoid the overflow wrap around situation the actual motor position can be offset via a command This offset can be done at any time without losing any position information This feature is very helpful since the position counter will stay inside the working range Follow this setup sequence for doing a relative position offset specify the offset distance write the desired offset distance counts to register 4 P NEW 2 Toactually offset the position value one of the following actions can be done Write 248 to register 21 COMMAND or alternatively Set bits 6 land 8 in register 36 CNTRL BITS without changing the other bits This will add the value given in point above to both the actual position and the tar get position To actually perform a relative movement there are two safe options and one not so safe precise Option 1 relative moves using P SOLL Prepare for relative movements using register 3 P SOLL by executing FastMac command 117 96 21 This only has to be done once after start up It selects what will happen when a position register one of P through P8 is activated by a FastMac command 2
431. rned from the motors 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 downloaded at www jvl dk Other power supplies JVL offers a wide range of power supplies in the power range 45W up to 5kW with the output voltages 24 and 48VDC They all uses switch mode technology in order to mini mize physical dimensions and for easy adaption to mains voltages in the range 90 to 240VAC The product range covers the following types PSUO5 045 PSU24 075 PSU24 240 PSU48 240 PSU48 800 PSU48 1000 PSUA48 1500 See also the data sheet LD0058 overview LD0053 detailed which can be down loaded at www jvl dk Brakes and shaft reinforcement 2 brake units are available for the MAC50 141 motors The MAB23x 0l offers 10mm a output shaft and MAB23x 02 offers 6 35mm output shaft Both types can be mounted directly on all the MAC50 141 motors and require 24VDC applied to release the motor No brakes are available for the MAC400 and 800 since they are constructed with an in tegrated brake which is a part of the order number for the complete motor See also the data sheet LD0055 xx which can be downloaded a
432. rogram 288 JVL Industri Elektronik A S User Manual Integrated Servo Motors MACO50 3000 4 10 Expansion Module MACOO R1 R3 R4 4 10 10 8 Move Sensor Dialogue Move type C Relative Relative velocity change at distance x Cancel Relative set outputs Absolute aeneral parameters Sensor parameters Distance 0 Counts Safety distance U Counts Acceleration 0 RPM s Input conditions Velocity 0 RPM Enter 0 in velocity or acceleration to use the current velocity or acceleration Function Performs a movement in the direction specified until an input condition is satisfied The motor then moves the distance specified before stopping The motor will not move farther than the Safety distance specified regardless of whether the input condition is satisfied The distances are measured 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 motor register no 6 A SOLL will be over written with the acceleration value you specified Register no 49 P1 is always overridden by this command This command always wait until the movement is fini
433. rol circuitry requires a voltage in the range 18 to 30VDC and the power circuity must be supplied with 90 to 240VAC Having 2 independent supply cir cuits offers the feature that the supply voltage for the power circuitry 90 240VAC can be removed for safety reasons while the control circuitry can continue operating and thus keep the position counter updated and keep other vital functions such as communi cation active P must be per MAC400 Supply diagram manently connected if control circuitry must be keept active while main power is disconnected P Power Supply Control Core P o Isolators Isolation barrier Overvolt Mains Protection Filter 230VAC I I5VAC EMERGENCY STOP and RELAY See section 5 6 2 for further information I L5VAC 230VAC Single phase 90 240VAC Earth TT1171GB The circuit above is shown with an emergency relay box which can be omitted 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 9096 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 Emergency stop Please consult the chapter Emergency stop considerations page 339 JVL Industri Elektronik A S User Manual Integrated Servo Motors MACO50 3000 3 e Power Supply 3 2 8 How to connect pow
434. rvo Motors MACO50 3000 203 4 5 4 5 54 204 Expansion Module MACOO FC2 FC4 Expansion module MAC00 FC4 front plate BUS1 PWR Primary CANopen P R Power connector M12 5pin male M12 5 male i connector including connector including a Vo P P and secondary CANopen interface w subply optional BUS2 iS uu MI2 8pin female Second CANopen hd 35 X connector including connector Y i mn RS232 Interface MI2 5pin female Selectable 1 0 such connector including as analogue input OI CANopen interface O2 INI NL PL TT 1006GB MACOO FC4 connectors rear plate layout The set up of Baud rate Node ID and terminator are selected in the same way as in the MACOO FC2 module Expansion MAC00 FC4 Hardware description The MACOO FCA4 offers IP67 on 50 141 and IP65 on MAC400 800 protection and M12 connectors which makes it ideal for automation applications where no additional protection is desired The M 12 connectors offer solid mechanical protection and are easy to unplug compared to the FC2 module which has cable glands The signals available are slightly restricted compared to the FC2 module since only 4 I O terminals are available The I Os connected to these 4 terminals must be selected by a small dip switch see the drawing below the I O table on the next page The connector layout PWR Power input M12 5 pin male connector Description T Main su
435. s M12 8pin female Bh ut MI2 I2pin female connector including P d connector including RS232 RS485 and m Multifunction ch 2 USB interface and 2 analogue inputs TTII32GB 4 3 14 Expansion MACOO B41 connector description The 4 offers IP65 protection and MI2 connectors which makes it ideal for au tomation applications where no additional protection is desired The M12 connectors of fer solid mechanical protection and are easy to unplug compared to modules with cable glands or DSUB connectors The connector layout PWR Power input M12 5pin male connector Description T Main supply 12 48VDC Connect with pin 2 JVL Cable WIl1000 Isolation M12F5TO5N group Main supply 12 48VDC Connect with pin 1 Control and user output supply 12 30VDC Connect MAXIMUM 30VDC to this terminal Main supply ground Connect with pin 3 PP Main supply ground Connect with pin 5 Note P and P are each available at 2 terminals Make sure that both terminals are connected in order to split the supply current in 2 terminals and thereby avoid an overload of the connector Continued next page JVL Industri Elektronik A S User Manual Integrated Servo Motors MACO50 3000 147 148 4 3 Expansion module MACOO B41 101 Basic l O s M12 8pin male connector Signal name 5 I O channel 5 Can be used as input or output 6 I O channel 6 be used as input or o
436. s turn off time 15ms Standards CE approved UL recognized file number E254947 20120725 Pending Protection IP55 D2 or D5 version IP67 D3 or D6 version Ambient 0 to 40 C 32 104 F Storage power not applied 20 to 85 C 4 to 185 F Humidity 90 Usage Storage Temperature Temperature warning is given before reaching max Temperature shut down and error message generated at 84 C 183F The heatsink fan starts at 55 C 131F W 18 JVL Industri Elektronik A S User Manual Integrated Servo Motors MACO50 3000 5 1 Technical Data General All data specified for the MAC motor only i e without any expansion module mounted __ AC servomotor brushless with built in 2048 PPR encoder hall sensors and 3 phase servo amplifier controller Controller capacity pF MAC8000 D2 MAC3000 D5 or D6 w brake Rated output 3000 RPM 1300W 300W Rated Torque RMS Peak Torque 9 55Nm 287Nm 955Nm 287Nm Imria kom e 2783kgom _ 2798kgom 00 Maximum angular acceleration 4O000rad sec 4O000rad sec Lengh S zmm 12276 366mm 14439 Weight without expansion module _ 132kg Audible noise level measured in 30cm distance S Backlash when brake is activated d s08degee 0 Amplifier control system Sinusoidal wave PWM co
437. s A r M12 5pin female MI2 8pin female connector including connector including gt a NO RS232 RX and TX IN5 8 and 03 4 A Mogot RS485 A and B AIN and GND GND TT0986GB 4 10 17 Expansion MACOO R4 hardware description The MACOO R4 offers IP67 on 50 141 protection and MI2 connectors which make it ideal for automation applications where no additional protection is desired The M12 connectors offer solid mechanical protection and are easy to unplug compared to the R3 module which has cable glands All the available signals are the same as used in the other R modules except for TX PD which is converted into an internal dip switch The connector layout PWR Power input M12 5 pin male connector Description Main supply 12 48VDC Connect with pin 2 Main supply 12 48VDC Connect with pin 1 PP Main supply ground Connect with pin 5 Future option IP Main supply ground Connect with pin 3 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 JVL Cable WI1000M12 Isolation Signal name Description M5TO5N group RS232 interface receive terminal Leave open if unused RS232 interface transmit terminal Cd Leave open if unused Important see note1 RS485 interface terminal DOSE Le
438. s are lost if the velocity is limited They are simply remembered and used when the input frequency falls to a level at which the motor is able to follow Continued next page JVL Industri Elektronik A S User Manual Integrated Servo Motors MACO50 3000 29 2 9 Analogue to position mode Acceleration The acceleration parameter can be useful in systems in which the voltage source instantaneously applies a rapid change without any ramp acceleration Under this condition the MAC motor will take care of making a controlled acceleration and deceleration Note that no position information is lost if the acceleration is limited The target position is always respected and used Torque The maximum torque can be limited in the range 0 300 30096 corresponds to the rated peak torque of the MAC motor used Load The Load parameter is the overall gain in the position velocity filter and ensures that the motor is stable with the actual mechanical inertia used in the application See also the chapter Servo filter adjustment page 52 for further details Error Handling Worst case limits for the position range and follow error maximum position error can be set up here Please consult the chapter Error messages and error handling page 40 for details Motor Status The actual mode speed position position error load torque load current regenerative energy energy returned from the motor can be monitored here Inputs The suppl
439. s 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 4 3 20 JVL Industri Elektronik A S User Manual Integrated Servo Motors MACO50 3000 169 4 5 4 5 20 4 5 21 170 Expansion Module MACOO FC2 FC4 Manufacturer specific object dictionary Index hex Type Read only Description UNSIGNED Execute a MACOO FCx ___ _ _ _ _______ 2011 ONGO x f o oH ee Rm MM 8 IN1 INA NL PL ejm o ow o _ WM ox qme Pt FeSO x ___ 0 5 o omo ff NE mmm o meme 0 lsesj ej o sew Motor UNSIGNED UNSIGNED Access to the motor 32 parameter n FastMac 2013 UNSIGNED Executes a FastMac Command 8 command Defines the torque limit rd 2100 m MINER mE 1000 used during homing with DSP 402 Writing to these object in CanOpenExplorer is done by pressing W on the keyboard when the register in the folder Manufacturer specific is selected Reading is done by pressing R Object 2010h Subindex Reset When writing to this object sub index 0 it is possible to execute some special com mands for the MACOO FCx module The following commands are available No operation Reset limit error Reset communication error Reserved JVL Industri Elektronik
440. s in those cases where that is allowed At every start up both the basic motors and the MACOO xx modules start at a speed of 9200 bits per second on both the FastMac channel the MacTalk channel Note that the speed will not be saved in the motor or module flash memory which ensures that another motor or module can be easily interchanged The speed can then be changed to 57600 baud but can not be changed back to 19200 baud without resetting the motor and module At the time of this writing only MAC800 and the MACOO FCx modules support 57600 baud To change the speed on the FastMac channel with intelligent modules follow these steps basic motor must be set to passive mode the mode register register 2 must be zero 2 Senda special command to the module through its Fieldbus interface For the MACOO FCx this is CANopen and a command is sent by writing a value via SDO to object 2010 hex When the command number 5 is written to object 2010 the module will perform the steps to change the baud rate in both the module and the basic motor but only on the FastMac channel the MacTalk channel is unaffected This change of baudrate will last about eight milliseconds during which no other communications can occur between the module and the motor To change the speed on the MacTalk channel follow these steps Set the motor to Safe Mode the mode register register 2 must be 15 2 Senda special command telegram
441. s operational The only work around solution to this is a firmware update but all the parameters will be reset to default Choose update firmware in the Update menu and switch on the motor The firm ware update will catch the motor before it starts to oscillate and refresh all the set tings in the motor JVL Industri Elektronik A S User Manual Integrated Servo Motors MACO50 3000 9 9 5 9 1 Bus serial communication Important information concerning RS 232 Be sure to read this before trying to use RS 232 with any of the JVL modules or motors Also if you do not plan to use multidrop The widely used RS 232 connection is a point to point solution where two systems are connected by at least three wires A common Grounds and two data wires where data is transmitted serially from TxD Transmit Data pin on the sender to a RxD Receive Da ta pin on the receiver In addition to this sometimes hardware handshake signals are used RS232 with one MAC motor Central Controller for example a PC Opto isolation Make sure that all involved units are connected to the same potential MACxxx Motor SEES R X 5 5232 Vial Interface Screen connected to GND in each end TT1124GB The baud rate and address factory setting are set to 19200 baud and comport The unit can be set up via the MacTalk program The motor shall be terminated the MAC BI B2 and B4 expansion modul contain this feat
442. s stay in place Do NOT tighten the shaft collar Flange bolts properly mounted before the flange bolts are tightend and tightend TT1536 01GB 336 JVL Industri Elektronik A S User Manual Integrated Servo Motors MACO50 3000 5 6 Installation instructions 3 otep 3 Final stage Fasten the shaft collar with a torque of according to the scheme below Please notice that it can be fatal not to use the specified torque since the shaft may slip over time and cause a position offset Use a precise torque wrench to fasten the screw in the shaft collar Gears Product type to be mounted HTRGO5 MAC050 to MAC141 06 35 shat 5Nm HTRGOS MIS230 233 26 35 5Nm HTRGOG6 MACO50to MAC141 06 35 shaf 5Nm HTRGO6 MAC400 402 014 shat 1Nm HTRGO8 MIS340 341 29 53 shat 5Nm HTRGO8 5340 342 0125 8Nm HTRGO8 MAC800 19 shat TiNm HTRG10 MAC800 19 shat TiNm Brakes Product type to be mounted Used with motor type Torque F1 MAB23x MACO50 to MAC141 26 35 shaft 3Nm MAB23x MIS230 233 26 35 shaft 3m O MAB34x MIS340 341 29 53 shaft 5Nm JVL Industri Elektronik A S User Manual Integrated Servo Motors MACO50 3000 337 5 6 Installation instructions 5 6 2 Precautions when installing MAC800 D6 MAC800 D6 is offering IP65 protection To obtain this
443. sed MacTalk software must be installed on a computer and used for this purpose It is also possible to send position velocity and other commands from for example a PLC if MacTalk is not used User This connector includes all the main I O necessary to run the motor in gear mode velocity mode etc An analogue input 10 can be used for velocity or torque control or it can be used for a Zero search sensor 2 Status outputs are also available to show the actual status of the motor Terminals 5 to 8 are multifunction terminals where the specific function of the terminals depends on the motor setup The functions can be only one of following Pulse outputs The internal encoder pulses are output as a quadrature signal 2 Pulse inputs e g an external encoder can be connected for gearing applications 3 RS422 communication This interface 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 89 and How to connect the pow er supply only MAC800 page 97 A connector kit is available MACOO CONKIT I See Accessories page 394 84 JVL Industri Elektronik A S User Manual Integrated Servo Motors MACO50 3000 3 2 Power Supply Basic MAC motor Rea
444. set in passive mode 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 Correct the servo filter setting How to return to normal See also Servo filter adjustment page 52 operation Cycle the 24VDC power Error bit Firmware name Bit 16 OLD_FILTER 2 7 18 Error mess Control voltage unstable only MAC400 to MAC3000 Message Message 18 Control voltage unstable Error condition The control voltage 24VDC at the P and P terminals has been unstable and detected outside the specified voltage range for a too long time Possible cause of this error The control voltage has been detected outside the nominal voltage range The voltage has been applied too slowly with variations Solutions to avoid error Make sure that the voltage is stable in the specified voltage in terval Make sure that the voltage is applied in less than 500mS How to return to normal Cycle the 24VDC power A reset will not clear the error operation Error bit Firmware name Bit 17 U24V 48 JVL Industri Elektronik A S User Manual Integrated Servo Motors MACO50 3000 2 7 Error messages and error handling 2 7 19 Error message PWM locked only 400 to
445. shakes The movement of the motor is very unstable and or the motor oscillates when station ary Action Ensure that the LOAD parameter is adjusted to a proper value Default is 1 00 but when a load is added to the motor it can be set to a higher value If the LOAD param eter is set to a value that is too high or low the motor can be very unstable Check also that the maximum speed is set within the allowable range specified for the actual supply voltage see Power supply only MACO50 to 141 page 85 where graph illustrates the relationship between supply voltage and recommended speed If none of the above mentioned solutions solves the problem the filter used in the MAC motor may not be able to handle the actual load Use the filter optimise function or contact your nearest VL 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 dismounted from the mechanical load for which the LOAD has been adjusted Normally the motor will start to oscillate if the LOAD is increased above 4 8 Default is 1 0 without any mechanical load connected Action The fact that the power supply is overloaded makes the supply voltage drop below the level at which the internal microprocessor in the MAC motor i
446. shed before proceeding to the next line in the program JVL Industri Elektronik A S User Manual Integrated Servo Motors MACO50 3000 289 4 10 Expansion Module MACOO R1 R3 R4 4 10 10 9 Set outputs Icon Dialogue Output type Multiple Output No Output state Dutput 1 Low Output 2 High Dutput 3 Low pulse D ms Output 4 High 0 mis Output 5 Output Dutput 7 Output 8 Output type Single Outputs Output 1 Don t care Output 2 Dont care Output 3 Dont care Dorit care Output 5 Don t care Output 6 Don t care Output 4 Output 7 Don t care mE NE EN EM ME EE EM i1 Outputs Don t care 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 290 JVL Industri Elektronik A S User Manual Integrated Servo Motors MACO50 3000 4 10 Expansion Module MACOO R1 R3 R4 4 10 10 10Unconditional jump Icon Dialogue None After selecting this command the mouse cursor changes The next program line that you click on will become the destination for the jump Function Jumps to another line in the program 4 10 10 11 Conditional jump single input Icon Dialogue m EN fe Single
447. sible in the MacTalk program when a motor with ab solute multi turn encoder is connected The functions showed below are used to adjust and monitor the actual encoder position Press Save in flash to store the modified encoder position permanent EN MacTalk Noname Opan Save Main Registers Advanced Fite Absolute encoder position 36777215 Encoder posi Posihon encoder aingietuin resolution 8182 Courls Hev Encoder olfset Postive revs before positi n wap Negative revs before position wren TT1180GB Pressing the Reset Position botton will reset the the absolute position IST Select this tab when adjusting the encoder position Usefull information exist here see also later in his chapter STOP Motor COM scan Status Motor status 18777216 Actual velocily IPM Actual position 100000 Counts Follow enor 0 Counts Funchon Actual motor torque Motor load mean The Actual Position of the motor Physical position of the encoder Make sure to clear any existing value This value is not possible to change and if any in the offset register must stay within 16 777 216 counts Procedure for adjusting the zero point Before mounting the motor in the application connect power to the motor 2 Press the Set offset 0 botton and move the motor until the Encoder position shows close to 0 This is recommended to make sure that the full encoder wo
448. since it has the best dynamic performance 50 95 140 and 141 Current filter selector Motor Type MACI 40 Filter version 1 0 Current Filte Soft flow noise max 3000 RPM C Medium medium noise Hard high noize 2 9 6 Adjusting the Position Velocity filter The Position Velocity filter is the main filter which sets up the main response perfor mance of the motor Velocity position filter selector Positionsvelocity filte a g Follow error Torque Hardness Hardness The follow error is decreased by choosing a harder filter but the stability is also decreased The 5 levels of hardness will affect the motor torque in the following manner In case of certain follow error the torque is integrated up to 300 full torque Fastness Velocity Commanded velocity Actual 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 velocity faster TT1026GB 300 motor torque is produced when these follow errors are present Column 1 Follow error of 8000 counts Column 2 Follow error of 2000 counts Column 3 Follow error of 500 counts Column 4 Follow error of 125 counts Column 5 Follow error of 1 count no error is accepted 54 JVL Industri Elektronik A S User Manual Integrated Servo Motors MACO50 3000 2 9 Servo filter adjustme
449. sion 3 The start mode of the motor must be set to passive No power up Zero searches must be selected If absolute movement is used the resynchronize after passive mode must be set When using DSP 402 mode manipulating parameters with object 2012h or 201 3h can corrupt the behaviour of the DSP 402 functions Also be aware that manipulating param eters in MacTalk should be avoided when using DSP 402 JVL Industri Elektronik A S User Manual Integrated Servo Motors MACO50 3000 79 4 5 Expansion Module MACOO FC2 FC4 4 5 37 Supported objects Most of the DSP402 parameters start up in the module with coded values A few of them are set depending on the motor type the module is attached to either MAC50 141 or MAC400 800 None of the parameters can be saved to flash in the module The following table shows the additional object dictionary defined for DSP 402 support The numbers in brackets in the update write field bold refer to the formula for the factors in the section 4 3 40 COB ID Motor Scalefactor Update hex register InitValue to motor write Device data sw s sm wex Moor manter em o ms hap moror aes em o eupnea are mus ee fo owecmig ume em o wo ore merere ew o
450. sion MACOO P4 connector description page 268 or Expansion MACOO P5 connector description page 271 A finished RS232 cable also exist Please see Cables for the MACOO P4 page 270 or Cables for the MACOO P5 page 273 262 JVL Industri Elektronik A S User Manual Integrated Servo Motors MACO50 3000 4 9 Expansion module MACOO P4 P5 4 9 7 How to connect the 4 20mA output The 4 20mA output terminal AOUT and AOUT2 can be configured in 2 ways MACOO P4 or P5 module provide the supply to the 4 20mA signal Dip switch setting as seen below ON and 2 OFF receiver of the 4 20mA signal from the MACOO P4 or P5 module takes care of the supply to produce the 4 20mA signal Dip switch setting as seen below OFF and 2 ON The dip switch is located on the rear part of the circuit board Receiver Receiver with out WITH own supply supply MACOO P4 or P5 4 20mA output circuitry B24V Int supply ON OFF R20 pply L11 0 22R 2 TF0018 220R 1 4 BGND sw2 NHDS 02 T TR 112 TF0018 Q1 From to BCX55 4 20mA 1000mW controller D7 4448 115 R21 130R 0 1 TT1278 01GB JVL Industri Elektronik A S User Manual Integrated Servo Motors MACO50 3000 263 4 9 Expansion module MACOO P4 P5 4 9 8 Basic setup of the Master motor Following steps must be followed Enter the program MacTalk version 1 60 or newer 2 Setthe motor in Analogue to position mode in orde
451. specially if using a switch mode power supply this will help See also Power supply only MACO5O to 141 page 85 How to return to normal Reset the motor clear the error bit s in register 35 or cycle the operation power Error bit Firmware name Bit 12 UV ERR 2 7 13 Error mess Peak error motor overcurrent only MAC400 to 3000 Message no Message 13 Peak error motor overcurrent Error condition The motor phase current has been measured to be Out of Range and the motor driver is shut down to prevent permanent failure Please note that this message is only available in MAC400 and MAC800 Possible cause of this error The servofilter control loop is unstable he motor has been physically blocked he motor has been running into a sudden mechanical colli sion The actual AC supply voltage is too low to run the motor at the actual speed Solutions to avoid error Make sure that the servo filter is not set at an extreme unre alistic setting compared to the nature of the actual load See also Servo filter adjustment page 52 Avoid that the motor during normal operation is meeting a me chanical collision or an extreme overload situation How to return to normal This error type is not software resetable Cycle the control volt operation age 24VDC Error bit Firmware name Bit 12 IPEAK_ERR 46 JVL Industri Elektronik A S User Manual Integrated Servo Motors MACO50 3000 2
452. stance 1 Attribute 3 Input status This object is used to read out the actual value of the inputs ONE e Instance 1 Attribute 4 Outputs With this object the outputs can be controlled The value written to this object is directly shown on the outputs if the output is not set to use its default function see attribute 7 ee Instance 1 Attribute 5 Input active level With this object the active level of the inputs can be selected When bit x 0 the input is active low and when bit x the input is active high The default setup for the output is active high 4 8 2 1 0 Instance 1 Attribute 6 Input setup With this object the dedicated function of the inputs can be enabled When the corre sponding bit is 0 the input function is as a normal input When the corresponding bit is 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 C Instance 1 Attribute 7 Output setup This object is used to control the function of the outputs When bit x 0 the output is controlled by attribute 4 When bit x the output is controlled by the default function The default function for Ol is In position and for O2 Error Output Reserved JVL Industri Elektronik A S User Manual Integrated Servo
453. 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 implemented with the same levels of safety as those prescribed by the machine s risk as sessment of the guard device implemented Safety circuits for and dual safety gate control with manual reset and short circuit recognition Category 2 Single phase 90 240 VAC MAC400 or Earth MAC800 UL Applications To full fill UL requirements the prefuse must be a class RK5 such as the type FRN R 15 from Manufactor Cooper Bussmann N FI Prefuse TI0A 2230VAC or T20A 5VAC type gG or Dz in the phase line rated for 600V 150KA F2 Circuit breaker 4A 230VAC type gG 51 Emergency Stop push button S2 Reset push button JVL Industri Elektronik A S User Manual Integrated Servo Motors MACO50 3000 343 5 7 Emergency stop considerations The examples shown are implemented using equipment from Fa Pilz and 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 344 JVL Industri Elektr
454. 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 JVL Industri Elektronik A S User Manual Integrated Servo Motors MACO50 3000 Ext connector type TT0933 02GB Protection class Integrated brake 2 AMP Molex IP42 DH 4 1 3 Expansion modules overview JVL offers a wide variety of expansion modules to adapt the MAC motor to almost any kind of application The expansion module is easily mounted inside the motor Only one expansion module can be mounted The table below gives a brief overview of the features offered by the basic MAC motor and the features that are available in each expansion module DSUB Connectors Cable glands M12 Connectors Basic modules MACOO B1 M ACOO B2 MACOO B4 MACOO B1 B2 B4 Connector module w RS232 RS485 non isolated and LED s MACOO B41 Connector module with Optical isolated RS232 Rs485 6 General digital 1 0 Support 2 multifunction 1 0 ports Industrial Ethernet modules EtherCAT MACOO EC4 EtherCAT module EtherNet p gt gt MACOO EI4 EthernetlP module POWERLINK MACOO EL4 Powerlink9 module MACOO EM4 Modbus 1 module mm MACOO EP4 Profinet module Boss Industrial Ethernet modules extended lO charg a 41 EtherCATe module Etheriet IP gt gt MACOO El41 EthernetlP9 mo
455. ster to write to should be placed here The register must be in the range 255 Read register selector The number of the register to read from should be placed here The register must be in the range 1 255 Direct register This register can be used to execute a FlexMac 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 value as this register 234 JVL Industri Elektronik A S User Manual Integrated Servo Motors MACO50 3000 4 7 Expansion Module MACOO FP2 FP4 Command 5 M4 jn eg n p Write Head Write Head Auto Auto Bit 7 Write toggle is used for writing data to the selected register Write register se lector When this bit is toggled writing is executed The write command is ac cepted when Bit 7 in the command status output data byte 7 is equal to this bit Bit 6 Read toggle is used for reading data from the selected register Read register se lector When this bit is toggled reading is executed The read command is accept ed when Bit 6 in the command status output data byte 7 is equal to this bit Bit 5 Write 32 bit Set this to if writing to a 32 bit register and 0 if writing to a 16 bit register Bit 4 Read 32 bit Set this to if reading from a 32 bit
456. t See also Connecting an external power dump re sistor page 99 How to return to normal Reset the motor clear the error bit s in register 35 or cycle the operation power Error bit Firmware name Bit 11 OV_ERR JVL Industri Elektronik A S User Manual Integrated Servo Motors MACO50 3000 45 2 7 Error messages and error handling 2 7 12 Error message UnderVoltage on Bus only 5 to 141 Message no Message 13 UnderVoltage on Bus Error condition The voltage of the DC powersupply has been measured to be lower than the limit selected in the register Min voltage This has resulted in an error as configured in the setup of Undervolt age handling See also Under Voltage Handling page 51 Please note that this message is only available in MACO50 to MAC141 Possible cause of this error The current rating of the external power supply is too small The power supply is not able to deliever the required peak cur rents that the motor need This is a typical problem when using switch mode power supply The power cable is under dimensioned The under voltage min setting must be decreased Solutions to avoid error Use a power supply with a higher current rating Use a power cable with at least 0 75mm wires up to cable lengths of 10m If the power cable is longer use 1 5mm or use multiple wires in parallel Connect a capacitor across the supply line close to the motor E
457. t if the velocity is limited They are simply remembered and used when the input frequency falls to a level at which the motor is able to fol low Acceleration The acceleration parameter can be useful in systems in which the sig nal source instantaneously applies a high frequency without any accel eration Under this condition the MAC motor will take 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 the position velocity filter and ensures that the motor is stable with the actual mechanical inertia used in the application See also the filter setup chapter for further details Error Handling Worst case limits for the position range and follow error maximum position error can be set up here Please consult the Error Handling chapter for details Motor Status The actual mode speed position position error load torque load current regenerative energy energy returned from the motor can be monitored here Inputs The supply voltage can be measured here Zero search In typical gear mode applications the motor is moving relatively with out any absolute zero po
458. t care Input 5 High I Dont care Input 5 High Low Don t care Input 7 High Low Don t care Input 8 C High Don t care Motor error High Don t care In position High Low Don t care Tests for an input condition 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 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 only one input need to match its test setting Inputs that are set to Don t care are not tested After pressing the OK button the dialogue will disappear and the mouse cursor will change The next program line that you click on will then become the destination for the jump command 292 JVL Industri Elektronik A S User Manual Integrated Servo Motors MACO50 3000 4 10 Expansion Module MACOO R1 R3 R4 4 10 10 13Wait for x ms before continuing Dialogue Wait Time Cancel 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
459. t pulse Profile Data eg etn tpt halls Exin capa 021 puse zm ds Input All these parameters H pw ener r Probes eis capras can be used to limit the ccu 3j HAE odia dde pande crc cun n 1 motion For example Errors the maximum torque If a fatal error occurs or velocity information will be displayed here Gear factor Onsen LEN i fron sed pad pa Goudie Run Status The ratio between Gang Soe The motor status the incomming pulses sey can be monitored here and the actual motor movement is specified here RACED ern 1 23 9 Ge RP mn 2 4 Connecosd Zero Search Zero search can also be used During zero search the gear mode will be set inactive See also the Zero Search chapter TT0968GB 2 2 1 Gear Mode overall description In gear mode the motor follows a pulse signal applied to the Multifunction I O terminals The ratio between the incoming pulses and the motor movement can be adjusted to a desired value A ratio from 1024 1 down to 1 1024 can be selected Typically this mode is used if the MAC motor is incorporated into an application where movement needs to be synchronized with an external movement Another typical application is the replace ment of step motors since the MAC motor in Gear Mode can work like a step motor using pulse and direction The following setup must be done to operate in gear mode
460. t sensor Torque controlled Shaft load maximum Radial load 24 5kg 13 5mm from flange Axial load 9 8kg Optional brake D4 option Controlled automatic or from input 3 25Nm inertia 0 22cm2 turn on time 50ms turn off time 15ms Rated power rate motor Mechanical time constant motor Electrical time constant motor Standards Protection Ambient 0 to 40 C 32 104 F Storage power not applied 20 to 85 C 4 to 185 F Humidity 90 Temperature warning is given before reaching max Temperature shut down and error message generated at 84 C 183F Usage Storage Temperature JVL Industri Elektronik A S User Manual Integrated Servo Motors MACO50 3000 315 General All data are specified for the MAC motor only i e without any expansion module mounted AC servomotor brushless with built in 2048 PPR encoder hall sensors and 3 phase servo amplifier controller Controller capacity po 2 2 amp D3_ MAC402 D5 amp D6 w brake Rated output 3000 RPM 40W OW Rated Torque RMS Peak Torque 1 28Nm 38Nm _ 128Nm 38Nm Immia kgom 1034 1036 Maximum angular acceleration radisec rad sece tenth tim 22mm 00 Weight without expansion module fs 2398 12868 Audible noise level measured in 30cm distance to be defined dB A Backlash when brake is activated e de
461. t www jvl dk JVL Industri Elektronik A S User Manual Integrated Servo Motors MACO50 3000 395 9 15 Cable drawings 5 15 1 WI1005 M12F5TF5TOSP Master slave cable for MACOO P4 5 J1 J2 M12 5 pin female M12 5 pin female White 24V Green RS485 A 300cm 3m O i 2 Q Q NS A RS485 B Brown GND Connector seen Screen GND Terminated in the connector entry Screen GND from soldering side Connector seen from soldering side Parts List Lu woema a ipe W1 WH0002 R2x2x0 25 SC 300cm LT0153 12GB Blokken 42 DK 3460 Birker d Tel 45 4582 4440 RS 485 Approved by Drawn by Fax 45 4582 5550 kommunikationskabel JVJ BVJ 5 15 2 RS232 M12 1 5 5 communication cable for MACOO B4 R4 etc QW JVL Industri Elektronik A S WI1005 M12F5TF5TO3P Version 1 2 Date 8 7 09 RS232 communication cable for MAC expansion modules DSUB Connector M12 5 pin male connector Female 9pin mnl Cable Black PVC UL 22 AWG 5 core screened Finger screws 2 pcs Pin no Colo Pinno no EE EN White connected and must Black each be insulated Notconnected Screen Housing J2 Pin 1 4 6 7 8 9 must be left open LT0056 12 JVL Industri Elektronik A S Du 70 RS232 M12 1 5 5 0 Version 1 2 Date 27 9 06 ETIN Tel 45 4582 4440 Approved by Drawn by E Fax 45 4582
462. target position The actual position will not overflow even when always running in the same position for any length of time The general idea is to define a range of positions by a Minimum and a Maximum value that can be freely selected within the normal position range of the motor 67 million count to 67 million counts Whenever the actual position exceeds the maximum it will wrap around and continue from the minimum position while still running in the same di rection Also when moving below the minimum position it will wrap around and continue to count down from the maximum position During operation the motors main operation mode is usually set to Position mode MODE_REG 2 and the motor is commanded to a new target position by writing a new value to the Target Position register 3 P SOLL See also Modes other than Position mode page 78 The value written to P_SOLL should be within the rotary table position range If the value is outside the working range specified by Turn table pos min or Turn table pos max it will be clipped to be within the values specified by Turn table pos min or Turn table pos To make a full turn in CW or CCW mode a multiturn operation is supported see following illustration The registers normally used for software position limits are used to define the rotary table working range in rotary table operation Continued next page JVL Industri Elektronik A S User Manu
463. ted internally Profibus DP module CAN Open or DeviceNet module Ethernet modules nano PLC w graphic programming Several module connector options Custom designed modules on request Outputs for In position and Error indication High order digital filter which only needs a single inertia adjustment e Standard NEMA23 flange Built in sensors make the motor stay sta tionary when powering up Easy and simple Windows program Mac Talk available for installation setup High efficiency power stage keeps temper ature at a low level CE approved UL recognized MAC400 and 800 MACI500 amp 3000 pending JVL Industri Elektronik A S User Manual Integrated Servo Motors MACO50 3000 1 2 Overall description Basic MAC motor block diagram including motor and feedback devices 24VDC Motor dependent Ix 12 48VDC Ix 115 230VAC or 3x 400 480VAC Motor dependent Ground Earth Power supply AINI amp 2 Analogue Q inputs 10 Multifunction 1 01 HE Output Q n g U C E 0 Output 2 Multifunction 1 02 i 5VDC Out Q Receive Q Transmit 4 Ground 9 Serial interface TT1543 01GB All the internal building blocks of the MAC motor are shown in the illustration above The central microprocessor takes care of all the processes in the motor via the various I O blocks such as the serial interface differential transceiver Multifunction I O and the
464. tegrated Servo Motors MACO50 3000 4 8 Expansion Module MACOO FS1 FS4 4 8 4 Cables for the MACOO FS4 Following cables equipped with M12 connector can be supplied from JVL MACOO0 FS4 Connectors Description JVL Order no 101 102 COM PWR 8pin 8pin Spin Spin Female Female 5232 Interface cable Connects directly from MACOO R4 to PC Length 5m 197 inch Cable 5 5mm with M12 female 5 pin connector loose wire ends 0 35mm 22AWG and foil WI1000 M12F5TO5N screen Length 5m 197 inch id as above but 20m 787 Cable with M12 male 5 pin con nector loose wire ends 0 35mm 22AWG and screen Length 5m 197 inch ane as above but 20m 787 Cable with M12 female 8 pin connector loose wire ends 0 22mm 24AWG and screen Length 5m 197 inch s as above but 20m 787 Cable with M12 male 8 pin connector loose wire ends 0 22mm 24AWG and screen Length 5m 197 inch Same as above but 20m 787 inch WI1000 M12M5TOSN WI1000 M12F8TOSN IP67 protection cap for M12 WI11000 M12FCAP1 female connector IP67 protection cap for M12 WI11000 M12MCAP1 male connecior Note 1 The illustrated cable is not twisted pair and is not recommended for noisy environment We recommend to use a shielded twisted pair cable for noisy applications Also it is recommended to use a metal type connector where the screen can be terminated to obtain optimal screening effect Important Please notice
465. ten and needs to be saved The following warning message box appears Warning 4 new motor has been detected and all userdata in MacTalk will be overwritten with motordata Do vou wish bo save current userdata in MacTalk 1T1154GB Choosing No will immediately upload all motor data presing Yes will save all data in the open file JVL Industri Elektronik A S User Manual Integrated Servo Motors MACO50 3000 7 1 4 Using MacTalk to setup the motor 1 4 4 Motor TEST function When setting up a servo system its convenient to test the that the motor movement is stable and smooth For this purpose the TEST tab can be used At this tab its possible to setup the motor in position mode and define 2 positions where the motor can move cyclic in between A delay between each motion can also be de fined The speed and acceleration used during this process is the general parameters defined at the Main tab All parameters can be changed dynamically during operation Select the Tests tab Defines if motor SU proceed before Fille View Offline MACOO RxP Setup Wpdates Help Ver motor reach position fi P do n Recommended to 3 M keep this activated 1 P default Main Registers Advanced Filter parameter Define Wait for In Position position 1 Position 1 P1 0 Counts Set motor In Define Position 2 P 0 Counts _SetPos
466. ter The LOAD parameter must be increased proportional to the inertia of the payload in the system The default value of the LOAD parameter is 0000 The proper LOAD value must be determined as follows LOAD Motor inertia Load inertia Motor inertia Frafile data velocity Acceleration Torque Load Adjust Load according to the attached Inertia Example A system uses a MAC800 The MAC800 has a motor inertia of 0 92kg cm according to technical data in appendix If the load inertia is 9 2kg cm motor intertia x 10 the Load needs to be adjusted to LOAD Motor inertia Load inertia Motor inertia LOAD 0 92 9 2 0 92 11 111022GB If the load inertia is not fully known it is highly recommended to slowly increase the LOAD parameter until the motor starts to be unstable and noisy Then decrease the val ue 20 3096 to obtain a certain safety margin Remember to save the adjustment permanently in the motor by pressing the Save in flash button 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 since the motor s forces may have to be transmitted past a gear for example and then the belt until the payload is finally met This transmis sion chain is typically very elastic and the gear will contain a certain amo
467. ternal mechanics Velocity mode The drive will attempt to run the motor at a constant velocity selected by Reg5 V SOLL without violating the maximum torque or acceleration Position mode The drive will at all times attempt to move the actual motor position to the position selected by Reg3 SOLL without violating the maximum velocity torque or acceleration Gear Position mode Analogue torque mode Analogue velocity mode Analog Velocity Gear mode Manual current mode Step response test mode Internal test mode Brake mode Stop mode Torque based zero search mode Forward only zero search mode Forward backward zero search mode Safe mode Analogue velocity with deadband mode Velocity limited Analog Torque mode Analogue gear mode Coil mode Analogue bi position mode Analogue to position mode Internal test mode Internal test mode Gear follow mode IHOME mode P SOLL 32 bit Position 67M 32 bit The target position that the drive will attempt 67M R W reach in position related modes 362 high word of P SOLL JVL Industri Elektronik A S User Manual Integrated Servo Motors MACO50 3000 5 12 Internal registers Only MAC5O 141 t icone pert mm aco eee MacReglo Name Name Default Access 5 V SOLL Max Velocity The maximum velocity the motor is allowed to use A SOLL Acceleration The maximum acceleration in counts sa
468. ters used by SSI Register 78 551 SETUP BITSI where Function SSI Enable Not used Synchronize SSI reset Future Disable P_IST P8 position options Read Error 8 P6 current position SSI enable will setup the motor to read the SSI at startup The Synchronize bit transfers the position calculated in P8 into P_IST and P_SOLL SSI Reset position is used to preset a position to the value stored in P5 Default P5 0 Bit 5 indicates a read failure that is different values are read within the 4 times the values is read Register 57 P5 32 bit signed Holds the preset value that is used when a reset position is done Register 59 P6 32 bit signed Holds the encoder value when the last Reset position was done This value is used as a refence at startup to calculate the actual position Register 61 P7 32 bit signed Holds the newly read encoder value scaled into motor counts Register 63 P8 32 bit signed Holds the calculated position that is transferred to P IST and P SOLL if the synchronization bit is set up in the setup register 178 60 JVL Industri Elektronik A S User Manual Integrated Servo Motors MACO50 3000 2 10 Using external SSI encoder 2 10 4 Encoder connections Using the rotary encoder MMC60 connected to the MACOO B4 module the PIN configuration is as follows The encoder is connected to the IO plug using the 8 pin female M12 plug Signal Colour LIKA Encoder
469. th 300 full torque Supply voltage 24VDC nominal Worst case efficiency of the MAC50 14 motors 0 8 8096 Power calculation Power speed x torque efficiency 262 x 0 9 0 8 295W Current calculation Current at peak torque power supply voltage 295 24 12 3 Please note that the peak current is only at maximum during for example an acceleration or deceleration The peak current can be reduced if the Torque setting is lowered The peak current will decrease proportionally with the Torque setting Example Half torque half peak current The below curve shows how the power and current are behaving as a function of the motor speed during acceleration constant speed and deceleration Supply Supply Current Power the system need to get up in speed A W 300 200 Current and power rises to max during acceleration The inertia in 100 Average supply power 0 O0O gt Time Lower current and power since only friction exist at constant speed 100 200 When decreasing speed power energy will be returned to the supply and cause a negative current flowing in the supply line 300 TT1276 02GB JVL Industri Elektronik A S User Manual Integrated Servo Motors MACO50 3000 87 3 2 3 2 6 3 2 7 88 Power Supply Power supply circuitry only MAC400 The MAC400 supply is split into 2 individual circuits with full galvanic isolation between the circuits The cont
470. that the cables are a standard type It is not recommended to be used in cable chains or where the cable repeatable are being bended If this is required use a special robot cable 2D or 3D cable See also Accessories page 394 where additional 12 connectors are shown JVL Industri Elektronik A S User Manual Integrated Servo Motors MACO50 3000 257 4 9 Expansion module MACOO P4 P5 MACOO P5 With Harting industrial M12 connectors MACOO P4 With M12 industrial Both modules shown connectors in a MAC400 motor 4 9 1 Expansion module MACOO P4 and P5 overall description Important please notice that this module will only function in MAC800 motors with a serial number greater than 85000 All MAC400 motors supports this module The 4 and P5 is an expansion module for the integrated servomotors MAC400 and MAC800 Please notice that the module can NOT be used in the 50 141 The module is intended to be used for control application requiring an analogue 4 20mA interface to a master controller The interface is consisting of a 4 20mA input to control the motor position and a 4 20mA output to indicate the actual position Both offers full galvanic isolation from other elec trical circuitries inside the motor and also in between An output is also available to indicate if any error has occurred that prevent the motor from doing the intended operation This output is also galvanic isolated If a second motor
471. the SV module is placed as the first intelligent mod ule after the CPU i e module no 2 meaning registers are numbered 21 xx 12198 2 Mode 0 3 12117 1024 Encoder lines 12118 2000 Max speed in RPM which the MAC SVI combination can reach This value will depend on the supply voltage Please consult the description Power supply only MACO50 to 141 page 85 2000 Example ref value for setpoint speed in register 12103 1000 Example meaning 100 096 of maximum speed i e 2000 RPM 12121 12103 Adjust the following register values when commissioning the servo solution 2116 xxx Offset value for the analogue output The MAC motor should not drift and at nominal position 0 zero R12102 the SVI must be able to to control the axis very close to actual position 0 R12109 2110 yyy P gain Please also follow the instructions in the JX2 SVI 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 SVI module controls and limits the speed correctly See also Power supply only MACO050 to 141 page 85 392 JVL Industri Elektronik A S User Manual Integrated Servo Motors MACO50 3000 5 13 Connecting to other equipment 5 13 4 Setup in Jetter JX2 SV1 Mode 3 Same as for mode 2 but the MAC motor must be set up in Analogue torqu
472. the list of user SDOs which will be au tomatically reloaded on the next program start JVL Industri Elektronik A S User Manual Integrated Servo Motors MACO50 3000 4 5 Expansion Module MACOO FC2 FC4 4 5 17 MacTalk CAN debug window The hardware CAN Node chip have a Node Control Register this controls the initiali zation defines the node specific interrupt handling and selects an operation mode The Node Control Register have a field call LEC Last Error Code this bit field indicates if the latest CAN message has been correct No error or it indicates the type of error which has been detected The register contains the fields TACE C SCC NN NNNM Last Error Code EN See table below Message Transmit H5 il No successful transmission since last flag reset ted Successfully 1 A message has been transmitted successfully error free and acknowledged by at least one other node reached the error eng limit of 96 MN CAN controller is in the bus off state EWRN Table for last Error code inn oca RR 000 Noemo The latest transfer on the CAN bus has been completed successfully More than 5 equal bits in a sequence have occurred in a part of a received StU nro message where this is not allowed A fixed format part of a received frame has the wrong format The transmitted message was not acknowledged by another node 100 Bit1 error During a message transmission the CAN node tried to send a recessi
473. the user to execute RxP programs this execution is also halted to prevent the motor from starting up if a startup mode is setup from a program Warning Do not consider this button as an appropriate Emergency stop Al ways fit an Emergency stop circuitry to your motor setup MacTalk Address Only if more than one motor is connected to the same interface The address specified in this field determines with which motor line communication is made JVL Industri Elektronik A S User Manual Integrated Servo Motors MACO50 3000 5 1 4 1 4 3 16 Using MacTalk to setup the motor Saving or opening a setup file to from disc The complete motor setup can be saved to disc or retrieved from disc and transferred to the motor The setup files can be saved anywhere on the hard disc or to a floppy disc Saving and opening a file over a network is also possible The setup files use the extension MAC By default the setup files are saved in the same directory where MacTalk itself is also installed Other directories can be selected From file to motor S noname Use Open to select a file containing the desired motor setup Motor OF me When opening the file the setup will simultaneously be sent ga Supe to the motor ene Remember to use the Save in flash button if the setup must g eee be permanently saved in the motor 1 Demods MAC 2 Demo3 MAC lv From motor to file 3 Demo2 MAC Use Save or Save as to sa
474. 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 is complete remember to switch I O type back to Serial data Action 2 Load default by using the Load default function in the Motor menu Alternatively clear the complete memory by using the Update Firmware option in the Updates menu Problem The parameter setup is lost after reset The parameters must be saved permanently in the motor using the Save in flash but ton at the top of the main window When activating this button the motor will go into passive mode while the parameters are saved After 5 10 seconds the motor will start up again with the new parameters If the motor still starts up with the default setup or a setting made at a much earlier stage the save procedure has failed Action Ensure that the motor has the newest firmware 7 V5 1 The firmware version for the actual motor can be seen in the status bar Ensure also that the MacTalk program is the newest version gt 1 21 Both Motor and MacTalk can be updated from the internet using the Update menu at the top of the main screen JVL Industri Elektronik A S User Manual Integrated Servo Motors MACO50 3000 345 9 8 9 8 3 346 Trouble shooting guide Troubles related to mechanical motor behaviour Problem The motor oscillates or
475. tic B Use index after 2475 Brie T h after s red 5 TES Sao zero search after Power is require ida x ower up Sensor type 1 when using one of these modules the Faower up Sensor type 2 Zero search velocity Power up Enc index function must be enabled on the product tab Power up Enc quick index for the actual module See also the chapters Zero search torque qe Torque describing the expansion modules The menu offers choices Availability Precision Ext sensor needed macoso 141 MAC400 3000 Power up Sensor type 2 Lo o Sensor type 2 Yes Enem Ye Hm M W Yes Yes Yes Yes Yes Yes Yes Yes No Yes No Yes Yes Yes Yes Yes Yes Yes No Yes No Yes Overall Zero search mode descriptions Disabled default The Zero search is disabled Power up Torque Similar to Torque but the Zero search will automatically be started after power up Power up Sensor type Similar to Sensor type 1 but the Zero search will automat ically be started after power up JVL Industri Elektronik A S User Manual Integrated Servo Motors MACO50 3000 2 6 3 Mechanical Zero search Power up Sensor type 2 Similar to Sensor type 2 but the Zero search will auto matically be started after power up Power up Enc Index Similar to Enc Index but the Zero search will automat ically be started after power up Power up Enc quick index Similar
476. tion from the encoder is saved into P7 and then again P5 is used to offset this position Example 1 The encoder shaft is connected to the motor shaft meaning that revolution at the ex ternal encoder is equal 4096 motor counts Motor start up encoder reading 12288 random position Motor P_IST P_SOLL 12288 This position we want to define as position 0 so we run the position reset procedure see Reset position procedure and store 2288 into P6 The motor is reset software reset or power cycle and the new position is calculated by P4 is by default 0 so P8 12288 12288 P8 0 This value is transferred to P_IST and P_SOLL so IST P SOLL P8 0 Now the encoder position 2288 is defined as position 0 in the system Example 2 Let s say that we need to define a fixed position as position 100 because we want our motor to be 100 counts from the actual 0 position at exactly this physical position JVL Industri Elektronik A S User Manual Integrated Servo Motors MACO50 3000 59 2 10 Using external SSI encoder We set P5 100 and save this position into flash set register 211 2 In the previous example we set the O position to 12288 counts So by setting P5 100 will result in the same position being P8 P7 P6 P5 P8 12288 12288 100 P8 100 Which again will be transferred to P_IST and P_SOLL if synchronization bit is set in the SSI setup register at startup 2 10 3 Regis
477. tion is based on the MAC400 motor but the STO connector is placed similar at the MAC 1500 and MAC3000 Safe Torque Off STO Connector TT1270 01GB Important general information The STO function is not approved by any third party laboratory only pendent Please notice that removing the energy from the motor by use of the STO function do not necessarily stop the motor rotation since any attached load inertia will have an in fluence when the movement is stopped fully The person that install and service the motor must have a general knowledge concern ing electrical equipment and safety functions The STO function is considered as functional and reliable for 20 years JVL Industri Elektronik A S User Manual Integrated Servo Motors MACO50 3000 8l 2 15 Safe Torque Off STO 2 15 2 How to connect and use the STO function The STO connector contains the 2 enable inputs STOA and STOB Both inputs must be applied nominal 24VDC in order to energize the motor and make any motor move ment possible If only one of the inputs is not applied 24VDC the internal STO circuit will remove the energy from the motor The illustration below shows the pinout of the connector Disable output do not connect 1271 019 STOB input 2 15 3 Disabling the STO function If the STO function is not needed the plug JVLtype WI 1028 M08M3STO must be insert ed in the STO connector The need of this external plug to disable t
478. tion possible Analog input filter setting to reach and maximum is the highest position Men mope nas that can be reached Both in encoder counts Filter factor Both values are refering to the zero Flotary table setup position found during the optional zero search Rotary table selection Singletum CW rotation or alternatively the zero point defined if using Rotary table pos min p Counts an absolute multiturn encoder Rotary table pos ma 8131 8131 Counts Modbus setup Master Slave setup After the setup is done please remember to save it in the permanent memory by pressing the Save in flash bootton TT1185GB JVL Industri Elektronik A S User Manual Integrated Servo Motors MACO50 3000 75 2 12 2 12 3 76 Rotary table option Configuration via motor registers When the configuration is done by channels other than MacTalk such as Ethernet Profi bus CAN open etc or just a simple interface connection to the basic motor the follow ing description must be followed The main rotary table operation is selected by bits 24 and 25 in Register 39 HW SETUP An addition the option to support multiturn rotary table operation is selected by by bit 26 in Register 39 HW SETUP Register 28 MIN P IST Holds the minimum position for the rotary table working range Register 30 MAX P IST Holds the maximum position for the rotary table working range Note that the firmware will swap the min and max values if the minimu
479. tion to prevent motor movements during the change P NEW holds either an absolute position or a relative position After writing a value to P NEW update both bits 8 and 6 in Reg36 CNTRL BITS Bit 8 SYNCPOSREL will select a relative position update when set or an absolute update when cleared Setting bit 6 SYNCPOSMAN executes the P IST P SOLL update that is either both are set equal to P NEW or P NEW is added to both using signed addition P FUNC is updated accordingly The undocumented FastMac commands 23 and 24 can also be used to set these bits and perform the same absolute and relative updates This is useful for expanding the logical position range beyond 2 31 A SOLL Acceleration E The desired nominal acceleration 1000 RPM s 3 598133 counts Sample must be set to 360 T SOLL Torque 0 1023 Word The maximum torque that the drive is allowed to HW use 1023 300 The value 1023 corresponds to 300 of nominal load and is the absolute maximum peak torque allowed The value 341 gives 100 nominal load INDEX_OFFSET not present Word Encoder Updated after a Zero Search to show at what RW counts single turn encoder position the zero point was detected This is used by MacTalk on the Test tab to show if the zero search resulted in a valid zero position 10 IST Actual ed Word Encoder The actual motor position measured by the Position RW counts internal encoder Updated every 1 3ms or every 2 6 ms with Reg
480. to Enc Index but the Zero search will automat ically be started after power up Torque The Zero search will start searching for Zero until a me chanical collision occurs The point at which the mo tor torque is equal to the specified value of the Zero search torque is defined as the zero position Sensor type The Zero search function will start seeking for Zero until an external sensor is activated The point at which the sensor is activated is 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 but after the sensor is acti vated the direction of movement is reversed and the point at which the sensor is disabled is defined as zero Enc Index The Zero search function will move exactly 5 motor revolution and detect where the internal encoder index pulse is detected The position where the index pulse was found is defined as zero This Zero search mode is very much similar to Enc quick index but is much more precise and take some seconds Enc quick index The Zero search function will move the motor until the index position is detected Then it reverses back to this position The position where the index was detected is defined as zero This Zero search mode is very similar to Enc index but is much faster and is not as precise The following sections explain in detail the functionality of the 5 fundamental
481. to a voltage drop Bit 0 Equals 1 if there is a fatal motor error Read subindex 4 to get extended informa tion JVL Industri Elektronik A S User Manual Integrated Servo Motors MACO50 3000 171 4 5 Expansion Module MACOO FC2 FC4 4 5 25 Object 2011h Subindex 4 Last motor status When a fatal motor error occurs the ERR_STAT register from the MAC motor is re ceived and can be read from this object Motor status table Accelerating Decelerating Position 4 5 26 Object 201 1h Subindex 5 Output setup This object is used to control the function of the outputs When bit x 0 the outputs are controlled by the object 201 Ih subindex 2 When bit x 1 the output is controlled by the default function The default function for is In position and for O2 Error Be 7 6 8 J Output Reserved O2 O1 pue Reseed O Oo o 4 5 27 Object 2011h Subindex 6 Input active level With this object the active level of the inputs can be selected When bit x 0 the input is active low and when bit x I the input is active high The default setup for the output is active high Bt 7 6 5 4 S 2 4 5 28 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 input will be enabled When the end lim
482. to approx 94 motor shaft revo lutions which may cause an overflow and failure sitation if the motor moves more than 94 revolutions during operation Example 2 Let s assume the motor has moved 100 revs Placing the motor MAC400 in the actual position 819 200 counts Now the motor is reset 24V control power is cycled the motor wakes up and reads the Absolute Encoder Position which in the mean time has been wrapped around to the position 16 735 232 Now the offset is used to calculate the actual shaft position of the motor Actual motor position P IST 16 735 232 16 000 000 Actual motor position P IST 32 735 232 Which is not exactly what was expected because the encoder passed its working range JVL Industri Elektronik A S User Manual Integrated Servo Motors MACO50 3000 2 11 Absolute Multiturn Encoder Mac Talk visualize the encoder position in real time and makes the resetting far less com plicated by displaying the actual encoder position and the free number of revolutions be fore reaching the wrap around point of the encoder position Mac Talk File View Motor Setup Updates Help o amp Q Open Save Save in Flash Reset position Clear errors Reset motor Filter setup STOF Motor CO Main Registers Advanced Filter parameters Tests Scope 4bsolute positioning Status Absolute encoder
483. to switch between two target positions set Reg49 POSO to 1000 and Reg51 POS1 to 2000 and set the motor into position mode Then SOLL can be set to receive either the value 1000 or 2000 depending on the voltage on the digital input the Input State The copying is executed every 1 3 ms The digital inputs can thus be considered level triggered rather than edge triggered Contrinued next page T11507GE JVL Industri Elektronik A S User Manual Integrated Servo Motors MACO50 3000 38l 9 12 Internal registers ball a MacReglo Name Default Access Name 93 HWIO not Na Word Each of the HW 0 11 registers have the following bit fields Continued present 0 RW Bits 31 24 Destination register used only when bits 3 0 equals from last f page Bits 23 16 Source register number 0 254 for 01 1 Bits 15 8 Source register number 0 254 for DI 0 Bits 7 4 Select digital input bit number in Reg106 Bits 3 0 Target register selection 0 12MODE REG 2 V SOLL SOLL 4 A SOLL 5 T SOLL 6 INPOSWIN 7 Register number from bits 31 24 When the value of bits 3 0 are one of 1 6 the two source registers are implicitly fixed to the corresponding group of register and the value of bits 23 16 and bits 15 8 are used as an index into that group of registers For instance if bits 3 0 equals 3 the values of bits 23 16 and bits 15 8 must be in the range 1 8 to select POS1 POS
484. to the internal bus ground if the voltage become higher than 400VDC The internal power dump can absorb up to 6W continuously and 4kW peak which is considered as appropriate for most applications However should a situation occur in which the connected load inertia is too large or the deceleration too fast the internal power dump will not be able to absorb all the returned energy and will report the error message regenerative overload In this situation the only possible solutions are as follows Decrease the acceleration deceleration parameter 2 Lower the attached load inertia 3 Connect an external power 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 C A U TIO N Risk of electric shock Disconnect all power and wait 5 min before servicing 90 JVL Industri Elektronik A S User Manual Integrated Servo Motors MACO50 3000 3 2 Power Supply 3 2 12 Power cable acessories for MAC400 The following standard cables can be supplied by JVL WP0002 MAC400 115 230VAC power cable 2 m Straight M16 conn and free end Female WP0005 MAC400 115 230VAC power cable 5 m Straight M16 conn and free end Female WP0020 MAC400 115 230VAC
485. tup for input on both Because the plugs doesn t support any 24V supply output for supplying the en coder both IO 102 can be used for this purpose MacTalk Noname File yew Motor Setup Updates Help Open Save Save in flash Reset position Clear errors Resetmotor Fiker setup STOP Motor Main Registers Advanced Fiter parameters Tests Scope Startup mode mr V Eror handing C Passive Change actual mode Follow error 0 Counts Nelocity Position Counts Function error 0 Gear Position limit min of Counts 0 0 Analogue velocity C Analogue velocity with deadband Position limit max Counts Analogue velocity gear C Velocity analogue torque C Analogue torque direct V Inputs Outputs Invert Output 1 01 Analog biposiion Invert Output 2 02 Analogue to position 101 User controlled 102 User controlled Profile data Max velocity 1500 1500 apy _ 0 Type ssi m Error acceleration RPM S 7 Zero search Accelerati 248 100 RPM S EA Zero search mode Disabled Torque 3m H 2 Use index after zero sear 1T1159GB earch position 0 Counts Output 2 is selected for driving This will setup the Multiturn I O for using the power supply to the encoder both A and B channel in communicating with the encoder using SSI SSI setup on the advanced tab This section gains access to the registers 78 for setting up the SSI
486. tus set Temperature 35 C Debug information Inputs Bus voltage 323 Volts Control voltage 24 Volts Analogue input 0 32 Volts Errors Status Motor in position Mains AC voltage Version 1 28 5N 57985 FCx Version 2 0 Connected TT1098GB And example of an error message are shown in the figure above On this error message is there a BitO 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 166 JVL Industri Elektronik A S User Manual Integrated Servo Motors MACO50 3000 4 5 Expansion Module MACOO FC2 FC4 4 5 18 The DS301 specified Communications objects are The different communications objects are shown in table below to get the default value in CanOpenExplorer press on R on the keyboard and the actual value will be shown Index Read M hex Data Type Fi Description Contains information about the Device type 1000 0x20192 device type See note at top of next page Mandatory This is the mapping error register Error and it is part of the emergency ob 1001 UNSIGNED8 ject If some of the sub index are 9 high an error has occured See also section 4 3 21 Mandatory Lo de GeneeemoMandaoy ___ t p jj emm P Lo 2 tage 4 a emi EN Device profile ie Manufa
487. uld be an appropriate choice in many cases In section 4 3 46 of this chapter there is an overview showing various JVL standard cables All the JVL cables are twisted and shielded For bus lenghts greater than km a bridge or repeater device is recommended galvanic isolation between the bus nodes is optional The MACOO FC2 and FC4 modules the gal vanic isolation is integrated to obtain best possible immunity against noise and differences in the voltage potential between the nodes JVL Industri Elektronik A S User Manual Integrated Servo Motors MACO50 3000 155 4 5 4 5 8 4 5 9 4 5 10 156 Expansion Module MACOO FC2 FC4 Necessary accessories to MAC FC2 FC4 On our web page www jvl dk you can under the downloads menu find the EDS file for the MACOO FC2 FC4 module in the menu Field bus Interface Specifications Files EDS means Electronic Data Sheet This file contains the information about the MACOO FC2 FC4 settings that is required to configure the setup and program in the master The MACOO FC2 FC4 is a slave module on the CAN bus the master can be for example a PLC or a PC If you are using a PLC as master then make sure that it is provided with a CANopen communications module and that the correct programming tools are available For getting support to the PLC master it is more rewarding to use the PLC vendor If you are using a PC as master JVL have some tools that can help you when you are in stalling an
488. ules are e Closed loop systems with an overall controller involved Replacement for pneumatic cylinders using the Air Cylinder mode Dispenser systems Simple velocity or torque control via 10V input Machine adjustment setup by sending RS232 or RS485 commands The BI B2 and B4 are equivalent except for the following hardware differences Protection Connectors Class NENNEN I O and interface Power supply LEDs at I O 1 IP42 DSUB 9 pole 3 pole Phoenix Yes MACOO B2 IP67 IP65 Cable glands Cable glands Yes MACOO B4 IPe7 IP65 M12 M12 Yes Note IP65 on MAC400 800 JVL Industri Elektronik A S User Manual Integrated Servo Motors MACO50 3000 17 4 2 Expansion Module MACOO B1 B2 B4 4 2 2 General hardware aspects All internal and external main connections can be seen in the illustration below Please note that a few features are only available in MACOO B4 and partly in B2 Basic MAC motor with MACOO BI B2 or B4 module inserted Basic MAC motor MACO50 to 800 Power supply ped P MAC50 141 12 48V p MAC800 12 32V Control Supply Power supply AIN sel Analogue input Overvoltage Multifunction I O Multifunction 1 0 protection Bidirectional PNP Output Driver Status outputs atus outputs O2 lt P 2 channel i differential RX RS485 Interface Transceiver Interface TX Asynchronous Control interface GND These terminals are not ava
489. ules include an overvoltage protection and a dip switch to set up what kind of signal source feeds the input if the Multifunction I O is set up as in puts The illustration above shows how to set up the Multifunction I O terminals as balanced push pull NPN or PNP input The illustrations below show examples of connections for each of these signal types Connecting an NPN signal source to the Multifunction 1 0 The drawing below shows how to connect an NPN source to the MACOO BI B2 or B4 multifunction I Os The diagram shows the A channel The B channel must be connected in the same manner Ensure that the A and B terminals are unconnected in order to maintain proper function Warning Voltages higher than 5V must under no circumstance be connected directly to the input since this will damage the input permanently NPN CURE UL Connected to tie input MAC motor with MACOO BI B2 and B4 expansion module The A and B terminals mustbe leftunconnected Dip Switch setting Signal source PLC SETUP B l l p Dipswitch 546 only at MACOO B4 Please consult the B4 chapter Warning Never connect voltages higher than 5V directly to the A or B terminals since 1 this can damage the inputs J If used the B terminal must be connected the same manner as the A terminal JVL Industri Elektronik A S User Manual Integrated Servo Motors MACO50 3000 4 2 Expansion Module MACOO B1
490. ult 3 1 when A I O terminal A Analogue in or Zero searchinput 5 Grey used as AIN DIP2 OFF and DIP 3 ON C2 output 2 PNP 25mA JVL Industri Elektronik A S User Manual Integrated Servo Motors MACO50 3000 247 4 7 Expansion Module MACOO FP2 FP4 4 7 16 Cables for the MACOO FP4 The following cables equipped with M12 connector can be supplied by JVL MACOO FP4 Connectors Description JVL Order no BUS1 BUS2 PWR 5 pin 5 pin 8 pin 5 pin Male Female Female Male B coded B coded 5232 Interface cable Connects directly from MACOO FP4 to PC RS232 M12 1 5 8 Length 5m 197 inch Cable 5 5mm with M12 female 5 pin connector loose wire ends 0 35mm 22AWG and foil WI1000 M12F5TO5N screen Length 5m 197 inch Cable with M12 male 8 pin connector loose wire ends 0 22mm 24AWG and screen Length 5m 197 inch Profibus DP cable with E s 5 pin connector B coded loose ends WI1026 M12M5S05R and screen Length 5m 197 inch Profibus DP cable with vm fe male 5 pin connector B coded loose WI1026 M12F5S05R ends and screen a 5m 197 inch Loose connectors and termination resistor Loose Profibus DP male M12 connector B coded Wl1028 M12M5VC1 Internal screw terminals Loose Profibus DP female M12 connector B coded Internal screw terminals Profibus DP male M12 termination resistor B coded IP67 protection cap for M12 female connector
491. ume sns Macfie feng E Pese peste me BIDS Deux fee Fie CO 5 ias Aiat Miter papae lunii aga MACOS u HAC Fia Puig armed te Fuss peau bearer nares ret sere Ders is m Press the second button to create fal E eer 2 cs fieh cort I Curie ac 1503 PO Arcus ue the second program line 1 Mbi i i Bapan bad x pus x ES i R pide tini duri iiid corper P P sinker ii ppi Sua 4 Bompa ep an F riie inini 6 pma E TEER EOE EF IIT Choose the movement type needed a ES ES ida Relative Move x counts forward with i reference to the actual position 5 e nier Absolute Move to the x position with reference to the zero search position RE D ee mcum Utm on EIS Dir yum bhim jedes Ede 4 h Q v E ue inet ism pam Ciw rss Psm an fhs enp Teer nan Wan iar paruus ionii fee MAF Hg UE fta Pep maiin Jirim fe Pera rear omne GRE Pegs rei ceed The relative move command just TED ibt Ceti dor oe ee entered is converted into a program line Multiple program lines are entere
492. unbalanced interface for connection to a PC or a controller The protocol is similar to the USB or RS485 interface which means that all registers parameters in the motor can be monitored or changed RS232 is not recommended for long dis tances gt 10m The MAC motor uses binary communication protocol which makes it possible to ac cess all the internal registers Please consult MacTalk communication page 357 for further details JVL Industri Elektronik A S User Manual Integrated Servo Motors MACO50 3000 119 4 2 Expansion Module MACOO B1 B2 B4 4 2 4 General power supply description The power supply must be connected to the terminals marked P and P MACS5O 95 140 or 141 A supply voltage in the range 2VDC to 48VDC can be used However the maximum speed of the motor 4000 RPM is based on 48VDC A lower voltage will decrease the speed torque performance and in general it is not recommended to run the motor at more than 2000 RPM if for example 24VDC is used as the supply Optionally the MACOO B2 and B4 modules also offer a control voltage input O which means that the internal control circuitry will be kept powered when the main supply P is removed See also the description Power supply only MACO50 to 141 page 85 MAC400 or 800 For the MAC400 800 the main supply is 1 15 230VAC connected at separate terminals The P power supply terminal only serves as a supply to the internal control circuitry The volta
493. und Blue J6 1 Multifunction I O Terminal B Brown Green Multifunction I O Terminal B 6 2 Connect to ground GND J7 4 or J8 4 if not used White Green J6 3 Multifunction I O Terminal Grey Pink Multifunction I O Terminal A E Connect to ground GND J7 4 or J8 4 if not used Red Blue RS232 Interface Transmit pull down ake Connect to TX if addressing is not used Green HS232 Interface Transmit vie Connect to TXPD if addressing is not used Signal name O IO O OIN lt UJ gt 4 x x J7 3 RS232 Interface Receive Connect to ground if not used White J7 4 RS232 Interface Ground for RS232 Brown RS485 Interface Terminator Connect to A J8 2 if MAC J8 1 motor is the last node on the interface bus Purple Important Do not connect if not used RS485 Interface A terminal Jue Important Do not connect if not used eer RS485 Interface B terminal J8 3 Important Do not connect if not used White Yellow GND J8 4 RS485 Interface Signal ground Black Cable Screen The cable screen is internally connected to motor housing Externally it must be connected to earth Z D TERM UJ Sinainame Pin no foe o se ms ow pa fa a w fm COE Connectto the TX terminal if the module is the only or the last node on the line in order to terminate the line QCGonnectto the A terminal if the module is the on
494. unt of backlash The main problem is that the motor does not directly see the final payload When the motor starts to rotate it will not sense the payload before the backlash dis tance is passed and the belt is tightened It is therefore not a linear system and the LOAD cannot be increased as much as in theory JVL Industri Elektronik A S User Manual Integrated Servo Motors MACO50 3000 2 9 Servo filter adjustment 2 9 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 Gs a E DL 4 3 w AI Opan Save Saveinflash Reset posbon Cies emos moto Fiber setup STOP Motor COM A Filter selector entered here 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 MACI41 also include the possibility to adjust the current filter MACO50 95 140 and 141 MAC400 and 800 Filter selector Filter selector Filter selector _ 3 Motor Type 140 Filter version 1 0 Mot
495. up positions Normally the motors will start up with a zero value in P_IST and P_SOLL when using a standard encoder or with the position read from an absolute encoder possibly offset by the P_OFFSET register In case the rotary table position range does not include the start up value the start up value is modified by adding or subtracting N times the number of valid position in the ro tary table position range until it is inside this range JVL Industri Elektronik A S User Manual Integrated Servo Motors MACO50 3000 77 2 12 78 Rotary table option Valid position range Whenever the motor needs to perform a wrap around it moves the value of P_IST out side the valid rotary table position range For normal operation without multi turn When operation Always CW is selected P IST can temporarily be moved up to one full working range below MIN P IST When operation Always CCW is selected P IST can temporarily be moved up to one full working range above MAX P IST With Shortest Path IST can be moved both one full working range above MAX P IST or below MIN P IST When setup for operation as either Multiturn CW rotation or Multiturn CCW rotation the number of ranges IST can temporarily move outside the working range depends on the value written to P SOLL and will be the number of full turns required plus one This is important to keep in mind if it causes P IST to exceed the motors absolute posi tion working
496. ure Opto isolation is recommended and al ways use screen cable The interface cable should not exceed more than 0 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 wires With standard RS 232 the TxD pin in each end drives the signal to both high and low volt age levels and it is an error to connect two or more TxD lines together since they would conflict and generate invalid signal levels With the JVL multidrop RS 232 solution the TxD line is only pulled to an active high through a diode on the modules and the line has a passive pull down resitor that connect the line to a negative supply voltage This allows more than one module to drive the line but only one module can communicate data at a time JVL Industri Elektronik A S User Manual Integrated Servo Motors MACO50 3000 347 9 9 9 9 2 348 Bus serial communication RS232 network with two or more MACxxx motors Central Controller for example a PC u Make sure that all pto isolation involved units are i a connected to the same potential Motors BT 1 Screen connected y to GND in each end Tx RS232 gt Tx RS232 Interface 7 pp Interface GND GND 112508 The typical use scenario is that one PC or PLC is connected to two or more JVL modules and eac
497. urrent consumption pot acoso MACO9S MACIZ0 macia Control modes 10V Speed and Torque A B encoder outputs Pulse direction and 90 phase shifted A B Incremental RS422 or RS232 5V position and parameter commands Gear mode with analogue input speed offset different options Sensor Zero search or mechanical Zero search Flange and shaft dimension NEMA23 compatible Front 58 x 58mm Rear 58 Shaft 6 35mm POSITION pulse inputs e ee Command input pulse Pulse direction or 90 phase shifted A B RS422 Logic 0 lt 2 0V Logic 1 gt 3 0V Max voltage at A B and B 5 5V Input frequency 0 2 5MHz or 0 150kHz with input filter Electronic gear A B A 10000 to 10000 B 1 to 10000 Simulation of all step resolutions for easy replacement of step motor systems Follow error register 32 bit In position width 0 32767 pulses POSITION eis 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 367 000 000 Speed range 0 4000 RPM Digital resolution 0 477 RPM Acceleration range 248 397 364 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 Position range 32 bit Infinity Flip over at x2 pulses dress range 1 254 Number of
498. using a Bx module page 124 Pulse outputs for functional description please refer to Multifunction I O used as pulse outputs page 112 and RS422 interface for functional description please refer to Multifunction I O gen eral description page 10 Important Remember to configure I O type as Pulse Input in MacTalk if none of the 4 ter minals A A B and B is used the multifunction I O s This must be done to avoid random function of the motor since the multifunction I Os are defined as Se rial data as default Status outputs Ol O2 O and The status outputs Ol and O2 PNP outputs indicate the actual status of the MAC motor OI 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 operation is possible until a reset or power down has been made 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 environments RS232 Interface Rx Tx and GND Serial
499. ustment 52 57 Additional adjustment 57 Adjusting the LOAD parameter 52 Current filter adjustment 50 141 only 54 Damping 55 Filter selector basics 53 Follow error compensation 56 Position Velocity filter 54 Transferring saving filter 57 Setting up the MAC Motor 14 15 Disk files 16 MacTalk 14 Toolbar description 15 Shaft reinforcements 395 Signal levels serial interface 106 Slave Master 237 SSI interface 58 Status outputs See Outputs JVL Industri Elektronik A S User Manual Integrated Servo Motors MACO50 3000 404 6 Index T Technical data 50 141 314 MAC800 317 319 Termination 207 210 231 233 247 248 Torque curves 50 141 320 MAC400 MAC800 321 Torque zero search 32 34 Trouble shooting 345 346 U UL approval 4 USB 130 148 345 User I O 84 107 110 112 113 Analogue input 107 108 Multifunction O 110 113 Status outputs 109 V Velocity mode 6 187 2 Zerosearch 14 22 25 30 32 34 35 38 39 84 107 117 118 121 126 127 130 134 137 148 179 202 21 9 240 243 253 269 272 306 307 310 314 Coil mode 25 Index position after zero search 39 Modes 32 Sensortype 33 Sensor type 35 37 Sensor type 2 35 Starting a zero search 33 Torque 32 34 Zero point offset 38 JVL Industri Elektronik A S User Manual Integrated Servo Motors MACO50 3000 405 Index JVL Industri Elektronik A S User Manual Integrated Servo Motors MACO50 3000 406
500. utput Supply output Connected internally to the CVI CVO terminal in the PWR connector DO NOT connect gt 30V to this terminal Ground intended to be used together with the other signals in this connector JVL Cable Isolation WI1000 M12 group F8TO5N See note White Brown Green Yellow Grey Pink Blue GND COM Communication connector M12 8pin female connector JVL Cable Isolation Signal name Description WI1000 M12 group i M8TO5N See note USB D USB interface Negative data terminal White RS232 TX RS232 interface Transmit terminal Leave open if unused RS232 interface Receive terminal Boece RU Leave open if unused IGND Isolated interface ground to be used together with the other signals in this connector Brown Green Yellow 102 connector 2 M12 12pin female connector Signal name A1 Multifunction 1 01 terminal A1 Ground intended to be used toghether with the 2 other signals in this connector Multifunction 1 01 terminal A1 White 1 Multifunction 1 01 terminal B14 Green functi i 1 Pink 2 3 4 5 7 Blue lt JVL Cable Isolation WI1009M12 group M12T05N see note Brown Blue GND A24 B2 A2 5VO B2 JVL Industri Elektronik A S User Manual Integrated Servo Motors MACO50 3000 4 3 Expansion module MACOO B41 4 3 15 Cables for the MACOO B41 The following cables equipped with M12 connector can be supplied by JVL
501. ve level 1 but the monitored bus value was dominant outside the arbitration field and the acknowledge slot 101 BitO error Two different conditions are signaledby this code 1 During transmission of a message or acknowledge bit active error flag overload flag the CAN node tried to send a dominant level 0 but the monitored bus value has been recessive 2 During bus off recovery this code is set each time a sequence of 11 reces sive bits has been monitored The CPU may use this code as an indication that the bus is not continuously disturbed The CRC check sum of the received message was incorrect Reewd JVL Industri Elektronik A S User Manual Integrated Servo Motors MACO50 3000 165 4 5 Expansion Module MACOO FC2 FC4 Select the tab See the figure below SX MacTalk Noname File Yiew Motor Setup Updates Help gt D W a 2 Q Open Save Saveinflash Reset position Clear erro Reset motor Filter setup STOP Motor scan Main Registers Advanced Filter parameters Tests Scope MACOO FCx Status Station address 126 Motor status 500 kbit Actual mode Position Actual velocity 0 RPM Actual position 0 Counts initialise COP ok Follow error 0 Counts node_event CAN controller error status set Function error 0 Counts LEC 67 Actual motor torque 1 SendEmc01 Motor load mean 5 initialise COP ok Regenerative load 0 noda evenk CAN controller error sta
502. ve the actual setup in a motor as a 4 Demo1 MAC setup file Make sure that the motor is on line with MacTalk Exit otherwise only the MacTalk default setup is saved Analogue velacity gear In case where a motor is present and a disc file is opened the user is prompted for keep ing the connection or going offline and displaying the file content The following message box appears Warning Transfers data to the motor and display the data in The selected Filedata is about to be transfered MacTalk afterwards to the motor and existing user data in the motor Will be overwritten Going off line and displays Continue with transfer the data in MacTalk TT1153GB If the user decides to go offline the following textbox is presented Information The motor will now be disconnected and the userdata can be edited without changes in the matar TT1151GB JVL Industri Elektronik A S User Manual Integrated Servo Motors MACO50 3000 1 4 Using MacTalk to setup the motor Pressing OK disconnects the motor from the PC application and all data can be edited without any interruption in the motor The following MacTalk view is presented x5 Masc Talk Cz ocuments and Settings the Skriv bora P s ui 140 MAC l oR W lt pe D d Open Reset ponin Oea emos Hebs Filter setup STOP scan Registers Fiter parameiris Tests Scope Status
503. ve the setup in permanent memory save in flash be fore the setup is applied and used by the motor JVL Industri Elektronik A S User Manual Integrated Servo Motors MACO50 3000 2 12 Rotary table option 2 12 4 Status read out via MacTalk When status read out is done via the MacTalk program data is presented as follows Status Motor status Actual mode Passive Actual velocity Actual position Actual position Rotary position is indicating the position Rotary Rotation counts and stays within the Motor load mean min and max limits Regenerative load defined Temperature Inputs Bus voltage Control voltage Velocity of input 2 12 5 Status read out via motor registers When status read out is done by channels other than MacTalk such as Ethernet Profibus CAN open etc or just a simple interface connection to the basic motor the following de scription must be followed Register 25 P IST TURNTABLE Holds the actual position within the rotary table working range Register 27 TURNTAB COUNT Is a counter that keeps track of wrap arounds since the last reset of the motor This register can be written to another value by the user at any time Register 10 P_IST Is still the real actual position inside the motor but should generally not be used in rotary table operation P_IST will be modified by the firmware as a result of writes to P SOLL 2 12 6 Rotary table notes Start
504. ve z Select Paired Slave in the Modbus setup Process input Analog input selection ANINP1 Y Analog input filter setting Max slope 65535 Filter factor Rotary table setup Rotary table selection No selection 266 JVL Industri Elektronik A S User Manual Integrated Servo Motors MACO50 3000 4 9 Expansion module MACOO P4 P5 4 9 10 Master slave application example The illustration below shows exactly how 2 motors installed with a MACOO P4 module can be connected in a master slave coupling using the cable JVL type WI1005 MI2F5TF5TO3P which contains an internal supply for the slave and a RS485 connection Typical master slave system using MACOO P4 PC with MacTalk for general setup and system optimization or customised programs based on JVL OCX driver 4 20mA IN OUT signal to master controller Including various I O signals JVL cable type WI1009 MI2MI2TO5N RS232 communication cable JVL cable type RS232 MI2 1 5 5 Communication Connector Pin RS232 receive RX Pin 2 RS232 transmit TX Pin 3 RS232 ground Pin 4 Do not connect Pin 5 Do not connect T A Power supply mm 115 230VAC to 24VDC 75W JVL type PSU24 75 Two slave supply options exist Power cable similar to the master supply 2 Using the master slave sync cable see below but Pin and 4 P and CVI must be shorted in the PWR connector Power cable supplying 24V to the module s
505. vel distance of the motor this bit indicates that the motor encountered the reverse limit switch at the in put Forward limit By using limit switches to limit the travel distance of the motor this bit indicates that the motor encountered the forward limit switch at the in put 4 6 5 Object class 0x64 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 Value Attribute 2 Parameter size in bytes JVL Industri Elektronik A S User Manual Integrated Servo Motors MACO50 3000 215 4 6 Expansion Module MACOO FD4 4 6 6 Object class 0x65 Instance I O Setup Attribute ID Data type Description Parameter USINT The total number of supported 5 Emm o o mE ERR STE 8 Instance 2 Status Attribute ID Data type Description Parameter m The total number of supported attributes Qo cT ETT Instance 3 Commands Attribute ID Data type Description Parameter m The total number of supported POINT a 3 4 USINT Execute FastMac Command 247 OxF7 8 se MACOO FDx command 248 F8 216 JVL Industri Elektronik A S User Manual Integrated Servo Motors MACO50 3000 4 6 4 6 7 4 6 8 4 6 9 4 6 10 4 6 11 Expansion Module MACOO FD4 In
506. vo Motors MACO50 3000 4 5 Expansion Module MACOO FC2 FC4 Receive PDO 24 This PDO updates the outputs Byte o 1 2 4 5 6 7 Output d R d data eserve eserve eserve eserve eserve eserve eserve 4 5 34 Transmit PDOs The transmit PDOs 1 20 are reserved for use with the DSP 402 CANopen motion control profile All of the transmit PDOs support synchronous transmission and PDO 25 also supports asynchronous transmission Transmit PDO 21 With this PDO the actual position can be read 0 1 2 3 4 5 ef EL Il 2012h sub 10 2011h sub 3 2011h sub 1 Transmit PDO 22 With this PDO the actual velocity can be read Bye 0 t 2 3 2 8 8 7 2012h sub 12 Transmit PDO 23 With this PDO the actual torque can be read Be oO 12 4 5 6 7_ Transmit PDO 24 With this PDO the value of the analog input can be read pve o 1 2 JVL Industri Elektronik A S User Manual Integrated Servo Motors MACO50 3000 77 4 5 4 5 35 178 Expansion Module MACOO FC2 FC4 Transmit PDO 25 With this PDO the motor status inputs and last error can be read This PDO also supports asynchronous transmission If this PDO is in asynchronous mode it will be transmitted every time the run status or inputs are changed Bye o 1 2 3 4 6 6 7 Motor 2011h 2011h Transmission time Due to the internal communication b
507. vs before position wrap 2049 Negative revs before position wrap 2049 Bue voltage Of cause resetting outside the recommended range is possible but care must be taken Trying to reset the motor position in the red area results in a warning dialog that appears in MacTalk JVL Industri Elektronik A S User Manual Integrated Servo Motors MACO50 3000 67 2 11 2 11 4 2 11 5 68 Absolute Multiturn Encoder For MAC800 users only Please observe the motor position scaling used The motor resolution is by default 8000 counts rev The absolute build in encoder uses 8192 counts rev therefore scaling is done when the position is reset This may cause some confusion since the actual shaft position is not the same as the absolute encoder position So with the motor in position mode ordering a movement to motor position 100 000 counts results in a encoder position of 97 656 due to the larger encoder resolution 8192 counts rev Resetting the position when not using MacTalk The procedure for adjusting the an encoder offset and thereby resetting a certain motor position to be zero position Actual position 0 is basically described in 4 steps Read register 226 which is the absolute encoder position value 2 Multiply the position value from above by inverse the sign Notice that if Inverted motor direction is selected skip this step and proceed to step 3 3 Store the value in register 225 which
508. w for write will pop up a small window where the present value is dis played in both decimal and hex It is then possible to write a new value either in decimal or in hex using a Ox prefix like 0x185 to enable the first 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 with the mouse Double click on a user SDO list will execute the operation either reading or writing The bus state can be changed using the NMT buttons lower left like Operational to en able PDOs The button read user SDOs will read all of the R type object in the user SDO list This is useful for updating a larger number of values in the EDS view The button read user SDOs will write all of the W type object in the user SDO list This is useful for automated testing Entries can be deleted from the user SDO list by selecting them with the mouse and pressing the delete key The sync Time field top right sets the time in milli seconds for the SYNC messages to be sent out SYNCS can be started and stopped using the buttons Enable Sync and the Stop button to the right of it The Guard Time field below the Sync Time field works like SYNC just for the Guarding message The close button exits the program after saving
509. w menu Graphic programming The module setup with graphic programming firmware MACOO RxP Simple user friendly commands can be built together forming a program with the desired function for the application The function of each input and output can be user defined OE ETE ETE Noname File View Motor MACOO RxP Setup Updates Help G W 2 GF Open Save Save flash Reset position Clear errors Reset motor Filter setup STOP Motor Main Registers Advanced Filter parameters Tests Scope MACOO AxP Hx Pregrammable Stop Pause jz e Module Checksum 2414 Status Running 1 REM Demonstration program e REM This will move a relative distance of 10000 counts 3 REM wait 1000 ms and repeat the procedure 4 Move Rell dist 10000 Counts 200 RPMs vel 100 RPM 5 A ajt 1000 ms b Jump to 4 TT1078GB 4 10 3 How to set up the desired firmware Use the following step by step instruction to set up the desired firmware continued next page JVL Industri Elektronik A S User Manual Integrated Servo Motors MACO50 3000 275 4 10 Expansion Module MACOO R1 R3 R4 Step Determine which firmware you want to use Graphic programming MACOO RxP Step 2 ile View Motor Setu ates Hel Choose the Firmware update in the Updates menu Update Firmware 3 Update Mactalk ion Clear errors Reset moto Main Registers Filter parameters Tests MA
510. ways to reset the motor and or the module and makes several notes on things to consider to prepare for a reset and how to continue operation after a reset Reset errors Some errors can be reset from software while others are simply too critical to attempt further operation and require the power supply to be turned off and then on again to re set the errors There are basically two ways of resetting the errors in the Error status register 35 One way is to read the entire register then zero the error bits but leave the other bits unchanged and finally write the entire register back to the motor This is the method to use with the MacTalk protocol The other way is to send a single byte FastMac command of 97 decimal 61 hex All intelligent modules provide a way to send FastMac commands either over the fieldbus or from the nano PLC program Mode 256 258 As described under the Reset command there are a small number of operations that manage copying of default register values between the factory default values the values last saved by the user through a Save in Flash operation and the actual working register values kept in RAM This section describes how to use these operations in a best practice way 352 JVL Industri Elektronik A S User Manual Integrated Servo Motors MACO50 3000 5 10 Serial communication Changing baud rate This section describes how to change between the baud rates supported by the motors and module
511. xt egree 0 3000RPM with nom torque max 3500RPM shortterm Overspeed protection trips at 4300RPM Motor will shut Speed range down Amplifier control system Sinusoidal wave PWM control 20kHz switching Filter 6 th order filter with only one inertia load factor parameter to be adjusted Expert tuning also available for professionals Feedback Incremental A and B encoder 8192 CPR Physical 2048 PPR Optional multiturn absolute encoder Nominal 12 48VDC 10 for main power circuit Recommended also for 12V battery applications Consumption at 12 48VDC see power supply section 18 32VDC for control circuit Control circuitry consumption MAC400D1 2 and 3 wo brake Typical 0 22A 24VDC 5 3W Control circuitry consumption MAC400D4 5 and 6 w brake Typical 0 58A 24VDC 14W Input power supply Control modes 10V Speed and Torque A B encoder outputs Pulse direction and 90 phase shifted A B Incremental RS422 or RS232 5V position and parameter commands Gear mode with analogue input speed offset different options Sensor Zero search or mechanical Zero search Front 60x60mm Rear 63x115mm Shaft 14mm Flange and shaft dimension POSITION pulse inputs Command input pulse Input frequency Electronic gear Follow error register In position width Pulse direction or 90 phase shifted A B RS422 0 8 MHz 0 1 MHz with input filter A B A 10000 to 10000 B 1 to10000 Simulation o
512. y connection 97 Power supply grounding 97 Prefuse 98 Technical data 317 319 Torque curves 321 Using 115 supply 98 MacTalk 4 6 15 16 20 25 32 39 52 53 64 98 107 109 113 119 122 128 135 138 158 179 262 275 28 0 314 345 357 Coil mode register overview 25 26 Introduction 14 Main Features 4 Master Slave Output Data MACOO FP2 FP4 Expansion Modules Output data Master Slave 234 Mechanical zero search 14 22 25 30 32 34 35 38 39 84 107 117 118 134 See also Zero search Multifunction I O 5 21 28 110 113 See also Inputs MACOO BI B2 B4 124 140 N nano PLC 4 274 Node id 158 159 210 211 NPN 109 117 124 126 127 140 141 253 306 314 OI Output 109 See also Outputs O2 Output 109 See also Outputs Operating modes Analogue Gear mode 7 Analogue Torque mode 7 Analogue Velocity mode 7 Analogue Velocity Gear mode 7 Changing operation modes 186 Coil mode 24 26 Gear mode 21 23 30 31 JVL Industri Elektronik A S User Manual Integrated Servo Motors MACO50 3000 403 G Index Introduction 6 Passive mode 6 Position mode 20 Velocity mode 6 Oscillation 55 346 Outputs Multifunction I O 110 113 See also Inputs Pulse outputs 112 Quadrature output 20 21 84 110 112 Status outputs Ol O2 117 119 126 128 130 135 148 171 172 202 205 217 227 243 247 253 306 307 310 Overall description of the MAC motors 5 6 p Passive mode 6 PDOs 152 173 176 1
513. y ground Connect with pin 5 Fev Control votage i2aevoc __ a Bak p _ P Main supply round Connectwih pind s Grey D 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 Cable user Isolation supplied group name Description Pint rain Shield for the DeviceNet interface internally 2 connected to the motor housing DeviceNet supply Note that the MACOO FP4 V only senses at this terminal The MACOO FP4 2 2 contains its own power supply CAN_H DeviceNet interface Positive signal line 4 dT 2 CAN L DeviceNet interface Negativesignaline 5 2 Continued next page 226 JVL Industri Elektronik A S User Manual Integrated Servo Motors MACO50 3000 4 6 Expansion Module MACOO FD4 BUS2 DeviceNet interface M12 5 pin female connector Cable user Isolation Signalname Description supplied group Drai Shield for the DeviceNet interface internally con rain 1 2 nected to the motor housing DeviceNet supply Note that the MACO0 FP4 only V senses at this terminal The MACOO FP4 contains 2 2 its Own power supply s ee eee 2 NEN C DeviceNet ground CAN H DeviceNet interface Positive signal line CAN L DeviceNet interface Negative signal line IO 1 O s and RS232
514. y voltage and actual voltage at the analog input can be meas ured here Zero search In typical gear mode applications the motor is moving relatively with out any absolute zero point but for applications that require a specific mechanical zero position the general Zero search in the MAC motor can be used Please consult the chapter Mechanical Zero search page 22 30 JVL Industri Elektronik A S User Manual Integrated Servo Motors MACO50 3000 2 9 Analogue to position mode Example A voltage source feeds the MAC 40 motor that has 4096 counts per revolution standard The desired working range is 5000 counts approx one revolution and it is desired to have an offset from the zero point where the Zero search was done of 1000 counts 1 4 motor revolution Therefore the Offset register is set to 1000 counts and the Full range register is set to 5000 counts Please notice that a bit rounding is done since the analogue input and also the motor encoder has a limited resolution In addition its desired to have a certain filtering at the input meaning that the motor should not move unless the input voltage changes more than what correspond to a movement of 50 counts As a result the Hysteresis register is set to 50 counts Ensure the Profile data containing motor Velocity Accelera tion etc is set to proper values in order not to limit motor operation unintentionally Setup in MacTalk iF bee eee S ILS 17 Ana
515. ytes during the initialisation phase This mechanism is called an expedited transfer Down loading SDO protocol The download SDO protocol is used to write the values of the object directory into the drive Client Request Indication Confirm reserved Response TT 1088GB JVL Industri Elektronik A S User Manual Integrated Servo Motors MACO50 3000 4 5 Expansion Module MACOO FC2 FC4 Upload SDO protocol The upload SDO protocol is used to read the values in the object directory of the drive Client 8 Request Indication Confirm Response TT1088GB Table for upload and download SDO protocol ec scs wm Je s m Multiplexer Size indica repren tor O2data Only valid if e21 and s 1 Transfer 1 Initiate down load request 2 Initiate upload request otherwise 0 If valid it type 0 3 Initiate 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 2 Initiate upload response indicates the number of download bytes in d that do not response contain data Bytes 8 n 7 do not contain data normal transfer 1 expedited transfer Transfer type 0 normal transfer 1 Set size is not indicat ed 1 data set size is indicated Size indica tor O2data set size is not indicat ed 1 data sents the index sub index of the data to be tra

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