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Integrated Servo Motors

1. Dip 1 7 Address setting Cable glands address range 0 127 Q Q Basic MAC motor Dip 8 Not used housing Dip 9 10 Line termination l Both set to Internal circuit boards Term enabled Both set to OFF Term disabled 0000000000 Profibus and I O Dip Switch placed on the rear side of the module connectors TT0946GB 4 4 7 MACOO FP2 Address and termination setup Each unit connected to the Profibus must be set up with a unique address The illustration above shows how the address and termination can be set on the internal dip switch The dip switch is located on the internal circuit board 4 4 8 MACOO FP2 Connectors 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 a JVL cable type WG0402 2m WG0410 10m or WG0420 20m See also the appendix for cable and connector accessories Overview 2 connectors TTO965GB Output connector See table for to connection details Interface connector See table for connection details Mounting hole used to fit the conn
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3. 88 Efficiency CUVE is 89 Physical Dimensions 15 teh I teer eee tecta 90 Trouble shooting guide 91 Serial COMMUNICATION aere there tte ee Une Roi EE ike po tet 93 Connecting to other equipment 98 ACCESSOFIOS M n E 101 Cablesconmection tables Em 103 CE Declaration of Conformity 104 JVL Industri Elektronik A S User Manual Integrated Servo Motors 5 95 and 140 3 JVL Industri Elektronik A S User Manual Integrated Servo Motors MAC5O 95 and 140 Introduction JVL Industri Elektronik A S User Manual Integrated Servo Motors MAC50 141 1 1 Features TTO940GB The MAC series of brushless servo motors with in tegrated electronics represents a major step for ward in motion control systems All of the necessary 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 a major part of the total expense of build ing 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 typica
4. P gain Please also follow the instructions in the JX2 SV 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 page 25 JVL Industri Elektronik A S User Manual Integrated Servo Motors MAC50 141 99 9 7 Connecting to other equipment 5 7 4 Setup in Jetter JX2 SV1 Mode 3 Same as for mode 2 but the MAC motor must be set up in Analogue torque direct Set up the mode register 12198 3 Mode 0 3 See also Setup Jetter JX2 SVI Mode 2 page 99 for set up of other SVI registers Adjust the registers for Digital Speed Control 12124 xxx Proportional gain speed 12126 xxx Integral gain 12127 xxx Current limitation a value of 2047 corresponds to 10 0 12128 xxx Present integral gain 12129 xxx Limitation of the integral gain Please also follow the instructions in the JX2 SV user manual 5 7 5 Connect the MAC motor to Jetter PLC with JX2 SM92 axis module The Jetter PLC can be supplied with the module JX2 SM2 which transmits a pulse and direction signal instead of a 10V signal as on the 2 5 module Each pulse repre sent a certain distance of movement and the direction signal determines the direction
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6. connector stable communication JVL cable WG04xx incl analogue input PC RS232 standard COM port Screen terminated cable 24 wire to the GND terminal Red Screen A Yellow V Blue If the 5232 lines are extended through another cable this cable Screen must be must also be screened connected to Connector main ground Cable Female 9pin DSUB 0 2 internal At PC Male 9pin DSUB connector bard If JVUs standard programming cable type RS232 9 1 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 4 12 GSD file for the MACOO FP2 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 Vendor_Name JVL IND EL Model Name MACOO FP Revision 0 0 JVL Industri Elektronik A S User Manual Integrated Servo Motors MAC50 141 67 4 4 Expansion Module MACOO FP2 Ident_Number 0x06BC Protocol_Ident 0 Station Type 0 Hardware_Release 1 1 Software_Release 1 2 9 6 19 2 93 75
7. lt Module Definition List gt 0x13 0x10 0x10 0x10 0x10 0x23 0x20 0x20 0x20 0x20 0x20 EndModule 70 JVL Industri Elektronik A S User Manual Integrated Servo Motors 50 141 4 5 Expansion Module MACOO R1 3 4 5 1 Expansion modules MACOO R1 5 overall description The expansion modules and can be mounted on the standard MAC tors MAC50 MAC95 MACI40 and 141 These option modules are also called nanoPLC modules as they perform like a little 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 6 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 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 Applications typically include Replacement for pneumatic cylinders Dispenser systems Turn tables Simple pick and place systems Machine adjustment setup The MACOO RI and offer the same functions but with the following hardware differ ences Type Protection Connectors class and interface Power supply LEDs at MACOO R1 DSUB 9 pole 3 pole Phoenix Yes 0 Cable glands Cab
8. Power Supply Signal name Wire colour Yellow Brown Green White Multifunction I O RS485 Interface Signal name Wire colour Brown Green Signal name Wire colour Purple White Green Yellow Brown Grey Pink White Y ellow Red Blue Status Outputs Black RS232 Interface Signal name Wire colour Signal name Wire colour TXPD Green O1 Grey TX Yellow 02 Pink RX White Connect to the A terminal if the module is the only or the last node at the line in order to terminate the line Connect to the TX terminal if the module is the only or the last node at the line in order to terminate the line Blue Brown 44 JVL Industri Elektronik A S User Manual Integrated Servo Motors 50 141 4 3 Expansion Module MACOO FC2 4 3 1 4 3 2 CanOpen Introduction The module is a CAN Open slave With this module all the registers in the MAC motor can be accessed over a CAN Open network The module implements an object dictionary that follows the CiA DS 301 standard The module contains a number of static mapped PDO s that can be used to access the most common registers Address baud rate and termination setup The 10 way dip switch SW is used to select the node ID and the baudrate Switch l 7 selects the node ID and switch 8 10 selects the baudrate The 2 way d
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10. 14 Gear Mode i derecho pe 15 Mechanical Zero Search ena HET ee e EIER HER 18 Error e E 22 Hardware description ssccccssssscssssccsscsscscssccesesssscsssseesesssssccsccesssssscosesseeesoscoscess 23 aise O 24 POWER SUPP e etie UP RTT EG IR NITE PONO E Eee 25 SerialsiMtertace sic E 9 27 om 28 Expansion Modules eee ee ee eee eene teeth nennt ttes sanas assesses asas ases sets asse sese senno 35 Expansion Mod le 1 tno ther Cono teta trap tendon tbe ebd ata 36 Expansion Module 2 5 1 erinnerte csetera nue tea cran Ee dabo doeet anh 43 Expansion Module 2 to ftre eaa e Pe era 45 Expansion Module 2 scisssiccsssssisessstesseseaatcccsessseatassisveesssenescecacnsdsesibesccosssvacsbosegpsedeeiasepesuoasassasedadenseaed 57 aeiiae e etnai Eis TREAS EN EEEE EEEE TEE ERAR 71 LODIDDBDLqG 85 Technical RU 86 Torque Curves
11. Connection scheme MAC motor IN OUT Jetter JX2 SM2 9 pole connector MAC00 B1 9 pole connector Pin 1 Pin 1 STEP Pin 2 Pin 6 STEP Pin 3 Pin 2 DIR Pin 4 Pin 7 DIR Pin 5 Pin 4 9 GND All 4 dip switches on the rear side of the MACOO BI module must be switched to posi tion off 5 7 6 How to set up the MAC motor for the JX2 SM2 The following illustration shows how to set up the MAC motor Remember to press the Save in flash button after the setup is done in order to save the changes permanently Yew Setup Updates Heb gt en Seve Regeter Fiber parameters Tests Set up Startup mode Creme ad for Gear in order to enable the pulse and eiue Set up the Multifunction direction input for Arang velocip iei he as Pulse Input This setting controlling the position will setup the Multifunction of the MAC motor via 2 balanced inputs The A input the pulse and direction eerie fex will be the pulse input and the signal Sire 9 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 it
12. Use the general zero search registers in the main setup Format 1 inputs and outputs The functions of the inputs are described above 4 outputs are available Output Ol is activated when the motor is in position and out put 2 O2 is activated in case a fatal fault occurs In the example O2 is passive logic 0 since no fatal errors occurs Output 3 confirms when the input signal is accepted Output 4 is a live output which means that independent of motor operation it is oscil lating at approximately 4 Hz It will only stop oscillating if the internal hardware has a fault JVL Industri Elektronik A S User Manual Integrated Servo Motors MAC50 141 75 Expansion Module MACOO R1 3 4 5 99866011 5 3DULIOJ pasn Ji pijoa s 4 JI ZHp yum si pO 3ndino Dymo 38404 si 3ndui ji O andano 3de y sey 10449 36 ZO nd3yno 40443 yz 10 Z Ul peui eds uonisod y uonisod ueuM O a 3 u0q X auesed eAnoy ou nssed 0 sandano pue sindu suoniugep 9 9 si ay pue 0 195 pandino gandano co 70 jandano SI 993 payloads 55820 9 eu
13. 141 97 9 7 Connecting to other equipment 5 7 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 MAC motor with a Jetter PLC type Nano B C D equipped with a servo axis controller module type JX2 SV 1 A OUT DSUB 15 Male DSUB 9Pin Male seen from cable side seen from cable side MAC motor with expansion module MACOO BI Use twisted pairs if possible Screen 1 Pin 8 to 15 is left unconnected TTO952GB DSUB 9Pin female seen from cable side Connection scheme MAC motor IN OUT Jetter JX2 SV1 Jetter JX2 SV1 9 pole connector MACO00 B1 9 pole connector 15 pole connector Pin 1 Pin2 4 Pin 2 Pin3 5 Pin 3 Pin 6 Pin 4 Pin 7 Pin 5 Pin 1 Pin 6 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 98 JVL Industri Elektronik A S User Manual Inte
14. 4 2 1 General description MACOO B2 The MACOO B2 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 at basic MAC motor IP67 type MACxxx A3 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 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 Full RS485 protocol support for multipoint communication up to 100m Sourcing PNP outputs for status signals Ol and O2 instead of sinking NPN JVL Industri Elektronik A S User Manual Integrated Servo Motors MAC50 141 43 4 2 Expansion Module MACOO B2 4 2 2 MACOO B2 option with cables The MACOO B2 type number only covers the basic module without any cables 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 of cable cable covers 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 Power cable Cable
15. 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 2700 RPM is the maximum recommended speed for the 141 Peak Torque Average Torque TT0911GB Operation above 2700 RPM is not recommended 88 JVL Industri Elektronik A S User Manual Integrated Servo Motors 50 141 5 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 MACI 40 Typical efficiency at rated load 100 Ambient temperature 20 C Torque setting 100 Load setting 1 0 80 60 Operation above 4000 RPM can be done but the losses in the motor make it impossible to operate in this area cyclicly 48VDC supply 24VDC supply 40 20 1000 2000 3000 4000 TT0954GB The power consumption for the internal circuitry microprocessor etc is typically lt 3 5W In the speed range from 0 to 500 RPM this internal power consumption starts to be a dominant part of the total
16. 6 MAC141 Peak supply current worst case during operation 15 Internal power dump consumption capacity continuously 3 Power Consumption in Init mode motor passive All motor types 2 3 12V 2 8 48V Motor performance MAC5O 4 46 Ww 0 11 15 6 Nm Oz Inch 0 32 45 3 Nm Oz Inch 0 075 kg cm Speed range Rated power at max speed Continuous torque measured at ambient temperature 25 C Peak torque measured at ambient temperature 25 C Rotor inertia RPM 92 Ww 0 22 31 2 Nm Oz Inch 0 62 87 8 Nm Oz Inch 0 119 kg cm Speed range Rated power at max speed Continuous torque measured at ambient temperature 25 C Peak torque measured at ambient temperature 25 C Rotor inertia RPM 134 Ww 0 32 45 3 Nm Oz Inch 0 9 127 5 Nm Oz Inch 0 173 kg cm Speed range Rated power at max speed Continuous torque measured at ambient temperature 25 C Peak torque measured at ambient temperature 25 C Motor performance MAC140 3 Rotor inertia RPM 134 Ww 0 48 68 2 Nm Oz Inch 1 59 225 8 Nm Oz Inch 0 227 kg cm Speed range Rated power at max speed Continuous torque measured at ambient temperature 25 C Peak torque measured at ambient temperature 25 C Rotor inertia 86 JVL Industri Elektronik A S User Manual Integrated Servo Motors 50 141 5 1 Technical Data All data are specified for the basic MAC motor only i e without any expansion module mounted
17. If the motor still wakes up with the default setup or the setting made at a much earlier stage the save procedure has failed Action Ensure that the motor contains the newest firmware gt 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 2 VI 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 MAC50 141 91 9 5 Trouble shooting guide 5 5 3 Troubles related to mechanical motor behaviour Problem The motor oscillates or 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 page 25 where a graph illustrates the re lationship 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 JVL repres
18. TX RS232 Transmit If not used do NOT connect Green RX RS232 Receive If not used do NOT connect Yellow GND Ground for RS232 and RS485 Blue RS485A RS485 Positive channel If not used do NOT connect Orange RS485 B Cable Screen RS485 Negative channel If not used do NOT connect Brown The cable screen is internally connected to motor housing Externally it must be connected to earth Unused wire Orange Black is not used internally It must be left unconnected JVL Industri Elektronik A S User Manual Integrated Servo Motors MAC50 141 83 4 5 Expansion Module MACOO R1 3 4 5 14 PC RS232 COM port 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 the standard cables from JVL type WG0402 WG0410 or WG0420 See also Accessories page 101 for a complete list of cables and connectors Please remember to connect the TX and TX PD wires from the MACOO R3 together to achieve stable operation If the MAC motor is connected at 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 5232 9 or n is used between the shown DSUB connector and the PC com port the RX and TX pins must be swapped since they are crossing in these standard cable How to connect
19. 1 the terminals since 1 this can damage the inputs lt Spee 1 Ifused the B terminal must be connected in the same manner as the A terminal TT0941GB The A and B terminals must be left unconnected Connect 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 B I multifunction I Os Use twisted pair cable for the balanced signals to ensure noise immunity Warning Voltages above 5V must under no circumstance be connected directly to the input since it 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 expansion module External pulse source esc npn OFF Pe vari OFF SETUP OFF Q gt gt 4 From internal Control circuitry higher than 5V directly to the A or B terminals since RS422 outputs balanced 1 A 2 this can damage the inputs NER ee Twisted pair cable is recommended pases ee ee TT0943GB 6 4 Warning x o Never connect voltages 1 l l JVL Industri Elektronik A S User Manual Integrated Servo Motors 50 141 41 4 1 Expansio
20. 120 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 MAC140 or 141 Desired voltage Supply rating Fuse size Supply rating Fuse size Supply rating Fuse size 20W T4A 40W T6 3A 60W T10A 40W T4A 80W T6 3A 160W T10A 80W T4A 160W T6 3A 320W T10A 26 JVL Industri Elektronik A S User Manual Integrated Servo Motors 50 141 3 0 Serial interface 3 3 1 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 101 Basic MAC motor rear end Error LED red Power LED green Asynchronous Serial Interface 4 Ground 3 Transmit Tx 5V level 2 Receive Rx 5V level 5VDC out max 30mA Connector Manufacturer JST TT0912GB Type ZHR 4 1 5mm pitch 3 3 2 RS232 Interface signal levels Please note that the signal levels are 0 to 5VDC and are thus not according to the RS232 standard
21. A4 is done with 17414 24 the last used acceleration PI VIAI TI LI ZI P7 V2 A2 P3 V3 A3 T2222 Motor Velocity 0 3 13 23 1 1 General zero searth 1 parameters used 1 1 1 1 P7 Relative length measured from actyal position where input 2 wes activated 1 Actual position counter 1 1 1 1 1 1 1 1 1 1 1 1 1 1 1 1 1 1 1 is set to 0 after zero search 1 1 1 1 i Actual Position counter 0 1 Ol is not activated OI INPOS M after a disable signal Motor in position 1 1 2 Error output Passive no errors shown O3 Accept Compare pub accepted 1 O4 Alive Motor ready 4 5 9 Format 3 Description Format 3 can be used for applications in which the motor must move a certain distance when an input is activated Input 5 is used as an enable input and input 6 is used for com manding a mechanical zero search Each of the distances and other motion data must be specified in the basic MAC motor setup Please consult the beginning of this chapter to see how to carry out the basic setup using the MacTalk windows software Please note that IN2 is special since the relative movement is done with reference to the actual position In format 3 the standard registers are used
22. 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 cable with 12 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 10 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 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 following units 50 to 141 Fits directly to the 8 pole I O connector inside the basic MAC motor MACOO CS Passes through the CS module and connects to the basic MAC motor JVL Industri Elektronik A S User Manual Integrated Servo Motors MAC50 141 101 5 8 Accessories 5 8 2 5 8 3 Connectors connector kits MAC00 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 9 0200 JVL no 2478 TL Crimp contacts Molex no 08 50 0
23. Bit 7 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 57 for details JVL Industri Elektronik A S User Manual Integrated Servo Motors MAC50 141 59 4 4 Expansion Module MACOO FP2 4 4 4 Command status Bit Function Status Bit7 Write Toggle this bit indicates when writing is completed See Command page 58 for details Read Toggle this bit indicates when reading is completed See Command page 58 for details Bit 3 0 Status These bits indicate the status of the MACOO FP2 The following status codes are possible Description OK Idle Executing Input Executing Output Limit switch active Profi error 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 Description Passive Absolute Relative Reserved 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 INI 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 r
24. J1 Signal name Description Wire colour TXPD RS232 transmit pull down TXPD RS232 transmit pull down Red Blue TX RS232 transmit TX RS232 transmit White Green RX RS232 receive RX RS232 receive Yellow Green GND ground GND ground Blue Black RS485 A RS485 interface terminal A AIN analogue input Orange Blue RS485 B RS485 interface terminal B GND ground Orange Green Outer cable screen connected to motor housing JVL Industri Elektronik A S User Manual Integrated Servo Motors 50 141 103 5 10 CE Declaration of Conformity EU Declaration of Conformity Manufacturer Company Name JVL Industri Elektronik A S Address Blokken 42 DK 3460 Birkered Denmark Telephone 45 45 82 44 40 E mail jvl jvl dk Web www jvl dk Hereby declare that Product No MAC50 95 140 141 Name Integrated AC Servo Motor Type Series Al A2 and A3 alone or combined with one of the following expansion modules 0 1 0 2 0 5 MACOO RI MACOO R3 MACOO FP2 is in conformity with COUNCIL DIRECTIVE of 3 May 1989 on the approximation of the laws of the Member States relating to electromagnetic compatibility 89 336 EEC 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 s
25. 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 7812Hz Please note that the top speed and acceleration are NOT controlled in this mode Use Analogue Torque Mode if this limitation is required Coil Mode Similar to gear mode but the position range can be limited in such a manner that the motor changes direction everytime the upper limit is met and also if the lower limit is met Both limits can be adjusted The mode is intended to be used for controlling a wire cable guider on a winding maschine The guide will follow the position of the coil driven by a main motor and by using this mode it is possible to feed the wire in a very precise position regardsless which speed the main motor is running at JVL Industri Elektronik A S User Manual Integrated Servo Motors MAC50 141 1 3 Expansion modules overview JVL has produced a wide variety of expansion modules to adapt the MAC motor to al most 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 MAC Motors feature overview including expansion modules For setup sending commands For setup sending commands 10 Analogue input For controlling s
26. 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 C2 output status Zero switch analogue input status Input power status Full RS232 protocol support for use with standard 9 pin serial cable Note The basic MAC motor is only equipped with a low voltage serial interface that requires the use of the 5232 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 and O2 instead of sinking NPN 36 JVL Industri Elektronik A S User Manual Integrated Servo Motors 50 141 4 1 Expansion Module MACOO B 1 Industri Elektronik V IN OUT SETUP 01 M o 2 o9 9 amp Option MACOO B1 gt gt IN OUT Signal ground f XY Oc Status outputs Balanced pulse in or outputs used for 4 8 O Default Pulse and direction signals or B lls m 02 01 In position output Quadrature encoder signal E pl 7 O2 E C 2 01 Error output Optional these terminals canbe A 6 Analogue input 10V usedifor the MAC highspeed AIN Optional zero sensor input 1 communication using R
27. can be read from the profibus 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 4 4 2 Output data Master gt Slave The MACOO FP2 contains 9 bytes of output data Address Name Description Write data 3 MSB Data to write to register Write data 2 Write data 1 Write data 0 LSB Write register selector The register to write Read register selector The register to read Direct register Direct FlexMac command Command Bits for commanding reads write Input setup Bits for input setup 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 register to write to should be placed here The register must be in the range 1 255 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 output data has the same value as thi
28. for outputs Must be connected to ext supply Red white O1 Digital output 1 PNP output Green white 02 Digital output 2 PNP output Yellow black NC Reserved Blue white NC Reserved Orange white NC Reserved Brown white Reserved Pink Interface including an Signal name ground This ground is shared with the input ground alogue input Internal connector J1 Description Black Wire colour TXPD Transmit pull down Connect to TX if addr not used Red TX RS232 Transmit Green RX RS232 Receive Yellow GND Ground for RS232 Blue AIN Analogue input 10V or Zero sensor input Orange GND Cable Screen Ground for AIN Brown The cable screen is internally connected to motor housing Externally it must be connected to earth Unused wire Orange Black is not used internally It must be left unconnected JVL Industri Elektronik A S User Manual Integrated Servo Motors MAC50 141 55 4 3 Expansion Module MACOO FC2 4 3 20 How to connect the RS232 interface The illustration below shows how to connect the MACOO FC2 directly to a PC COM port The drawing is based on the standard cables from JVL type WG0402 WG0410 or WG0420 See also Accessories page 101 for a complete list of cables and connectors If the MAC motor is connected to the same RS232 line as othe
29. lines which means RS232 Digital input 1 4 Limit inputs NL and PL and the Digital outputs 1 4 Please note the WG0420 table below is not valid for cables delivered before 1 10 2002 See WG0420 old versions delivered before 1 10 2002 page 103 Digital Inputs Internal connector J2 Signal name Description Wire colour IN1 Digital input 1 Red black IN2 Digital input 2 Green black IN3 Digital input 3 Violet IN4 Digital input 4 Violet white NL Negative limit input If not used do not connect Grey PL Positive limit input If not used do not connect Grey black IO ground Shared with the output ground O Pink black NC Reserved Black white CV Secondary supply Used during emergency stop Light green gt gt CV 0 Secondary supply Used during emergency stop White Digital Outputs Internal connector J4 Signal name Description Wire colour Supply for outputs Must be connected to ext supply Red white O1 Digital output 1 PNP output Green white 02 Digital output 2 PNP output Yellow black NC Reserved Blue white NC Reserved Orange white NC Reserved Brown white Reserved Pink Interface including an Signal name ground This ground is shared with the input gro
30. meaning that the feature is disabled 22 JVL Industri Elektronik A S User Manual Integrated Servo Motors 50 141 Hardware description JVL Industri Elektronik A S User Manual Integrated Servo Motors MAC50 141 23 3 1 Connector overview Power Supply Connector Manufacturer Molex Type 09 91 0200 3 96 pitch Connector overview for the basic MAC motors Basic MAC motor Rear end Error LED red M2 5 mounting spacer for option module Power LED green Asynchronous Interface Signal levels 5V 4 Ground 3 Transmit Tx 5V 2 Receive Rx 5V 5VDC out max 30mA 12 48VDC GND Connector Manufacturer JST Type ZHR 4 1 5mm pitch User I O Main signal ground Analogue input 10V Status outputs Multifunction I O see text Maximum 5V Connector Manufacturer AMP Type 770602 8 2 54mm pitch TT0909GB 3 1 1 Connector description The basic MAC motor is equipped with 3 connectors Power Supply Connect the main supply to this connector The voltage must be within the range 12 to 48VDC nominal User I O 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
31. of the analog input can be read 2 3 4 5 6 7 ANINP Reserved Reserved Reserved Reserved Reserved Reserved 2012h sub 122 Transmit PDO 5 With this PDO the motor status inputs and last error can be read This PDO also supports asunchronous transmission If this PDO is in asynchronous mode it will be transmitted every time the run status or inputs is changed 4 5 6 7 Last motor error Reserved Reserved Reserved Reserved 2011h sub 4 52 JVL Industri Elektronik A S User Manual Integrated Servo Motors 50 141 4 3 Expansion Module MACOO FC2 4 3 16 Transmission time Due to the internal communication between the motor and the the PDO s takes a certain time to process This table shows the processing time for the PDO s PDO number Receive PDO Transmit PDO If the recived PDO s is 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 PDO s an internal queue overflow error occurs JVL Industri Elektronik A S User Manual Integrated Servo Motors MAC50 141 53 4 3 Expansion Module MACOO FC2 4 4 3 17 Emergency object The MACOO FC supports the EMC object Emergency The following error codes can be generated Errorcode 1001h Generic error Motor error Errorcode 1002 Generic error Limit switch
32. 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 Zero search mode Torque specified velocity defines the zero search Zu earch patton 1000 1000 Pulses direction Zero search velocity 50 50 RPM Zero search torque is used as the 4 4 trip level when the zero position is reached Zero search torque When the torque rises is specified by higher than the value the general accel specified in the field Zero eration parameter search Torque the speed will Velocity 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 in MacTalk under Profile data Time t Zero search 1 Torque started i Torque 1 1 Time 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
33. power consumption JVL Industri Elektronik A S User Manual Integrated Servo Motors 50 141 89 5 4 Physical Dimensions Physical dimensions of the basic MAC motors 0 80 0 5 1112 MAC95 Al 131 5 MACI40 Al 150 5 141 172 9590 Digital Drive 038 1 0 0 05 Rear Connections M2 5 mounting hole for expansion module 58 7 Max M2 5 mounting hole for expansion module 47 1 58 7 All dimensions in mm TT0902GB 90 JVL Industri Elektronik A S User Manual Integrated Servo Motors 50 141 5 5 Trouble shooting guide 5 5 1 Troubles related to communication with the motor Problem RS232 MacTalk is not communicating with the motor The status in 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 must normally be selected as COM3 or COMA 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
34. 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 26mm connector for power supply e 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 instead of sinking NPN 82 JVL Industri Elektronik A S User Manual Integrated Servo Motors 50 141 4 5 Expansion Module MACOO R1 3 4 5 13 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 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 WG021 2m or WG0320 20m Power Supply Signal name Description Wire colour P Positive supply terminal 12 to 48VDC Red P Negative supply terminal ground Black or white Screen Screen to minimize noise Screen connected internally to P Please note t
35. which the motor 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 sen sor 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 activated the direction of movement is reversed and the point at which the sensor is disabled is defined as zero The following sections explain in detail the functionality of the 3 fundamental Zero search modes 2 3 2 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 3 modes Power up Torque Sensor type or Sensor type 2 is selected the re spective 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 18 JVL Industri Elektronik A S User Manual Integrated Servo Motors 50 141 2 3 Mechanical zero search 2 3 3 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
36. 0 0 Input 3 010 2 Input 3 111 7 Don t care Don t care 1 Don t care 1 Don t care Motor is kept in position PI VIAI P7 V7 Al TI LI ZI General zero search parameters used P2 V2 A2 72 L2 Z2 Motor velocity 0 Motor torqueless 1 1 1 1 i AIN zero sensor input 1 1 Motor is moved by hand in order to remove faulty item from machine 1 Altual position counter 7 Position P2 never reached i is set to 0 after zero search Actual position counter 0 velocity is disabled set to 0 OI INPOS Motor in position O2 Error output Passive no errors shown O3 Accept Start pulse accepted O4 Alive Motor ready Ol is set passive since the actual position exceeds the In position window Z3 TT0904GB 4 5 7 Format 2 description Format 2 can be used for applications in which a PLC selects up to 7 different positions by setting up a binary combination at inputs to 3 of the MAC motor The motor will move to the desired position when the start input is activated Alternatively the motor can be started and will run until one of the enable inputs is set passive Each input com mination will select an individual group of motion registers The table below shows the register
37. 0000 Pules Acceleration 3 14901 15000 RPM S Position 4 40000 40000 Pulses Acceleration 4 14901 15000 RPM S Position 5 50000 50000 Touques Position 6 000 60000 Pulses ENM Position 7 70000 70000 Pulses 1954922 m i Position 8 0000 80000 Pulses 1924923 vo i aces Touque 4 Velocity 1 250 250 Load factors Velocity 2 500 500 me 2284 120000 1 0000 Velocity 3 zofo mew od 1 0000 Velocity 4 1000 1000 mew 0223 Velocity 5 1250 1250 Rem 9984 1 0000 Ur 2c m MEL In pos window 2 100 od Pulses EE 2000 it In pos window 3 100 ho Pulses In pos window 4 100 ho Pulses TT0950GB Each format in the nanoPLC uses position data velocity data torque data etc from the tab Registers shown above The default of these registers is set up to ensure that the motor will move and do what is intended in the individual formats If any of the values are changed the change can be saved using the Save in Flash button at the top of the main screen to ensure that the changes are saved permanently JVL Industri Elektronik A S User Manual Integrated Servo Motors 50 141 73 4 5 Expansion Module MACOO R1 3 4 5 4 Setting up a format in the MACOO R1 or R3 module The expansion module can operate in the following formats Format 2 relative and 2 absolut
38. 106 RS232 Connector JVL no WG0200 Since this connector is very small pitch I 5mm it is supplied as an assembled connector with 65mm cable WG0200 is the JVL number 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 returned from the motors during deceleration of high inertias 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 102 JVL Industri Elektronik A S User Manual Integrated Servo Motors 50 141 Cable connection tables WGO420 old versions delivered before 1 10 2002 Signal cable JVL t
39. 2 converter which makes it possible to connect the MAC motor directly to for example a PC JVL can supply programming cable type RS232 9 3m Other lengths are also available The interface cable length should not exceed 10 metres Note The basic MAC motor does not fully support RS232 since the interface signals are only 5V levels See also the basic description Serial interface page 27 4 1 4 MAC motor communication protocol The MAC motor uses binary communication protocol which makes it possible to ac cess all the internal registers Please consult Serial communication page 93 for further details 38 JVL Industri Elektronik A S User Manual Integrated Servo Motors 50 141 4 1 Expansion Module MACOO B 1 NIU Industri Elektronik V IN OUT SETUP m amp a OPtion MACOO B1 moton 7 RS485 Connections Connect terminator to if MAC motor is the last unit on the interface bus 9 Terminator A 9 e B 9 Signal ground Oo O TT0939GB 4 1 5 RS485 Interface The MACOO B module also includes an RS485 interface in addition to the normal RS232 interface The RS485 interface is intended for purposes where to 32 MAC motors are connected on the same interface in a noisy environment The communication protocol is exactly the
40. 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 Time t Zero search t After the basic zero search has tL Actual position counter started been done the actual position counter is now zero position 0 is set to the value specified in the Zero search complete Zero search position register Zero search Zero search mode Sensor type 1 Zero search position 1000 1000 Pulses Zero search velocity 50 59 RPM Zero search torque 1 1 TT0951GB JVL Industri Elektronik A S User Manual Integrated Servo Motors MAC50 141 21 2 4 Error Handling Error Handling Use these fields to define error limits for the maximum follow error etc Error handling Follow error Pulses Function error Pulses Position limit min Pulses Position limit max Pulses Error acceleration RPM S TT0968GB 2 4 1 Error handling The MAC motor contains 5 fundamental paramete
41. 422 RS422 Motor stat Cable Conn module w cable glands 19 2kbaud 9 2kbaud 2 5Mhz or Ae No 2x NPN and No electronic features added Full Duplex Full Duplex 150kHz LP cpr 25mA 2 RS232 6 Inputs 2 Outputs Cable IP67 Profibus DP w cable glands 19 2kbaud Opto isol PNP and 1 Full Duplex 5 30V 100mA MACOO RI RS232 RS485 6Inputs 4 Outputs DSUB Nano PLC w DSUB connect 19 2kbaud 19 2kbaud No Opto isol Plug 1 42 Full Duplex Half Duplex 5 30V able 5 MACOO R3 RS232 5485 Nano w cable glands 19 2kbaud 19 2kbaud Full Duplex HalflDuplex able IP67 and 1 6 Inputs 4 Outputs Opto isol 5 30V c G 1 IP55 or IP67 protection class is only possible if basic MAC motor and expansion module both the same IP class Please note that JVL can offer specially developed expansion modules if the available standard modules do not match the needs of special application Please contact your nearest distributor to verify if your application can benefit from a specially developed ex pansion module 10 JVL Industri Elektronik A S User Manual Integrated Servo Motors 50 141 1 4 Setting up the MAC motor 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 Profile Data All the main para meters for control ing the motor behaviour are se
42. 5 T1 Z1 5 P6 V6 T2 22 6 P7 V7 T3 Z3 7 P8 V8 T4 24 The following table shows the sub commands N Command Command 0 No operation Start search zero 1 Reset error No operation 2 P SOLL 0 No operation 3 P_IST 0 Reserved 4 _ 0 Select absolute position mode 5 V_SOLL 0 Select relative position mode using P_SOLL 6 T SOLL 0 Select relative position mode using P_FNC 7 Reset IN POS ACC DEC No operation 8 P FLWERR P7 16 No operation P FNC FLWERR P8 16 No operation Reserved No operation Reserved No operation Activate 0 10 20 No operation Activate P1 V1 A1 T1 L 1 21 No operation Activate P2 V2 A2 T2 L 2 22 Reserved Activate P3 V3 A3 T3 L3 Z3 Reserved 62 JVL Industri Elektronik A S User Manual Integrated Servo Motors 50 141 4 4 Expansion Module MACOO FP2 Examples of FlexMac commands Activate register A4 without changing the mode 0 19 FlexMac command 19 Activate register P5 and change to position mode 32 4 FlexMac command 36 Activate register T3 and change to velocity mode 64 30 FlexMac command 94 Activate PO V0 A0 T0 LO and ZO without changing the mode 96 12 FlexMac command 108 JVL Industri Elektronik A S User Manual Integrated Servo Motors MAC50 141 63 4 4 Expansion Module MACOO FP2 Rear side of the MACOO FP2 expansion module Mini dip switch OFF 4 ON Dip switch location on the MACOO FP2 Expansion module
43. Accele Discon EN Lu ration nected Bit 6 Equals if the velocity is decreasing Bit 5 Equals if the velocity is increasing Bit4 Equals if the motor is in the commanded position Bit2 Equals if a limit switch has been actived Bit gt Equals if there is a communication error between the MACOO FC and the motor This could occur if the motor was reset due to a voltage drop 0 Equals if there is a fatal motor error read subindex 4 to get extended infor mation JVL Industri Elektronik A S User Manual Integrated Servo Motors MAC50 141 49 4 3 Expansion Module MACOO FC2 4 3 8 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 Please refer to the register overview in the se rial interface section 4 3 9 Object 2011h Subindex 5 Output setup This object is used to control the function of the outputs When bit x 0 then the output is controlled by the object 201 Ih subindex 2 When bit x then the output is controlled by the default function The default function for Ol is In position and for O2 Error Bit 7 6 5 4 3 2 1 0 Output Reserved O2 O1 4 3 10 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 the input is active high The defau
44. Analog velocity with deadband Position limit max 0 Pulses Analog velocity Gear mode eee ces Error acceleration 0 RPM S C Analog torque direct Inputs Outputs Profile data 1 0 Type Pulse Input Max velocit 100 f RPM s p4 Input type Quadrature Acceleration 15150 f RPM S 7 Fast input filter Torque 100 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 TT0928GB direction of movement can be inversed selected here See also the descriptions of Gear and Analog Velocity Gear modes for further details about functionality JVL Industri Elektronik A S User Manual Integrated Servo Motors MAC50 141 3l 3 4 User 1 0 3 4 5 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 shi
45. Change actual mode Ana og vel with deadband alog velocity gear alog torque alog torque direct TTO9 5GB These 5 modes modes will use the analogue input as reference The input is automatically used as an ana logue OV input when the Start up mode in the MacTalk main window is set to Ana logue Torque Velocity or Velocity Gear as shown in the accompanying illustration 28 JVL Industri Elektronik A S User Manual Integrated Servo Motors 50 141 3 4 User 1 0 Status outputs of the MAC motor Basic MAC motor Rear end MAC motor outputs 470pF EMC filter 470pF EMC filter Power User I O Supply Load Load 10 30VDC mem T Max 25mA per output Note The outputs are not shortcircuit protected Connector Manufactor AMP Type 770602 8 2 54mm 0 I pitch TT0917GB 3 4 2 Status Outputs 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 out put and a positive supply Note that several of the expansion modules for the MAC mo tor offer PNP output source output For further details about a specific expansion module please see other sections of this manual This output functions as an In Position or at velocity output depending on which mo
46. Elektronik A S User Manual Integrated Servo Motors 50 141 77 Expansion Module MACOO R1 3 4 5 1 5 1Du140 pasn Ji pijpA 7 10 04 1100 x QueseJd e3exjoA ou eAisseg Q s3ndino pue sandui 10 suopiuyap s ay pue 51 sse oud ay 5582044 s suonipuo anduj eu jo euo nun 5 si IEM suoniuygep joqui s 0 onbiox x05 0 25 aano go 34822 195 X 99566011 si 4 eui gy ZH xdde yam Sunejjpso si pO andino any padaz si 3nd andinoiade y LNdLNO seu 40JJe e3ej e ZO INdyno 40443 yz 40 Z TZ Z payloads uonisod y uonisod ueuM 2 O NOILONn3 Andino suoniuyop 0 195 2 0 196 p ewig 14 anbso2 196 0 125 XJI 1 0 e n p le er 1 aaissod 0 29922 195 X I 1 0 XXIX ajo s v lz 1
47. G Word Counts sample ror has occurred 1000 RPM s 4 026 Pulses Sample 33 INPOSWIN Word Encoder counts If actual position is within this window the motor is in position JVL Industri Elektronik A S User Manual Integrated Servo Motors MAC50 141 93 5 6 Serial communication The number of samples the motor has to be 34 INROSONT Samples within the pos interval spec in INPOSWIN Motor status Bit 0 Overload Bit 1 Follow error Bit 2 Function error 35 ERR STAT 16 bit Bit 3 Regenerative error Bit 4 In position Bit 5 Accelerating Bit 6 Decelerating Bit 7 Position limits error 5 6 1 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 or 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
48. ISSVd SI LNdNI 3WOH TILNN LIVM O Ado y 195 uonisod 10 120 o2uo49Jo4 31035 YZ Jo Z TZ 17 payloads sod 4030uJ uonisod 403044 TYNYILNI si 0497 9 euuou jsdoys 0 J eJgeu3 PZ VIP LW PA bd ONPI HAS EZ ETEL EV EA Ed BUIN WEIS ELAdNI CZCYCLCV CA 4d Susn HAIS IZ VT LL Iv 1A 1d N 31215 NOILIGNOD 1 suopjuysp aril aij 1 je t NOLLIGNOD 1 O andino 22 195 24095 0192 31035 1105 4 71105 d 11915 4 1105 4 7105 d d 31035 pauyapun pO 0 0 9 70 dn snes 1 93225 FAILSV NV 19 7105 4 7105 31035 ai 9 s v 217 1 4 JVL Industri Elektronik A S User Manual Integrated Servo Motors 50 141 80 4 5 Expansion Module MACOO R1 3 4 5 11 Expansion MACOO R1 ha
49. MAC50 95 140 MAC141 Including expansion modules Integrated Servo Motors User Manual JVL Industri Elektronik A S LB0047 14GB Revised 4 2 2004 Copyright 1998 2004 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 Birker d Denmark 45 45 82 44 40 Fax 45 45 82 55 50 e mail jvl jvl dk Internet http www jvl dk Contents 5 10 5 lul 6 Overall description s Ssni steve 7 Expansion modules overview ceiccetsccscesiccasiessserisedinestsccesescaezcoasciaaiessesscaconsecaacoaadeasseaisebsosbaseseaesuoasussedeiabenseaes 10 Setting up the nnde epp Re et Qaae bee creen e ae RR AEn n Function description 13 skein Ue a E p Oe Ee nece deem re
50. Manual Integrated Servo Motors 50 141 5 6 Serial communication 5 6 4 Application examples Setting mode Position mode This command writes to register 2 MODE REG on motor 8 Transmit 52h 52h 52h 08h F7h 02h FDh 02h FDh 01h FEh 00h FFh AAh AAh Response Ih Setting position 100 000 This command writes 100 000 to register 3 P_SOLL on motor 8 Transmit 52h 52h 52h 07h F8h 03h FCh 04h FBh A0h 5Fh 86h 79h 0 h FEh O0h FFh AAh AAh l Ih 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 23h DCh 04h FBh 10h EFh 00h FFh 00h FFh 00h FFh AAh AAh The motor responded with ERR_STAT 0010h meaning In Position Setting the maximum speed This command sets the maximum speed to 1000 RPM 2097 pulses sec 2097 8311 This is done by writing to register 5 V SOLL Transmit 52h 52h 52h 08h F7h O5h FAh 02h FDh 31h CEh 08h F7h AAh AAh Response Reading the actual position This command reads register 10 IST from motor 8 Transmit 50h 50h 50h 08h F7h OAh F5h AAh AAh Response 52h 52h 52h OAh F5h 04h FBh 08h F7h BDh 42h 03h FCh 00h FFh AAh AAh The position was 245 000 3BD08h JVL Industri Elektronik A S User Manual Integrated Servo Motors MAC50
51. Min Typical Units Logic 0 Logic 1 Bandwidth CLK input A 50 duty cycle w slow input filter Bandwidth CLK Se as A 50 duty cycle w fast input filter Logic outputs 01 and 02 outputs O1 and O2 Logic 0 Specified with load 25mA Logic 1 Pull up resistor must be applied externally Load current sink Analogue input AIN Voltage range Input impedance Offset Miscellaneous Basic resolution per revolution Pulses rev Operating Temperature Range ambient Weight MAC50 A1 Weight MAC95 A1 Weight MAC140 A1 Weight MAC141 A1 Depending on external pull up voltage JVL Industri Elektronik A S User Manual Integrated Servo Motors MAC50 141 87 5 2 Torque Curves Oz Inch 50 Torque versus speed 1000 2000 3000 4000 Oz Inch m MAC95 Torque versus speed x 1 0 142 0 8 113 0 6 85 m oo 0 4 57 0 2 RPM 0 1000 2000 3000 4000 Nm Oz Inch 140 Torque versus speed 1 0 142 0 8 113 0 6 85 0 4 57 0 2 28 RPM 0 1000 2000 3000 4000 Nm Oz Inch MACI4I Torque versus speed 1 75 248 5 15 TTTS 213 1 25 177 5 142 106 5 71 35 5 RPM 1000 2000 2700 3000 4000 Conditions Supply voltage
52. N 04 Ade y 195 dij sjv z 1 X IX X X X X x 919 5 1 3ndjno ajo 1 2 1 genis 3AISSVd SI LNdNI 3WOH ILLND 9An2D O 1da22p 195 21095 0192 11935 7105 e3n osqp 31035 4 7105 d Ed e3njosqp 31035 zd TIOS 4 lt d 9Anp o4 31035 14 TIOS 4 lt d 14 31035 Ade y 195 11 21 LNdNI peujepun pO ou 0 ZO pauyapun O 1 22035 snas nding ANNI 3ALLOV NV JVL Industri Elektronik A S User Manual Integrated Servo Motors 50 141 76 4 5 Expansion Module MACOO R1 3 Format 2 Typical example Input 1 3 combination pointer Input 4 Start input Input 5 Enable velocity Input 6 Enable torque Disable the motor torque gt Move to position P7 Move to position P2 gt Move to position Make complete zero search Set velocity to zero stop the motor gt Input 3 001 1 Input 3 00
53. ON OFF OFF ON ON EN OFF OFF ON ON gt OFF OFF ON ON OFF ON N OFF ON gt ON gt ON N ON OFF ON OFF ON N OFF ON OFF ON OFF ON OFF ON OFF ON OFF ON ON ON Du OFF ON Table continued on next page 46 JVL Industri Elektronik A S User Manual Integrated Servo Motors MAC50 141 4 3 Expansion Module MACOO FC2 Address table continued from last page Dip Switch no SW1 Dip Switch no SW1 654 3 2 654 3 2 JVL Industri Elektronik A S User Manual Integrated Servo Motors MAC50 141 47 4 3 Expansion Module MACOO FC2 The baud rate can be set according to the following table Baud rate Dip Switch no SW1 10 9 8 1000 kbit 500 kbit 250 kbit 125 kbit 100 kbit 50 kbit 20 kbit 10 kbit 4 3 3 Object dictionary Type Read only Default Description Command UNSIGNED8 Execute a command Modul
54. S422 E Ao Q TTO900GB 4 1 2 IN OUT Description The functionality of these terminals is the same as for the basic MAC motor The signals available are the following Pulse inputs for functional description please refer to Multifunction I O used as pulse inputs page 31 Pulse outputs for functional description please refer to Multifunction I O used as pulse outputs page 32 5422 interface for functional description please refer to Multifunction I O used as serial communication interface page 33 Analogue input for functional description please refer to Analogue input page 28 JVL Industri Elektronik A S User Manual Integrated Servo Motors MAC50 141 37 4 1 Expansion Module MACOO B 1 Interface cable between MAC motor and a aL Industri Elektronik V IN OUT SETUP sol 7 211 117 ER P IN To amp 1 nese Receive Rx gt 3 O Tx PD The TX PD terminal must Transmit TX O be connected to Tx pin 3 4 8 4 9 if the MAC motor is not using addressin Signal ground 5o s Use JVL programming cable type RS232 9 for connecting to PC TT0907GB 4 1 3 RS232 Interface The expansion module includes an RS23
55. 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 2096 higher than the actual torque observed during this procedure Toimprove the repeatability precision of the zero point make sure that the mechan ical collision point is as stiff and well defined as possible JVL Industri Elektronik A S User Manual Integrated Servo Motors MAC50 141 19 2 3 Mechanical zero search 2 3 4 Sensor type 1 Zero search Sensor type zero search is carried out according to the following illustration Zero search Select the mechanical zero Zero search mode Sensor type D gt mode using this field Zero search position 1000 000 Pulses The position is sampled in the exact ition where the sensor was Zero search velocit 50 50 RPM post activated The motor the decelerates Zero search torque 1 fi and moves the reverse distance back to the position where the sensor was activated Velocity Zero search position is an optional offset See description in other chapter Zero search velocity defines the Time velocity used during Zero search t Zero search The sign of the specified velocity Sensor status started defines the zero se
56. 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 Encoder output The internal encoder pulses are output as a quadrature signal 2 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 3 RS422 communication A master controller can send commands for example ve locity or position commands This interface is intended for permanent connection RS232 Interface The motor setup and monitoring is done via this interface The windows based 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 24 JVL Industri Elektronik A S User Manual Integrated Servo Motors 50 141 3 2 Power Supply Basic MAC motor Rear end Error LED red Power LED green Connector gee Manufacturer Molex Type 09 91 0200 3 96 pitch Fuse TIOA See text lt 3metres The distance between the MAC motor and the capacitor must be less than 3 metres otherwise the peak performance of the motor is reduced Power Suppl 470 capacitor 2 1248 06 in the power
57. arch direction 1 Zero search torque is used as the 1 trip level when the zero position is reached active high active low Time 922 The Zero sensor must be connected to the analogue input AIN which during Zero search functions as a digital input For connection information see Analogue input page 28 2 3 5 Sensor type 2 Zero search Sensor type 2 zero search is carried out according to the following illustration ES Select the mechanical Zero Zero search mode Sensor type 2 ej search format in this menu Zero search postion M 1000 1000 Pulses When the zero search sensor is activated the zr E SES motor decelerates and starts to move in the reverse direction with 1 64 of Zero search Zero search torque p c Velocity When the edge of the Zero search sensor is passed the motor stops and the zero position is found Velocity Acceleration specified by the general acceleration Zero search position is an optional parameter under the Profile offset See description in E d data in MAC Talk other chapter Ti Zero search velocity defines the me 1 velocity used during Zero search Sensor i i The sign of the specified velocity status Zero search In this example the defines the zero search direction started active sensor level Zero search torque is used as the _ is set to high trip level when the zero position is Home Torque 1 reached active high active low Time TT0924GB The Zer
58. as follows input Position _ Velocity Load factor In Pos Win V1 A1 T1 L1 Z1 relative P1 P7 relative V2 A2 T2 L2 22 P3 relative V3 A3 T3 L3 23 P4 relative V4 4 T4 L4 Z4 Enable input If set to passive the velocity is set to 0 If the input is set to active it has no influence on the motion Zero search is started The general zero search registers in the main setup will be used 4 5 10 Format 3 inputs and outputs The functions of the inputs are described above 4 outputs are available O is activated when the motor is in position and O2 is activated if a fatal fault has occurred In the ex ample O2 is passive logic 0 since no fatal error occurs O3 confirms when the input signal is accepted O4 is a live output which means that independent of motor opera tion it is oscillating at approximately 4 Hz It will only stop oscillating if the internal hard ware has a fault JVL Industri Elektronik A S User Manual Integrated Servo Motors 50 141 79 Expansion Module MACOO R1 3 4 5 99766011 pwo yum pasn Ji 11 DWO si gy ZH xdde ui s pO 3ndino aay si andinoade y 1ndino SEU CO 40443 TLNdLNO sandano pue sandui 40j
59. be very unstable 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 5 2 Troubles related to the setup of the motor Problem The motor is not behaving like expected Action 1 Check that following register are set proberly Torque 10096 Velocity gt 0 Acceleration gt 0 Load 1 00 In position window If set too low it can cause the motor to stay stationary Please notice that if an expansion module is mounted it can overrule some of these pa rameters Disable the expansion module by setting I O type Pulse input in order to disable the internal communication between the module and the motor After the fault diagnosis correction is done remember to switch back I O type to Serial data Action 2 Load default by using the Load default function in the Motor menu Alternatively clean the complete memory by using the Update Firmware in the Up dates 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
60. between in put 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 naming conventions and the naming on the MACOO FPx Siemens Standard name name wire colour xAIxP B Red xB xN A Green M _ ry All values in millimetres gt TS EL 4 ang 4 IMPORTANT use spring washer 66 JVL Industri Elektronik A S User Manual Integrated Servo Motors 50 141 4 4 Expansion Module MACOO FP2 4 4 11 How to connect the 85232 interface The illustration below shows how to connect the MACOO FP2 directly to a PC COM port The drawing is based on the standard cables from JVL type WG0402 WG0410 or WG0420 See also Accessories page 101 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 shown DSUB connector and the PC com port the RX and TX pins must be swapped since they are crossing in these standard cable How to connect the MACOO FP2 RS232 interface Remember to connect TX PD Red literi to TX Green in order to achieve
61. colour IN IB or 2N 2B Negative CAN open signal line names IP IA or 2P 2A Positive CAN open signal line xA xP CAN H none CNTR P Unused do not connect xB xN CAN L none 54 JVL Industri Elektronik A S User Manual Integrated Servo Motors 50 141 4 3 Expansion Module MACOO FC2 4 3 19 MACOO FC2 with cables optional The MACOO FC2 type number only covers the basic module without any cables If a number is added after the basic type number for example MACOO B2 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 signal lines which means RS232 Digital input 1 4 Limit inputs NL and PL and the Digital outputs 1 4 Digital Inputs Internal connector J2 Signal name Pin no Description Wire colour IN1 Digital input 1 Red black IN2 Digital input 2 Green black IN3 Digital input 3 Violet IN4 Digital input 4 Violet white NL Negative limit input If not used do not connect Grey Positive limit input If not used do not connect Grey black ground This ground is shared with the output ground Pink black Reserved Black white Secondary supply Used during emergency stop Light green 10 Secondary supply Used during emergency stop White Digital Outputs Internal connector J4 Signal name Description Wire colour Supply
62. common signal format in stepper motor applications The I O type is set to Pulse input and Input type is set to Pulse direction in order to decode the input signal The pulse signal is con nected to the A terminals Multifunction I O and the direction signal is connected to the B terminals Multifunction l O s See also User I O page 28 The MAC motor is replacing a stepper system with 400 steps per rev which means that when the pulse source produce 400 pulses it ex pects the MAC motor to rotate one resolution The MAC motor itself has 1024 ppr fixed If this application requires that the MAC motor rotates revolution each time 400 pulses are re ceived the Input parameter is set to 800 since the MAC motor de tects on both rising and falling edge of the input signal The Output parameter is set to 1024 Now the MAC motor will move revolution if 400 pulses is applied to the pulse input Make sure that the Profile data is set to proper values in order not to limit the mo tor operation unintended JVL Industri Elektronik A S User Manual Integrated Servo Motors MAC50 141 17 2 3 Mechanical zero search 2 3 1 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 3 different Zero search modes which can be s
63. de is selected The position interval can be setup using the MacTalk pro gram O2 This output is normally passive but if a fatal error occurs it will be activated to in dicate that normal operation of the motor has been interrupted and no further op eration is possible until a reset or power down has been made A fatal error can be one of the following conditions JVL Industri Elektronik A S User Manual Integrated Servo Motors MAC50 141 29 3 4 User 1 0 Multifunction I O s of the MAC motor Basic MAC motor Rear end Internal Multifunction circuitry in the MAC motor Multifunction I O s Bidirectional transceiver at each I O Signal GND Twisted pair cable is recommended User I O Channel AJ Te Gee PY Warning Do not connect voltages Type 770602 8 2 54mm 0 1 pitch gt 5V to the multifunction I O Connector 3 4 3 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 5422 communication A master controller can send commands for example velocity or position com mands This interface is inten
64. ded for permanent connection 30 JVL Industri Elektronik A S User Manual Integrated Servo Motors 50 141 3 4 User 1 0 3 4 4 Multifunction 1 0 used as pulse inputs The Multifunction can be setup 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 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 RS422 outputs balanced Connector Manufacturer AMP Twisted pair cable is recommended 770602 8 2 54mm 0 1 pitch TTO927GB The Multifunction I O s must be set in MAC Talk to function as inputs Also an input filter and the preferred direction of movement can be selected Main Registers Filter parameters Tests Startup mode Error handling C Passive Change actual mode Follow 0 Pulses C Velocil Function 0 Pulses The pulse inputs are Gear Position imi min 0 Pulses only used in Gear C Analog velocity and Analog Velocity C
65. e parameters UNSIGNED8 Subindex count UNSIGNED8 Input status NL PL UNSIGNED8 Ouput UNSIGNED8 Motor Status UNSIGNED16 Last Motor Error UNSIGNED8 Output setup UNSIGNED8 Input active level UNSIGNED8 Input setup Motor parameters UNSIGNED8 Subindex count UNSIGNED32 Access to the motor parameter n FastMac Command UNSIGNED8 Executes a FastMac com mand 48 JVL Industri Elektronik A S User Manual Integrated Servo Motors 50 141 4 3 Expansion Module MACOO FC2 4 3 4 Object 2010h When writing to this object sub index 0 it is possible to execute some special commands for the MACOO FCx module The following commands are available Function No operation Reset limit error Reset communication error Reserved 4 3 5 Object 2011h Subindex 1 Input status This object is used to read out the actual value of the inputs Bit 7 6 5 4 3 2 1 0 Input Reserved PL NL IN4 IN3 IN2 IN1 4 3 6 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 output is not used for its default function see subindex 5 Bit 7 6 5 4 3 2 1 0 Output Reserved 02 O1 4 3 7 Object 2011h Subindex Motor status With this object the status of the motor can be monitored 1 Decele
66. e Move relative length length zero search length P2 position P3 position P4 PI with sudden stop ci gt qe_ i jcc gt 1 1 1 1 1 i sensor input 1 Deceleration vis done with the last used acceleration P4 V4 A4 T4 L4 Z4 4 P3 V3 A3 T3 3 23 General zero search parameters used 5 output errors shown y TT0903GB 4 5 5 4 5 6 Format 1 description Format can be used for applications where the motor must move a certain distance or to a certain position when an input is activated Input 5 is used as an enable input and in put 6 is used for commanding a mechanical zero search Each of the distances and the velocities used must be specified in the basic MAC motor setup Please consult the beginning of this chapter to see how to configure the basic set up using the MacTalk windows softwar Warning Note that continuous movements in one direction are not possible in this for mat since the position counter will overflow Use format 3 instead In format the standard registers are used as follows input Position _ Velocity Load factor n Pos Win V1 A1 T1 L1 Z1 P1 relative P2 relative V2 A2 T2 L2 P3 absolute V3 A3 T3 L3 P4 absolute V4 A4 T4 L4
67. e positioning functions including zero search and ena ble input Note that continuous movements in one direction are not possible in this format since the position counter will overflow Use format 3 instead Format 2 Relative and absolute positioning using a pointer at 3 inputs Also one enable torque one enable velocity and one zero search input are available Format 3 4 relative positions including zero search This format is optimised for dis penser applications One enable input and a zero search input are available Continuous movements in one direction is possible in this format since the position counter is never overflowed The formats can be chosen and set up using the MacTalk software Open Save Save inflash Resetpos Clear errors Reset Main Registers Filter parameters Tests MACDO R NanoPLC Shows the current format the Current Format 1 Version 1 0 connected MACOO Rx module Standard formats Description Format 1 IN1 Relative position P1 V1 21 IN2 Relative position P2 V2 22 IN 3 Absolute position P3V3 23 IN4 Absolute position 24 IN5 Enable velocity Homing Format 2 Ver 1 0 Format 3 V er 1 0 OUT1 Motor in position DUT2 Internal error detected DUT3 Input pulse accepted OUT 4 Alive signal Download program Inputs Outputs ii short description for the selected IN2 GUT 2 format is shown here IN3 GUT3 INA DUT4 j T
68. ector board to the rear plate Power connection to the basic motor 1 1 Mounting hole used to fit the connector board to the rear plate Fuse TIOA Input connector See table for connection details Profibus output connector signal to next node in the chain DGND N 2B S 2 CNTR P 07 Profibus input connector f PCB type P Connect power supply to 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 Terminal description GND Signal ground can optionally be used for the cable screen IN IB or 2N 2B Negative profibus signal line xA xP B Red IP IA or 2P 2A Positive profibus signal line CNTR P Direction output to external repeater station optional MACOO FPx Siemens Standard name name wire colour xB xN A Green 64 JVL Industri Elektronik A S User Manual Integrated Servo Motors 50 141 4 4 Expansion Module MACOO FP2 4 4 9 MACOO FP2 option with cables The MACOO FP2 type number only covers the basic module without any cables If a number is added after the basic type number for example MACOO B2 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 signal
69. elative 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 on page 61 60 JVL Industri Elektronik A S User Manual Integrated Servo Motors 50 141 4 4 Expansion Module MACOO FP2 4 4 5 Slave parameters When configuring the profibus it is possible to set some parameters for the 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 With this parameter the action 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 Input debounce Using this parameter an input filter can be activated Possible values Disabled No filter
70. elected in the MacTalk main window or by sending a command at one of the serial interfaces Sarma Select the Zero search mode using this field The selected format will Zero search mode Disabled be used as follows Zero search position Immediately after ther motor is powered up Zero search velocity only the Power UP sus Format If a search is initiated via the serial Zero search torque interface or From an expansion module MACOO RI R3 or FP2 Please note that the 3 formats for Zero search Power up Zero search must not be Zero search mode selected if an expansion module is used E MACOO RI R3 or FP2 If an automatic Zero search position ii s zero search after Power up is required Zero search velocity when using one of these modules the z h function must be enabled on the product tab for the actual module See also the chapters describing the expansion modules 091968 The menu offers 7 choices 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 but the Zero search will auto matically be started after power up Power up Sensor type 2 Similar to Sensor type 2 but the Zero search will auto matically be started after power up Torque The Zero search will start searching for Zero until a me chanical collision occurs The point at
71. elocity of input Run Status 0 0 Volts 0 Pulser S and velocity at pulse input can be used to limit the motion For example 00 T i Accel 15150 RPM S the maximum torque o4 Torque 10 Load 1 0000 E Unit Gear factor Input 125 Pulses Gear factor Output 256 Pulses The ratio between 8B the incomming pulses and the actual motor movement is specified here Input type Quadrature T RPM v Fast input fiter Invert pulse input direction Zero search Run Status The motor status can be monitored here Profile data Max velocity 1 Zero search mode Zero search position 0 Zero search velocity or velocity Disabled rrors If a fatal error occurs information will be displayed here Zero search torque Communicatior Motor address No connection 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 is following an pulse signal applied to the Multifunction I O ter minals The ratio between the incomming pulses and the motor movement can be ad justed to a desired value An ratio from 1024 1 down to 1 1024 can be choosen Typically this mode is used if the MAC motor is adapted into an application where a movement need to be syncronized with an external movement Another typical application i
72. entative 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 1 4 1 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 is 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 firmware update will catch the motor before it starts to oscillate and refresh all the settings in the motor 92 JVL Industri Elektronik A S User Manual Integrated Servo Motors 50 141 5 6 Serial 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 In addition to these features many more are accessible In total the MAC motor contains more than 150 internal registers such as nominal velocity actual positio
73. erating mode for the motor 2 3 4 5 6 7 MODE_REG Reserved Reserved Reserved Reserved Reserved Reserved 2012 sub 2 Receive PDO 4 This PDO sets a new operating mode for the motor 0 1 2 3 4 5 6 7 FastMac Command Reserved Reserved Reserved Reserved Reserved Reserved Reserved 2013h sub 0 Receive PDO 5 This PDO updates the outputs 2 3 4 5 6 7 Reserved Reserved Reserved Reserved Reserved Reserved Reserved JVL Industri Elektronik A S User Manual Integrated Servo Motors MAC50 141 5l 4 3 Expansion Module MACOO FC2 4 3 15 Transmit PDO s All the transmit PDO s support synchronous transmission and the PDO 5 also supports asynchronous transmission Transmit PDO With this PDO the actual position can be read 4 5 6 7 P_IST Reserved Reserved Reserved Reserved 2012h sub 10 Transmit PDO 2 With this PDO the actual velocity can be read 2 3 4 5 6 7 V_IST Reserved Reserved Reserved Reserved Reserved Reserved 2012h sub 12 Transmit PDO 3 With this PDO the actual torque can be read 2 3 4 5 6 7 VF_OUT Reserved Reserved Reserved Reserved Reserved Reserved 2012h sub 121 Transmit PDO 4 With this PDO the value
74. error Errorcode 1003h Generic error Internal communication error Errorcode 1004h Generic error Queue overflow in communication queue 3 18 MACOO FC2 Connectors 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 a JVL cable type WG0402 2m WG0410 10m or WG0420 20m See also the appendix for cable and connector accessories Overview MACOO FC2 connectors TT0972GB Interface connector See table for connection details Output connector See table for to connection details Mounting hole used to fit the connector board to the rear plate Power connection to the basic motor 1 1 Mounting hole used to fit the connector board to the rear plate Input connector Fuse TIOA See table for connection details CAN open output connector signal to next node in the chain Power connector Connect power supply to these 2 terminals 12 48VDC CAN open input connector signal from last node in the chain PCB type PB0062 13 Bus In and Bus Out Please note that these two connectors are CAN open signal definitions internally hardwired no electronics added in between Terminal description 2 Typical Standard GND Signal ground can optionally be used for the cable screen used wire
75. error load torque load current regenerative energy returned energy from the motor can be monitored here Inputs The supply voltage can be measured here 14 JVL Industri Elektronik A S User Manual Integrated Servo Motors 50 141 Gear Mode Main parameters used in gear mode Startup mode Choose Gear mode MacTalk Noname Ele toto Offline Setup Error Handling Use these fields to define error limits for the maximum follow error etc Input Outputs The Type must be setup as pulse input The input type must also be setup for the actual pulse type quadrature or pulse dir Updates Help Motor status Startup mode C Passive C Velocity C Analog velocity Analog velocity with deadband Registers Fiter parameters Tests Change actual mode This field shows the actual motor load position and speed etc Error handling Follow error Actual mode m Actual velocity 0 RPM Actual position Follow error Function error Actual molor torque Motor load mean Inputs This field shows the actual supply voltage 0 Pulses 0 Pulses Function error Position limit min Position limit max Profile Data All these parameters Analog velocity aear Velocity analog torque Analog torque direct Error acceleration Inputs Outputs C Analog gear Coil VD Type Serial Data Regenerative load Inputs Supply voltage V
76. fted either positively or negatively which determine 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 J 5 Termination resistors 120 270 Ohm are recommended To internal control circuitry RS422 inputs balanced Connector Manufacturer AMP Twisted pair cable is recommended Type 770602 8 2 54mm 0 1 pitch TT0930GB The Multifunction I O s must be set up in MAC Talk to function as pulse outputs Main Registers Filter parameters Startup mode Error handling C Passive Change current mode Follow error 0 Pulses Velocity AM The pulse output can Pasition limit min 0 Pulses be useful in one of Gear Pasition limit max 0 Pulses these 4 modes Error accelleration 0 5 Inputs Outputs Pulse Output m nalog Velocity C Analog Velocity Gear Profile data 120 Type Max velocity 0 ii RPM Zero search Up RPM S Search at startup Touque Home position Load 0 0000 i Unit Home velocity 0 Pulses RPM e N The Multifunction I O s TTO929GB are setup as outputs in this field See also the respective mode descriptions for further details about functionality 32 JVL Industri Elektronik A S User Manual Integrated Servo Motors 50 141 3 4 Use
77. grated Servo Motors 50 141 5 7 Connecting to other equipment 5 7 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 press the Save in flash button after the setup is done in order to save the changes permanently MacTalk Noname Bile View Motor Offline Setup Updates Help E du 00 Z Ex Adress Open Save NET eset postion Reset motor Wl Z Main Registers Filter parameters Tests f Startup mode Error handing Passive Change actualmode Follow error Pulses Set up Startup mode C Velocity for Analog velocity d Function error Pulses Set up the Multifunction I O Position p order to enable the Position imt min Pulses as Pulse Output This setting analogue input for C Analog velociy with deadband Position limi max will enable the internal encoder controlling the velocity C Analog velocity gear pulses to be present at the terminals Error acceleration 0 5 E of the MAC motor from Aand This signal is send back C Analog torque direct ad the PLC output Inputs Outputs to the PLC module Profile data 1 0 Type Pulse Output Y Max velocity 4500 4500 Analog input offset 0 02 002 Volts Acceleration 248104 248000 V RPM S Zero search Optional Torque 100 Zero searchmode Disabled x Adjust the ana
78. h only needs a single inertia adjustment Standard NEMA23 flange Built in sensors make the motor stay station ary when powering up Easy and simple Windows program available for installation setup High efficiency MosFet power stage keeps temperature at a low level CE approved UL pending 6 JVL Industri Elektronik A S User Manual Integrated Servo Motors 50 141 1 2 Overall description Serial interface Power supply connector User I O connector connector Basic MAC motor block diagram including motor and feedback devices Power Dump 3 ph Mos Fet Current for absorbing driver regenerative energy motor Switchmode Power Supply 3 phase brushless Analogue input High speed Level shifter AJD converter and filter 2 differential 1024 ppr 2 Transceiver optical 5 incremental 5 High speed digital logic 2 Digital NPN Output outputs showing 16 Bit Hall motor status Microprocessor elements Output 2 P 5VDC Out Asynchronous Receive serial interface Memory d syst Transmit Ground Q TT0934GB 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 blocks such as the serial interface differential transceiver Multifunction I O and the motor driver sections JVL Industri Elektronik A S Use
79. hat the WG0420 table below is not valid for cables delivered before 1 10 2002 See WG0420 old versions delivered before 1 10 2002 page 103 Signal cable Cable 2 JVL type no WG0420 20m Digital Inputs Internal connector J2 Signal name Description Wire colour IN1 Digital input 1 Red black IN2 Digital input 2 Green black IN3 Digital input 3 Violet IN4 Digital input 4 Violet white INS Digital input 5 Grey IN6 Digital input 6 Grey black IN7 Reserved Pink black IN8 Reserved Black white ICM Input ground This ground is used for IN1 to IN8 Light green Digital Outputs Signal name Reserved for future features Do not connect this wire including analogue input Internal connector J4 Description White Wire colour Supply for outputs Must be connected to an ext supply Red white Output ground This ground is used together with O1 O4 Green white Digital output 1 PNP output Yellow black Digital output 2 PNP output Blue white Digital output 3 PNP output Orange white Digital output 4 PNP output Brown white Analogue input 10V also used for zero search sensor Pink ground This ground is shared with the input ground Interface Internal connector J1 Signal name Description Black Wire colour TXPD Transmit pull down Red
80. he I O status is shown in these INS q ING two fields The status is updated TTO947GB in real time Select and download the format in 3 steps Select the Rx tab in the MacTalk program 2 Select the right format from the list of standard formats 3 Press download format and the format will be set up in the MAC motor A bar at the bottom will indicate that the transfer process is in progress TT0948GB 2 The transfer takes 1 3 seconds The format is stored permanently in the motor Now the MAC motor and MACOO RI or R3 are set up with the chosen format The current format shown at the top of the screen should now correspond to the down loaded format The following pages describe how the different formats work 74 JVL Industri Elektronik A S User Manual Integrated Servo Motors 50 141 4 5 Expansion Module MACOO R1 3 Format Input Input 2 Input 3 Input 4 Input 5 Enable Input 6 AIN Zero INPO O2 Error Passive no O4 Alive Motor read Typical example Relative Move P1 Relative Move P2 T ____ es Absolute Move P3 i Absolute Move P4 Zero search start 1 Motor Velocity 0 Actual Position Motor in position __ STO TO Accept Start pulse accepted zd 1 Move relative Make complete Move relative Move to absolute Move to absolut
81. ing 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 action are used when the custom input mode is selected See Input modes on page 60 The action is defined by a FlexMac command See FlexMac commands on page 62 Possible values are 0 127 where 0 represents no action JVL Industri Elektronik A S User Manual Integrated Servo Motors MAC50 141 61 4 4 Expansion Module MACOO FP2 4 4 6 FlexMac commands Using the FlexMac 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 mode that the motor should use The following 4 modes can be selected Motor mode after command Format No change Command 0 Register N Velocity Command 32 Register N Position Command 64 Register N lt No change gt Command 96 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 Register Register Register 0 P1 V1 A1 L1 1 P2 V2 A2 L2 2 P3 V3 A3 L3 P4 V4 4 14 4 P5 V
82. ip switch SW2 is used to enable termination When both switched are on the termination is enabled MAC00 FC2 Dip switch settings Rear side of the MACOO FC2 Mini dip switch expansion module OFF 4 gt ON Dip 1 7 Address setting address range 0 127 Dip 8 10 Baud rate Baud rate setting 10k to 1000k g 0000000000 i Dip 1 2 Line termination Both set to ON Term enabled SW2 Both set to OFF Term disabled Dip switch location on the MAC00 FC2 Expansion module Cable glands Basic MAC motor housing Internal circuit boards and Dip Switches placed connectors on the rear side of the TT0971GB module JVL Industri Elektronik A S User Manual Integrated Servo Motors 50 141 45 4 3 Expansion Module MACOO FC2 The address can be set according to the following table Address Dip Switch no SW1 o Reserved illegal setting Address Dip Switch no SW1 REREAD OFF OFF OFF OFF OFF OFF OFF OFF OFF ON OFF OFF OFF OFF ON OFF OFF OFF ON OFF OFF OFF OFF ON OFF OFF OFF OFF ON ON OFF OFF OFF ON ON OFF OFF ON OFF a AJ Ww dy OFF OFF ON OFF OFF OFF ON OFF OFF OFF ON OFF e OFF OFF ON
83. ktronik A S User Manual Integrated Servo Motors MAC50 141 12 JVL Industri Elektronik A S User Manual Integrated Servo Motors 50 141 Function description JVL Industri Elektronik A S User Manual Integrated Servo Motors MAC50 141 2 1 Using Position mode 2 1 1 Position mode 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 Reset Position Error Handling Input Outputs Use this button to reset the Use these fields to define error 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 m E Motor status G ld gt This field shows the e d in x actual motor load itus mod i mss Teo 2 Choose Position mode mA ace pde pem E PO POSEE Velooty Actual velocity 0 RPM amp Poser Function enor poten Postion im ain Pork Hopes Inputs Analog velocty Analog welocty with deacband Postion imt max amp ox This field shows the Mra a Enor acceleration er o ac
84. l problem when using long ca bles 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 electrical 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 2 to 48VDC Excellent efficiency compared to step motors High resolution 4096 cpr compared to cost Wide variety of expansion modules which can be mounted internally Profibus DP module CAN bus module Ethernet module Stand alone positioning module Module with AMP military connectors Custom designed modules on request 2 Outputs for In position and Error indication 4 th order digital filter whic
85. le glands No The MACOO R3 module can also be delivered with cable in selected lengths The pages in the first part of this section concern the common features of both modules Please consult the later pages in this section to see specific information about each mod ule for example connection diagrams JVL Industri Elektronik A S User Manual Integrated Servo Motors MAC50 141 71 4 5 Expansion Module MACOO R1 3 4 5 2 How get in contact with the MACOO R1 or module When the MACOO RI or R3 is installed in the MAC motor the main window in MacTalk will include the extra features shown below If the MACOO RI or R3 is present the tab will appear The tab includes all the necessary functions to setup the module MacTalk Noname File Motor Setup Updates Help z does Open Save Saveinflash Besef pos Clear errors Reset Registers Filter parameters Tests Startup mode Error handling Motor status C Passive Change actual mode Follow error 0 Pulses Actual mode Input he Velocity Actual velocity Position Function error o Pulses Actual position 5 Gear Follow error Position limit 0 Analog torque rt Function error C Analog velocity Position limit max 0 Pulses Actual motor torque Analog velocity gear Motor load mean Error accelleration 0 5 Regenerative load Profile data I
86. logue input in order Load 1000 Zero search position Pulses to optain 0 00V at the analogue input 0 Zero search velocity 50 bc when the PLC is transmitting what is N supposed to be 0 00V V N 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 7 3 Setup in Jetter JX2 SV1 Mode 2 Set up the registers as follows when 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 0 3 12117 1024 Encoder lines 12118 2000 speed in RPM which the MAC SVI combination can reach This value will depend on the supply voltage Please consult the description Power supply page 25 1000 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 12116 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 12110
87. lt setup for the output is active high Bit 7 6 5 4 3 2 1 0 Input Reserved PL NL INA IN3 IN2 IN1 4 3 11 Object 2011h Subindex 7 Input setup Reserved for future options 4 3 12 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 Please refer the serial Interface section or the technical manual for a description of the registers 4 3 13 Object 2013h Subindex O 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 50 JVL Industri Elektronik A S User Manual Integrated Servo Motors 50 141 4 3 Expansion Module MACOO FC2 4 3 14 Receive PDO s The following receive PDO s are available Receive PDO 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 4 5 6 7 P_SOLL Reserved Reserved Reserved Reserved 2012h sub 3 Receive PDO 2 With this PDO it s possible to update the velocity acceleration and torque 6 7 V_SOLL A_SOLL T_SOLL Reserved Reserved 2012h sub 5 2012h sub 6 2012h sub 7 Receive PDO 3 This PDO sets a new op
88. monitored 94 JVL Industri Elektronik A S User Manual Integrated Servo Motors 50 141 5 6 Serial communication 5 6 2 Writing to a register Controller sends MAC motor response lt Write gt lt Address gt lt RegNum gt lt Len gt lt Data gt lt End gt Block description Block Name Protected 1 Example Description lt Write gt 52h 52h 52h Write command lt Address gt O7h F8h Address 7 The address of the MAC motor lt RegNum gt 05h FAh RegNum 5 The register number to write to Len 02h FDh Len 2 The number of data bytes E8h 17h 03h FCh Data 1000 lt End gt AAh AAh Command termination lt Accept gt 11h 11h 11h Accept from MAC motor Data The data to write to the register I Protected means that these data must be sent twice first non inverted and then inverted Example 1 Writing 600 258h to register 5 16 bit to the MAC motor with address 8 Transmit 52h 52h 52h 08h F7h O5h FAh 02h FDh 58h A7h 02h FDh AAh AAh Response Example 2 Write 230 000 38270h register 3 32 bit to the MAC motor with address 7 Transmit 52h 52h 52h 07h F8h 03h FCh 04h FBh 70h 8Fh 82h 7Dh 03h FCh 00h FFh AAh AAh Response JVL Industri Elektronik A S User Manual Integrated Servo Motors MAC50 141 95 5 6 Serial communication 5 6 3 Reading from a
89. n 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 These registers are marked in grey in the table below Register number Name Width Unit Description 1 PROG_VERS Word Shows the actual version of the firmware 2 MODE REG 16 bit The current MAC motor mode zi 0 Passive 1 Velocity 2 Position 3 Gear Mode 4 Analog Torque mode 5 Analog Velocity mode 6 Analog Velocity Gear mode 7 11 Reserved for special purposes 12 Torque homing 13 Input homing 1 14 Input homing 2 3 P SOLL 32 bit Encoder counts The commanded position 5 V SOLL 16 bit Counts sample Desired velocity 1RPM 2 097 counts sample The maximum allowed acceleration 2 D AzSOLL 16bit Coupisisample 1000 5 4 026 Pulses Sample The maximum allowed torque 7 T_SOLL 16 bit 1023 100 10 P_IST 32 bit Encoder counts The actual position 12 V_IST 16 bit Counts sample Actual velocity 1RPM 2 097 counts sample 14 GEARF1 Integer Gear output factor Used in gear mode 15 GEARF2 Word Gear input factor Used in gear mode 16 I2T Word Motor temperature calculated 17 I2TLIM Word Error trip level used for I2T register 28 MIN_P_IST Long Int Encoder counts Software position limit positive 30 MAX_P_IST Long int Encoder counts Software position limit negative The maximum allowed deceleration when a fatal er 32 ACC_EMER
90. n Module MACOO B1 LED lights if the AIN input is applied avoltage gt 5V Option MACOO B1 Sen odes Note Do not apply voltages higher than 32VDC to the AIN terminal Max 10 peak i P Home switch ee 0 T Power Supply 0 32VDC Power Supply 12 48VDC TTO908GB 4 1 10 Power Supply The power supply must be connected to the terminals marked 48V and GND The supply voltage can be chosen in the range 12VDC to 48VDC however the maxi mum 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 supply 4 1 11 Zero switch input An external Zero switch can be connected to this input The voltage range at this input must remain between 0 and 30V For further information see Mechanical zero search page 18 42 JVL Industri Elektronik A S User Manual Integrated Servo Motors 50 141 4 2 Expansion Module MACOO B2 O 92 Status Outputs GND RS485 Balanced B eg A 15 serial interface TERM 7 m Multifunction I O RS232 Unbalanced RX serial interface 9 9 9 7 o P e Power Supply and AIN e analogue input P e 94 n TT0935GB Fuse F10A
91. nputs Outout Inputs 2 Inputs Outputs Max velocity 50 m LL Suppl valeo Accelleration 24835 f RPM S 1 Run Status Zero search In position Touque 100 Search at startup Input homing 1 Load 1 0000 Unit User activated search Input homing 1 Motion parameters Home position 0 Pulses 0 Pul vt Home velocity 50 ition wind 10 Pul n position window ulses ieee 5 pem X In position count 3 Samples 140 Version 4 14 5 18992 Rx Version 1 8 Connected The MAC motor type If the MACOO RI or R3 software version and is present this text will appear serial number is shown indicating that the MACOO RI in this field or R3 is active The software TT0949GB version of the module is also shown If the module is installed in the motor but is not recognised by the MacTalk software the internal cables and connectors must be checked 72 JVL Industri Elektronik A S User Manual Integrated Servo Motors 50 141 4 5 Expansion Module MACOO R1 3 4 5 3 How is motion data setup in the nanoPLC Choose Registers to adjust all the positions velocities etc used in the MACOO RI or R3 module Main Registers Filter parameters Tests Positions Accellerations Position 1 10000 10000 Acceleration 1 14901 15000 RPM S Position 2 20000 20000 Acceleration 2 14901 15000 RPM S Position 3 30000 3
92. o sensor must be connected to the analogue input AIN which during Zero search functions as a digital input For connection information see Analogue input page 28 ndustri Elektroni User llanual integrate ervo rotors 20 VL Industri Elekt k A S U M Integrated S Mot 50 141 2 3 Mechanical zero search 2 3 6 Making a Zero point offset Common for all the zero search modes it can optionally be chosen to define the zero point as a value other than zero position 0 When is it useful to use the zero point offset If it is desired that the position interval under normal operation is always nice pos itive values from 0 to x instead of a mixture of negative and positive values This can happen if the zero point sensor is placed a long distance away from the normal posi tioning interval or inside the normal positioning interval If an automatic move to an initial position is 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 done 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 Ifthezero search position value is different from position the motor will now move to position 0
93. ode 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 in put 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 10 input A Typical ap plication is feeding mechanisms that require on the fly adjustment continued next page 8 JVL Industri Elektronik A S User Manual Integrated Servo Motors 50 141 1 2 Overall description Velocity Analogue Mode The motor torque is fully controlled by a voltage applied at the 10 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
94. og velocity gear Error acceleration of RPM S Analog torque direct Inputs Qutputs J Profile data 140 Type Serial Data Y lattice ann 2 The Multifunction I O s are setup as a serial data communication TT0931GB interface in this field JVL Industri Elektronik A S User Manual Integrated Servo Motors MAC50 141 33 34 JVL Industri Elektronik A S User Manual Integrated Servo Motors 50 141 Expansion Modules JVL Industri Elektronik A S User Manual Integrated Servo Motors MAC50 141 35 4 1 Expansion Module MACOO B1 LEDs for indicating Connector for Output and 2 status Analogue input 10 Home switch input IN status 2 Pulse input or Supply voltage status Pulse output or RS422 communication 3 Status outputs Ol and O2 AI W Industri Elektronik V IN OUT SETUP M2 5 Screw for mounting the option module in the motor Connector for power supply and home switch or analogue input M2 5 Screw for mounting the option module in the motor RS232 RS485 Interface Primarily to be used for TTO906GB setup and installation 4 1 1 General description The MACOO B 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 more reliability Addition of a
95. oretically should give a MAC motor speed of 10000 RPM the speed can be limited to 4000 RPM max allowed speed for the MAC Al ternatively the motor will be unstable and go in error within some time since it is not able to run 10000 RPM Notice that no pulses are lost if the velocity is limited They are just remembered and used when the input frequency goes down to a level where the motor is able to follow Acceleration The acceleration parameter can be usefull in systems where the sig nal source instantanously is applying a high frequency without any ac celeration Under this condition the MAC motor will take care of making a controlled acceleration and deceleration Notice that no pulses are lost if the acceleration is limited They are just remem bered and used when motor velocity reach a level corresponding to the input frequency Torque The maximum torque can be limited in the range 0 10096 10096 corresponds to the peak torque of the MAC motor used Load The Load parameter is the overall gain in the position velocity filter and makes sure that the motor is stable with the actual mechanical inertia used in the application See also the filter setup chapter for fur ther details 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 The actual mode speed position position error load torque load current regenerati
96. ot No connection Zero Search All the parameters regarding the position zero search can be specified here The functionality of the I O s 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 If a fatal error occurs information will be displayed here TT0914GB 1 4 1 MacTalk 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 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 JVL Industri Ele
97. peed torque Also used for zero search Accepts pulse and direction or quadrature encoder signal outputs from internal encoder For control of program flow or motor start stop For indicating the motor status or as output from the program Digital user outputs Ext connector type Protection class Unbalanced async serial interface Balanced async serial interface Pulse inputs Pulse outputs 90 degree phase shifted Digital user inputs Basic MAC motors 50 95 140 141 5V TTL RS422 RS422 Reds Motor stat AMP Basic MAC motors IP42 19 2kbaud 9 2kbaud 2 5Mhz or 4096 2xNPN Molex IP42 Full Duplex Full Duplex 150kHz LP Spr 25mA 4 Full Duplex Full Duplex 150kHz LP 25mA MAC50 95 140 141 A02 5V TTL RS422 RS422 RS422 Motor stat Basic MAC motors IP55 19 2kbaud 9 2kbaud 2 5Mhz or 409 No 2 x NPN Full Duplex Full Duplex 1 50kHz LP 6 25mA MAC50 95 140 141 A03 5V TTL RS422 RS422 Motor stat Basic MAC motors IP67 19 2kbaud 9 2kbaud 2 5Mhz or 4096 cpr No 2 x NPN Expansion modules MACOO BI RS232 RS422 or RS422 Motor stat DSUB Connector module w DSUB 19 2kbaud RS485 19 2k 2 5Mhz or 2xPNP Plug connectors Full Duplex Full Duplex 1 50kHz LP 00 able MAC00 B2 RS232 RS422 or RS422 Motor stat Cable Connector module w cable 19 2kbaud RS485 19 2k 2 5Mhz or i No 2x PNP and glands Full Duplex Full Duplex 150kHz LP 6 100mA MAC00 CS 5V TTL RS
98. qD 31035 7 71 pA 95 1105 d 01 e3n osqp 31035 EZ EL EA sn d T10S d d ean osqp 11025 IZ UL A sn 7d TIOS 4 Td 11015 IZ 19 71105 14 31035 93235 JALOV NV HO 9An2D O andano 149220 105 PUD 21095 0192 31035 1 suoniuyop pauyapun pO 0 tO 1049 004 0 peuyepun dn samod smes andan JVL Industri Elektronik A S User Manual Integrated Servo Motors 50 141 78 4 5 Expansion Module MACOO R1 3 Format 3 Move relative Make complete Move relative Move rel length P7 Move relative Move relative length Typical length zero search length P3 w curr pos as ref length P4 PI with sudden stop example gt gt gt gt gt lt gt Input Relative Move PI Input 2 Relative Move P7 Input 3 Relative Move P3 o a e C Input 4 Releative Move P4 Input 5 i D Enable Input 6 Zero search start qu 1 l 1 l 1 l AIN Zero sensor input 2 aa i 1 1 1 l l Deceleration P4 V4
99. r 1 0 3 4 6 Multifunction 1 0 used as serial communication interface The Multifunction 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 Technical Reference Guide which must be requested separately and is not part of this user manual See also Serial communication page 93 Multifunction I O s used as balanced serial interface User I O External RS422 com port Signal GND 5 Termination resistor 120 I 270 Ohm is recommended To from internal control circuitry 5422 balanced Connector Manufacturer AMP Twisted pair cable is recommended 770602 8 2 54mm 0 1 pitch TT0932GB The Multifunction 5 must be set up in MAC Talk to function as a serial communica tion interface Main Registers Filter parameters Tests Startup mode Error handling Passive Change actual mode Follow error 0 Pulses Velocity The se al eom Function error 0 Pulses munication can s d CET Position limit min of Pulses be Fus in all C Analog velocity with deadband Position limit max of Pulses modes C Anal
100. r Manual Integrated Servo Motors MAC50 141 7 1 2 Overall description Motor Type Continuous Peak Torque Torque NEMA23 MAC50 46 Watt 4000 RPM 57x57mm 111 2 mm 2 3 x2 3 NEMA23 MAC95 92 Watt 4000 RPM 57x57mm 130 5 mm 2 3 x2 3 NEMA23 MAC140 134 Watt 4000 RPM 57x57mm 152 5 mm 2 3 x2 3 NEMA23 MAC141 134 Watt 2700 RPM 57x57mm 172 0 mm 2 3 x2 3 The MAC motor is available in 4 different sizes MAC50 95 140 and 141 with continuous power ratings from 46W tol34W The basic functions and 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 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 mandi 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 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 Analogue Velocity M
101. r motors the terminal TX PD should only be connected at one of the motors If one of JVL s standard RS232 cables 5232 9 or n is used between the shown DSUB connector and the PC com port the RX and TX pins must be swapped since they are crossing in these standard cable How to connect the MACOO FC2 RS232 interface Remember to connect TX PD Red to TX Green in order to achieve nter ace connector stable communication JVL cable WG04xx incl analogue input PC RS232 standard COM port Screen terminated cable 24 wire to the GND terminal Green Yellow Blue If the RS232 lines are extended through another cable this cable Screen must be must also be screened connected to main ground at rear cover MACOO FC2 internal 2 connector bard TT0973GB Connector Cable Female 9pin DSUB At PC Male 9pin DSUB If JV s standard programming cable type RS232 9 1 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 56 JVL Industri Elektronik A S User Manual Integrated Servo Motors 50 141 4 4 Expansion Module MACOO FP2 4 4 1 MACOO FP2 Introduction The MACOO FP2 is a profi DP slave It is capable of running at baud rates up to 2Mbit All the registers of the MAC motor can be read and written The module includes 6 inputs 2 of which are end limit inputs These
102. rdware description The illustration below shows the I O connections on the MACOO RI expansion module 4 UW Co VAN Industri Elektronik V IN OUT SETUP Option MACOO R4 top C mete IN OUT IN5 50 10 OCM User Inputs i oa Ot Common ground ICM o User outputs The inputs must NC mO oe PNP source type be supplied from PNP IN2 ie 0 24 ___ 02 24V 300mA per output source output 5 24V iw NC 71315 9 I 01 IN6 ON TT0938GB All inputs have a common ground ICM and all the outputs uses the OCM as ground The 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 is optically isolated from each other and also from the oth er parts of the MACOO RI or R3 JVL Industri Elektronik A S User Manual Integrated Servo Motors MAC50 141 8l 4 5 Expansion Module MACOO R1 3 4 5 12 General description IMACOO R3 The MACOO R3 expansion module is an industrial interface that mates with the standard MAC motor and offers a number of feature enhancements including e Protection IP67 if mounted at basic MAC motor IP67 type MACxxx A3 Direct cable connection through sealed compression cable glands e Addition of a Zero switch input for locating a mechanical zero point of
103. 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 Name Protected 1 Example Description lt Read gt 50h 50h 50h Read command lt Address gt 07h F8h Address 7 The address of the MAC motor lt RegNum gt 05h FAh RegNum 5 The register number to read lt End gt AAh AAh Command termination lt Write gt 52h 52h 52h Write command Address O0h FFh Address 0 M UC eee I RegNum 05h FAh RegNum 5 This will always be the same as requested Len 04h FBh Len 4 The length will always be 4 E8h 17h O3h FCh Data 00h FFh 00h FFh The data read from the register Data 1000 lt End gt AAh AAh Command termination 1 Protected means that these data must be sent twice first non inverted and then inverted Example 1 Reading the value of register 5 from MAC motor with address 8 Transmit 50h 50h 50h 08h F7h 05h F6h AAh AAh Response 52h 52h 52h 05h F6h 04h FBh 58h A7h 02h FDh 00h FFh 00h 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 03h FCh AAh AAh Response 52h 52h 52h 05h F6h O4h FBh 70h 8Fh 82h 7Dh 03h FCh 00h FFh AAh AAh The value of register 3 was 230 000 38270h 96 JVL Industri Elektronik A S User
104. rs used for protection related purpos es They will all have effect regardsless which operation mode the motor is setup to use Follow error It can be defined how what the maximum difference must be between the actual position of the motor and the desired position Depending on the setting of the servofilter etc this position difference will change For protection it can be usefull to define that the dif ference not is allowed to be more than for example 500 counts the motor has 4096 counts per rev fixed If a mechanical collision occur the position difference will typically be passed and cause an follow error making the motor passive with no further move ment Default is 0 meaning that the feature is disabled Function error Similar to follow error but the number of counts in difference is only measured from the point where the peak torque is reached which makes it impossible for the motor to fol low the commanded movement Default is 0 meaning that the feature is disabled Position limit min and max Same like physical limit switches but made in software Default is 0 meaning that the fea ture is disabled Error acceleration If a fatal error occur it can be convenient to use a controlled deceleration instead of a sudden stop If the inertia in the system is high og the mechanical parts is weak a sudden stop can cause damages and unintended behaviour Use this parameter to define the de celeration during af fatal error Default is 0
105. s re placement of stepper motors since the MAC motor in Gear Mode can work like a step per motor using pulse and direction Following setup must be done to work in gear mode listed after importance Select Gear Mode in this field This field defines the ratio between incomming pulses and the motor movement If the prefered motor direction needs to be inversed the sign in the output field must be inversed Eksample 1024 must be 1024 to inverse the movement direction The multifunction terminals must be set to pulse input since the the gear mode is using the incomming pulses at this input to control the motor movement Also the Input type must be selected Choose Quadrature if an incremental encoder is connected or choose pulse direction if it is a stepper motor signal See also Mul tifunction I O general description page 30 Startup Mode Gear Factor Input Outputs Continued next page JVL Industri Elektronik A S User Manual Integrated Servo Motors MAC50 141 15 Gear Mode Profile data Error Handling Motor Status Inputs Zero search In gear mode the motor movement is fundamentally controlled from the external signal source but through the 4 parameters in the Pro file 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 te
106. s register A list of registers can be found in Serial Quick Guide MacTalk protocol page 94 The FlexMac commands are described in FlexMac commands page 62 JVL Industri Elektronik A S User Manual Integrated Servo Motors 50 141 57 4 4 Expansion Module MACOO FP2 Command Bit 0 Function Reserved Bit7 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 register and 0 if reading from a l6 bit register Bit3 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 0 should be 0 Input setup Bit 7 6 5 4 3 2 1 0 Function Reset end limit PL Enable NL Enable Inpu
107. s that are chosen for each combination Please consult the beginning of this chap ter for details on how to perform the register setup using the MacTalk windows soft ware input Position Velocity Accel Torque Load actor in Pos Win Zero search is selected The general zero search registers in the main setup will be used P1 absolute V1 A1 T1 L1 21 2 absolute V2 A2 T2 L2 22 3 absolute V3 T3 L3 Z3 P4 absolute V4 A4 T4 L4 24 5 absolute V1 A1 T1 L1 21 6 absolute V1 A1 T1 L1 21 P7 absolute V1 A1 T1 L1 21 Start input If this input is set active a positioning is started Motion data is chosen by IN1 3 Enable velocity If this input is set to logic 0 passive the velocity is set to 0 If the input is ac tivated it has no influence on the motion Enable torque If this input is set to logic 0 passive the torque and velocity is set to O If the input is activated it has no influence on the motion 4 5 8 Format 2 inputs and outputs The functions of the inputs are described above 4 Outputs are available OI is activated when the motor is in position and O2 is activated if a fatal fault occurs In the example O2 is passive logic 0 since no fatal error occurs O3 confirms when the input signal is accepted O4 is a live output which means that independent of motor operation it is oscillating at approximately 4 Hz It will only stop oscillating if the internal hardware has a fault JVL Industri
108. same as that for RS232 communication The only difference is the balanced signal lines and the fact that all communication is half du plex which means that the units at the communication line cannot send and receive at the same time unlike RS232 communication The RS485 interface makes it possible for up to 32 units to be connected to the same interface bus On the last MAC motor on the interface the terminal marked Terminator pin 8 must be shorted to the A terminal pin 4 JVL Industri Elektronik A S User Manual Integrated Servo Motors MAC50 141 39 4 1 Expansion Module MACOO B1 4 1 6 4 1 7 Input type setup for all common output types Dip Switch for Input type setup Dip Switch setting Balanced push pull output connected to the A and B input ur39 OFF meur ene OFF SETUP p NPN 233 OFF P sm OFF JVL 4 12002 RN2 NPN sink output connected to the input NN ON input SETUP NPN ON PNP OFF PNP source output connected to the A and B input NPN OFF INPUT PP ON SETUP OFF TT0937GB jem ON Multifunction 1 0 Setup as pulse input When the I O is setup as pulse input se also Multifunc
109. self interferes with the motor itself interferes with the zero search PLC control loop PLC control loop TTO955GB 100 JVL Industri Elektronik A S User Manual Integrated Servo Motors 50 141 5 8 Accessories 5 8 1 The following accessories are available for the MAC motor series Cables RS232 9 1 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 BI MACOO RI 5232 9 1 Setup and communication cable Length 3 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 5232 COM port WG0302 2m or WG0320 20m Power cable with 2 x 0 75mm 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
110. supp l 187 5 500 1 5M_supp 6M 12 supp MaxTsdr_9 6 60 MaxTsdr 19 2 60 MaxTsdr_93 75 60 MaxTsdr_187 5 60 MaxTsdr 500 100 MaxTsdr 1 5 lt 150 MaxTsdr_3M 250 MaxTsdr_6M 450 MaxTsdr 12 800 Implementation Type VPC3 Bitmap Device DPLINK Slave Specification Freeze Mode 0 Sync Mode 0 Auto Baud Min Slave Intervall Max Diag Data 8 Modul Offset 0 Slave_Family 0 UserPrmData Length and Preset PrmText Text 0 Active low Text 1 Active high EndPrmText PrmText 2 Text 0 Velocity 0 Text 1 Passive mode EndPrmText PrmText 3 Text 0 Disabled Text 1 Enabled EndPrmText 68 JVL Industri Elektronik A S User Manual Integrated Servo Motors 50 141 4 4 Expansion Module MACOO FP2 ExtUserPrmData INI Input level Bit 0 0 1 Prm_Text_Ref EndExtUserPrmData ExtUserPrmData 2 IN2 Input level 1 0 1 Prm_Text_Ref EndExtUserPrmData ExtUserPrmData 3 IN3 Input level Bit 2 0 1 Prm_Text_Ref EndExtUserPrmData ExtUserPrmData 4 IN4 Input level Bit 3 0 1 Prm_Text_Ref EndExtUserPrmData ExtUserPrmData 5 NL Input level Bit 4 0 1 Prm_Text_Ref EndExtUserPrmData ExtUserPrmData 6 PL Input level Bit 5 0 1 Prm Text Ref EndExtUserPrmData ExtUserPrmData 7 Endlimit ac
111. supply out put is recommended Earth T TT0910GB 3 2 1 3 2 2 Power supply 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 Restricted area motor losses will be too high Supply 0 Voltage VDC 0 12 24 36 48 SEC Pe Operation below 120 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 Power supply grounding No additional grounding earthing of the motor is necessary since the complete motor housing is connected directly to pin 2 of the Power Supply connector The overall earthing of the system must be done at a central point close to the power supply JVL Industri Elektronik A S User Manual Integrated Servo Motors 50 141 25 3 2 3 2 3 Power Supply Dimensioning power supply and fuse The power supply must be dimensioned according to the actual motor size MAC5O 80
112. t 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 1 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 60 for details 58 JVL Industri Elektronik A S User Manual Integrated Servo Motors 50 141 4 4 Expansion Module MACOO FP2 4 4 3 Input data Slave gt Master The MACOO FP2 contains 8 bytes of input data Name Description Read data 3 MSB Data read from register register Read data 2 Read data 1 Read data 0 Motor status Status bits for the motor Input status Status of inputs Last direct register Last accepted direct FlexMac command Command Status Status bits for commands Read Data For 16 bit registers the read value will be placed in Read data 0 and Read data For 32 bit registers the read value will be placed in Read data 0 3 Motor status Bit Function Decelerating Accelerating In position 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 0 Error this bit is when a motor error has occurred Input status
113. tandard including specific test methods March 2003 Bo V Jessen Technical Director JVL Industri Elektronik A S TT0970GB LX0015 01GB 104 JVL Industri Elektronik A S User Manual Integrated Servo Motors 50 141 6 Index A Analogue Torque Mode 9 Analogue Velocity Mode 8 Analogue Velocity Gear Mode 8 requirements 104 connectors 24 D Declaration of Conformity 104 E Expansion modules 10 expansion modules 10 F Fuse 26 G Gear mode 8 Grounding 25 H Hardware 23 Home sensor 20 homing 18 Input Homing 18 Input 2 18 M MacTalk 11 14 Main Features 6 Mechanical zero 18 Motor Status 14 16 p Position mode 8 14 Power Supply 24 25 T Torque Homing 18 U User I O 24 V Velocity mode 8 2 Zero search 18 zero search 18 JVL Industri Elektronik A S User Manual Integrated Servo Motors 50 95 and 140 105
114. the RS232 interface of the MACOO R3 JVL cable WG04xx Screen terminated to the GND terminal standard I O d cable 24 wire Interface connector Connector Cable Female 9pin DSUB SE Rar cover At PC Male 9pin DSUB If JVUs standard programming to TX Green in order to achieve If the RS232 lines are extended through another cable this cable must also be screened Screen must be connected to main ground a T gt lt gt lt gt lt ree NNN NNN nnn 02 02 02 Remember to connect TX PD Red v INTERFACE 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 84 JVL Industri Elektronik A S User Manual Integrated Servo Motors 50 141 Appendix JVL Industri Elektronik A S User Manual Integrated Servo Motors MAC50 141 85 5 1 Technical Data All data are specified for the basic MAC motor only i e without any expansion module mounted Description Min __Typical_Max Units Supply Supply Voltage DC 12 50 Average current consumption measured at 48VDC MAC OS Specified at speed 4000 RPM except MAC141 2700 RPM 6 MAC140 6 MAC141 Average current consumption measured at 24VDC Specified at speed lt 2000 RPM except 141 lt 1350 RPM 6 MAC140
115. tion 0 0 0 1 Prm Text Ref 2 EndExtUserPrmData ExtUserPrmData 8 Input Action UnSigned8 0 0 255 EndExtUserPrmData ExtUserPrmData 9 Input 2 Action UnSigned8 0 0 255 EndExtUserPrmData ExtUserPrmData 10 Input 3 Action UnSigned8 0 0 255 EndExtUserPrmData ExtUserPrmData Input 4 Action UnSigned8 0 0 255 EndExtUserPrmData JVL Industri Elektronik A S User Manual Integrated Servo Motors MAC50 141 69 4 4 Expansion Module MACOO FP2 ExtUserPrmData 12 Input debounce Bit 1 0 0 1 Prm Text Ref 3 EndExtUserPrmData ExtUserPrmData 13 Input noise filter Bit 2 0 0 1 Prm Text Ref 3 EndExtUserPrmData Max User Prm Data Len 15 User Prm Data Len l5 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 lt 1 Ext User Prm Data lt 2 Ext User Prm Data lt 3 Ext User Prm Data lt 4 Ext User Prm Data Ref l 5 Ext User Prm Data 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 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 0 lt 10 Ext User Prm Data lt 10 Ext User Prm Data Ref 12 1l Ext User Prm Data Ref 13 1l Ext User Prm Data Ref 14 1l
116. tion I O used as pulse inputs page 31 the input can be setup in 2 formats Pulse and direction The Ainput 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 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 each of these signal types Connect NPN signal source to the Multifunction 1 0 The drawing below shows how to connect an NPN source to the MACOO B multifunc tion I Os The diagram shows the A channel The B channel must be connected in the same manner Please keep the A and B terminals unconnected to maintain proper func tion Warning Voltages above 5V must under no circumstance be connected directly to the input since it will damage the input permanently NPN sink output connected to the A and B input motor with 0 expansion module The A and B terminals must be left unconnected Signal source PLC I lar Warning gt A 1 arning LAZ Never connect voltages higher than 5V directly the A terminals since this can damage the inputs Ground o o 9 a4 TT0942GB ER Ifused the B terminal m
117. tual supply voltage Profile Data a Hui EAR Inputs All the main ae tots PRENDE gt Run Status meters for the ie Zero teach The motor status motion profile velocity f RPM can be monitored here are setup in this s festen f mus m TER E Sy 25 Errors i c Zero sean E ee field oe Mc Ya If a fatal error occurs information will be nton m displayed here Motion Parameters edt 5 nes The desired position 3 and the in position window can be specified here No connection 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 TTO926GB Startup Mode Select position mode in this field Reset Position The counter which keeps track of the actual position can be reset us ing this button Error Handling Worst case limits for the position range can be set up here Please consult the Error Handling chapter for details Input Outputs 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 RS422 interface for commands sent from a master controller See also the Multifunction I O general de scription page 30 Motor Status The actual mode speed position position
118. tup in this field Moto System control Use these buttons to save data permanently reset the motor etc MacTalk Noname Offline Setup Updates Error Handling Use these fields to define error limits for the position range etc Input Outputs is specified here Open Save setup in this field Ji Registers Fiter parameters Tests p Startup mode v Change actual mode Velociy Position C Gear Analog velocity Analog velocity with deadband Analog velocity gear Analog torque C Analog torque direct Profile dala velocity 4500 f4500 RPM Acceleration 248104 24800 RPM S Torque 100 f Load 1 0000 f Unit B Error handling Follow error Position limit min Position limit max Error acceleration Inputs Outputs VO Type Analog input offset Zero search Zero search mode Zero search position Zero search velocity Zero search torque Communication Address 0 Pulses Regenerative load 0 Inputs 0 Supply voltage 0 0 Volts Velocity of input 0 Pulser S 7 Analog input 0 00 Volts E 0 00 Volts E Disabled 0 Pulses 0 Pulses 0 Pulses Passive 0 Actual position 0 Pulses Motor load mean 0x 50 RPM 50 MAC motor connection information Always shows if the motor is on line or n
119. und alogue input Internal connector J1 Description Black Wire colour TXPD Transmit pull down Connect to TX if addr not used Red TX RS232 Transmit Green RX RS232 Receive Yellow GND Ground for RS232 Blue AIN Analogue input 10V or Zero sensor input Orange GND Cable Screen Ground for AIN Brown The cable screen is internally connected to motor housing Externally it must be connected to earth Unused wire Orange Black is not used internally It must be left unconnected The VC terminals is only available at modules with serial number gt 25000 JVL Industri Elektronik A S User Manual Integrated Servo Motors 50 141 65 4 4 Expansion Module MACOO FP2 4 4 10 Assembly instructions for profi cables Remove the insulation from the cable as shown in the ac companying picture Fit the plastic part of the gland on the cable and fold the screen around it Remember to feed the cable through the nut in the first place 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 or 2P 2A terminal and the green must go into the IN IB 2N 2B terminal PLEASE NOTE that Siemens normally names the green wire P and the red N The input and output terminals can be swapped if required The is no difference
120. ust be connected in the same manner as the A terminal 40 JVL Industri Elektronik A S User Manual Integrated Servo Motors 50 141 4 1 Expansion Module MACOO B1 4 1 8 4 1 9 Connect PNP signal source to the Multifunction 1 0 The drawing below shows how to connect a PNP source to the MACOO BI tion I Os The diagram shows the A channel The B channel must be connected in the same manner Please keep the A and B terminals unconnected to maintain proper function Warning Voltages above 5V must under no circumstance be connected directly to the input since it 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 expansion module a Supply Resistor size in Qwi TN 1 SVDC 0 Ohm IN OUT Dip Switch setting 8VDC 390 Ohm I2VDC 1 kOhm At ii 22 OFF ISVDC 1 2 kOhm x EAE pem on Signal source PLC 8 1 8 kOhm NPN E RE PLC 24VDC 27kOhm GND 56 B PP cm ON 30VDC 3 3 kOhm Ig 4 ET O 1 8 B o2 1 Optional 3 7 Power Output resistor a lle SE Suppl switch Seetable 1 O Warning 5 32VDC T WM gt eae Never connect voltages 1 higher than 5V directly to Ground 4
121. ve energy returned energy from the motor can be monitored here The supply voltage can be measured here In typical gear mode applications the motor is just moving relatively without any absolute zero point but for applications that need a spe cific mechanical zero position the general zero search in the MAC motor can be used Please consult the chapter Mechanical zero search page 18 l6 JVL Industri Elektronik A S User Manual Integrated Servo Motors 50 141 Gear Mode Example I Example 2 Encoder 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 User I O page 28 The resolution on this encoder is 500 ppr The MAC motor itself has 1024 ppr fixed If this application requires that the MAC motor ro tates rev each time the external encoder has rotated rev the In put parameter is set to 500 external encoder and the Output parameter is set to 1024 Now the ratio between the external encod er and the MAC motor will be 1 1 Make sure that the Profile data is set to proper values in order not to limit the motor operation un intended Pulse and direction input A stepper motor system is replaced by a MAC motor meaning that the MAC motor is receiving a pulse and direction signal which is a very
122. which requires 12 nominal at the RX and TX signals However the protocol used is equivalent to the RS232 protocol If the Basic MAC motor is implemented in an OEM application where an internal proc essor communicates with the MAC motor the TX and RX terminals can normally inter face directly JVL Industri Elektronik A S User Manual Integrated Servo Motors MAC50 141 27 3 4 User 1 0 Basic MAC motor Rear end FARR s jea imi SEE e Power LED green m RAF arre 88 3 E s 3 g d Error LED red Woogoogcooo Note screen only connected to signal source User I O E Main signal ground 2 Analogue input 10V Axis controller or Potentiometer Ground 10V out Connector Manufactor AMP Type 770602 8 2 54mm pitch TT0913GB 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 18 MacTalk Noname File View Motor Offline Setup Updates Heli gt Save Save in flash Rest Main Registers Filter parameters Tests Startup mode C Passive Velocity Position V
123. ype no WG0420 20m Digital Inputs Internal connector J2 Signal name w MACOO0 R3 Signal w MAC00 FP2 Wire colour IN1 user input 1 IN1 user input 1 Cyan IN2 user input 2 IN3 user input 3 IN2 user input 2 IN3 user input 3 Blue Green Brown IN4 user input 4 IN4 user input 4 White IN5 user input 5 NL negative limit switch input Yellow Red IN6 user input 6 PL positive limit switch input Red IN7 user input 7 ICM input common ground White Red IN8 user input 8 NC no connection not used Pink ICM input common ground NC no connection not used Grey NC no connection not used NC no connection not used Brown Digital Outputs including analogue input Internal connector J4 Signal name w MAC00 R3 Signal name w MACO00 FP2 Wire colour O supply to output circuitry O supply to output circuitry Red Brown OCM output ground O1 user output 1 Yellow Blue O1 user output 1 O2 user output 2 Red Black 02 user output 2 NC no connection not used Yellow O3 user output 3 NC no connection not used White Blue O4 user output 4 NC no connection not used Purple AIN analogue input NC no connection not used Green GND ground OCM output ground Black Interface Internal connector

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