JVL MAC050 User manual

LB0047-24GB Revised 17.9.2009
JVL Industri Elektronik A/S
MAC050 - MAC141
&
MAC400 - MAC800
Integrated Servo Motors
User Manual
Including expansion modules

Important
User Information
Please contact your nearest JVL representative in case of technical assist-
ance. Your nearest contact can be found on our web site www.jvl.dk
Copyright 1998-2009, 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 Birkerød
Denmark
Tlf. [phone]
Fax. [phone]
e-mail: [email protected]
Internet: http://www.jvl.dk
The MAC series of products are used to control electrical and
mechanical components of motion control systems.
You should test your motion system for safety under all potential
conditions. Failure to do so can result in damage to equipment
and/or serious injury to personnel.
!!
Warning

JVL Industri Elektronik A/S - User Manual - Integrated Servo Motors MAC050 - 800 1
Contents
1Introduction .................................................................................................................... 3
1.1 Features .............................................................................................................................................................. 4
1.2 Overall description ............................................................................................................................................. 5
1.3 Expansion modules overview ............................................................................................................................. 8
1.4 Setting up the MAC motor ............................................................................................................................... 12
2Function description ..................................................................................................... 17
2.1 Using Position mode ......................................................................................................................................... 18
2.2 Gear Mode ........................................................................................................................................................ 19
2.3 Coil Mode ......................................................................................................................................................... 22
2.4 Analogue bi position mode ............................................................................................................................... 25
2.5 Mechanical zero search ..................................................................................................................................... 26
2.6 Error Handling .................................................................................................................................................. 31
2.7 Under Voltage Handling .................................................................................................................................... 42
2.8 Servo filter adjustment ...................................................................................................................................... 43
2.9 Using external SSI encoder ............................................................................................................................... 49
2.10 Power Save ....................................................................................................................................................... 55
2.11 Scope Function ................................................................................................................................................. 56
3Hardware description ................................................................................................... 57
3.1 Connector overview......................................................................................................................................... 58
3.2 Power Supply.................................................................................................................................................... 59
3.3 Serial interface .................................................................................................................................................. 69
3.4 User I/O ............................................................................................................................................................ 70
4Expansion Modules ....................................................................................................... 77
4.1 Expansion Modules MAC00-CS ........................................................................................................................ 78
4.2 Expansion Modules MAC00-B1/B2/B4 ............................................................................................................. 79
4.3 Expansion module MAC00-B41 ........................................................................................................................ 95
4.4 Expansion Modules MAC00-FC2/FC4 ............................................................................................................ 109
4.5 Expansion Module MAC00-FD4 ..................................................................................................................... 166
4.6 Expansion Module MAC00-FP2/FP4 .............................................................................................................. 180
4.7 Expansion Module MAC00-FS1/FS4 ............................................................................................................... 199
4.8 Expansion module MAC00-P5 ........................................................................................................................ 204
4.9 Expansion Module MAC00-R1/R3/R4 ............................................................................................................. 213
5Appendix ..................................................................................................................... 251
5.1 Technical Data ................................................................................................................................................ 252
5.2 Torque Curves ................................................................................................................................................ 255
5.3 Efficiency curve ............................................................................................................................................... 257
5.4 Physical Dimensions ........................................................................................................................................ 258
5.5 Life time .......................................................................................................................................................... 261
5.6 Installation precautions ................................................................................................................................... 264
5.7 Emergency stop considerations ...................................................................................................................... 265
5.8 Trouble-shooting guide ................................................................................................................................... 271
5.9 Bus serial communication ............................................................................................................................... 273
5.10 Serial communication ...................................................................................................................................... 276
5.11 MacTalk communication ................................................................................................................................. 283
5.12 Connecting to other equipment ..................................................................................................................... 288
5.13 Accessories ..................................................................................................................................................... 291
5.14 CE Declaration of Conformity ........................................................................................................................ 293
5.15 UL Certificate of Compliance ......................................................................................................................... 295

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

JVL Industri Elektronik A/S - User Manual - Integrated Servo Motors MAC050 - 800 3
1 Introduction

4 JVL Industri Elektronik A/S - User Manual - Integrated Servo Motors MAC050 - 800
1.1 Features
The MAC series of brushless servo motors with
integrated electronics represents a major step for-
ward in motion control systems. All of the neces-
sary electronics for a servo system are integrated
into the motor itself.
Traditional motor systems typically have the con-
troller and drive electronics placed some distance
away from the motor. This increases machine
costs and has the negative effect that installation
time and costs are a major part of the total ex-
pense of building machinery.
The basic idea of the MAC motor is to minimise
these costs, but also to make a component that is
much better protected against electrical noise
which can be a typical problem when using long
cables between a controller and motor.
All user inputs and outputs are filtered, which
means that the MAC motors will work properly
even in an environment with a high level of electri-
cal noise.
The major advantages are:
• Lower installation costs
• Faster installation
• Quiet and maintenance-free operation
• Replacement for pneumatic solutions
• Replacement for step motors, offering much
faster response
• Great flexibility due to many I/O possibilities and
many functions.
• Less machine space required.
• Fewer possibilities for wiring errors.
Main Features:
• Low cost and high performance make the
MAC series ideal for high-volume applica-
tions
• Pulse and direction inputs make it possible
to replace step motors.
• Quadrature input for gearing applications.
• ±10V input for controlling speed and
torque
• 2 ch. Quadrature output to master control-
ler when used as driver.
• Accepts position and velocity commands
sent via RS232/422 interface.
• Wide supply voltage range 12 to 48VDC
and 90 to 240VAC.
• Excellent efficiency compared to
step motors.
• High resolution (4096/8000 cpr) compared
to cost.
• Wide variety of expansion modules which
can be mounted internally:
- Profibus DP module
- CAN-Open® or DeviceNet module
- Ethernet module
- nano-PLC w/graphic programming
- Several module connector options
- Custom-designed modules on request
• Outputs for In position and Error
indication.
• High order digital filter which only needs a
single inertia adjustment.
• Standard NEMA23 flange.
• Built-in sensors make the motor stay sta-
tionary when powering up.
• Easy and simple Windows program - Mac-
Talk available for installation/setup.
• High-efficiency power stage keeps temper-
ature at a low level.
• CE approved. UL recognized (MAC800)

JVL Industri Elektronik A/S - User Manual - Integrated Servo Motors MAC050 - 800 5
1.2 Overall description
All the internal building blocks of the MAC motor are shown in the illustration above.
The central microprocessor takes care of all the processes in the motor via the various
I/O blocks such as the serial interface, differential transceiver (Multifunction I/O) and the
motor driver sections.
Please notice that the MAC400 and MAC800 have 2 supply voltages.
3-phase
brushless
motor
Optical
incremental
encoder
Hall
elements
+12-48VDC
(+24V and
90-240VAC)
Ground
AIN
Analogue
input ±10V
A+
A
B+
B
Output 1
Output 2
Tr a n s m i t
Ground
( ) = Valid for MAC400 and MAC800
Receive
+5VDC Out
Switchmode
Power
Supply
Power Dump
for absorbing
regenerative
energy
3-phase
driver
Current
Sensing
High speed
A/D converter
High speed
digital logic
array
Analogue input
Level shifter
and filter
2 channel
differential
Tr a n s c e i v e r
Asynchronous
serial interface Memory
and system
control
2 Digital NPN
outputs showing
motor status
16 (32) Bit
Microprocessor
A
HU
HV
B
W
V
U
HW
P
ower
supp
l
y
connector(s)
User I/O connector
S
er
i
a
l i
n
t
er
f
ace
connector
Basic MAC motor block diagram including motor and feedback devices
TT0934GB

6 JVL Industri Elektronik A/S - User Manual - Integrated Servo Motors MAC050 - 800
1.2 Overall description
The MAC motor is available in 6 different sizes: MAC050, MAC95, MAC140, MAC141,
MAC400 and MAC800, with continuous power ratings from 46W to 750W. The basic
functions and I/O features are the same for all models.
1.2.1 Basic modes/functions in the MAC motor
The MAC motor offers the following functions.
- Passive mode.
The motor will be in a completely passive state but communication is active and in-
ternal registers can be set up.
-Velocitymode.
The motor velocity can be controlled using MacTalk software or by sending com-
mands via the serial interface.
- Position mode
The motor position can be controlled using MacTalk or by sending position com-
mands via the serial interface.
- Gear mode
The position of the motor is controlled by the multifunction I/O, which is configured
as input. Either a pulse and direction signal can be applied or a quadrature A and B
signal from, for example, an incremental encoder.
This mode is very powerful if the MAC motor is used to upgrade a step motor system
or if the motor is used in electronic gear applications such as a flying saw where an
external encoder tracks the position of a moving object.
- Gear Follow Mode
Same mode as gear mode, except that the input pulses are not buffered so that con-
trol strictly follows the input pulses.
-Analogue Velocity Mode
The motor velocity is controlled by a voltage applied at the ±10V 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.
(continued next page)
Basic
Motor Type
Continuous
Torque
Peak
Torque
Power
(cont.)
Nom.
Speed
Flange Total
length
MAC050 0.11 Nm
(15.58 oz-in)
0.32Nm
(45,3 oz-in) 46 Watt 4000 RPM
NEMA23
57x57mm
(2.3”x2.3”)
111.2 mm,
(4,38”)
MAC95 0.22 Nm
(31.15 oz-in)
0.62 Nm
(87.8 oz-in) 92 Watt 4000 RPM
NEMA23
57x57mm
(2.3”x2.3”)
130.5 mm
(5.13”)
MAC140 0.32 Nm
(45,32 oz-in)
0.9 Nm
(127.45 oz-in) 134 Watt 4000 RPM
NEMA23
57x57mm
(2.3”x2.3”)
152.5 mm
(6”)
MAC141 0.48 Nm
(168 oz-in)
1.59 Nm
(225,16 oz-in) 134 Watt 2700 RPM
NEMA23
57x57mm
(2.3”x2.3”)
172.0 mm
(6.77”)
MAC400 1.27 Nm
(180 oz-in)
3.8 Nm
(538,1 oz-in) 400 Watt 3000 RPM 60x60mm (2.86”x2.86”)
192.0 mm
(7.56”)
MAC800 2.38 Nm
(337 oz-in)
7.2 Nm
(1019.6 oz-in) 750 Watt 3000 RPM 80x80mm (3,14”x3,14”)
175 mm
(6,89”)

JVL Industri Elektronik A/S - User Manual - Integrated Servo Motors MAC050 - 800 7
1.2 Overall description
- Analogue Velocity (with deadband) Mode.
Same function as Analogue Velocity Mode but a deadband around zero is inserted.
The deadband is +/-600mV. This feature is useful if a potentiometer or similar device
is used to control the speed of the motor, since the motor will be stationary if the
input voltage is almost at zero.
- Analogue Velocity/Gear Mode.
This mode is similar to Gear mode but it is possible to increase or decrease the po-
sition of the motor by adjusting the voltage applied to the ±10V input. A typical ap-
plication is feeding mechanisms that require “on-the-fly” adjustment.
- Velocity/Analogue torque Mode.
The motor torque is fully controlled by a voltage applied at the ±10V analogue input.
This mode is useful if the motor is used for winding applications where a constant
torque is required in the process. Another typical application is as a slave driver in
multi-axis systems with a master position controller for several axes. The update fre-
quency is 521 Hz. Use Analogue Torque (Direct) if a higher bandwidth is required.
- Analogue Torque (Direct) Mode.
Same function as Analogue Torque mode but the update frequency is much higher
(7812Hz). Please note that the top speed and acceleration are NOT controlled in this
mode. Use Analogue Torque Mode if this limitation is required.
-AnalogueGearMode.
This mode is somewhat similar to Gear mode or Analogue Velocity/Gear mode. The po-
sition of the motor is controlled by the multifunction I/O, which is configured as input.
Either a pulse and direction signal can be applied or a quadrature A and B signal from,
for example, an incremental encoder.
The gear ratio specified will determine the basic gear ratio between the applied puls-
es and the motor movement. The special feature in this mode is that the basic gear
ratio can be changed +/-5% depending on the voltage applied to the analogue input.
+10V will adjust the gear ratio +5% higher and -10V will lower the gear ratio 5%.
A typical application is feeding mechanisms that require “on-the-fly” adjustment.
- Coil Mode.
Similar to gear mode but the position range can be limited in such a manner that the
motor changes direction every time the upper limit is reached and also if the lower
limit is reached. Both limits can be adjusted. The mode is intended to be used for con-
trolling a wire/cable guider on a winding machine. The guide will follow the position
of the coil driven by a “main motor” and using this mode it is possible to feed the wire
in a very precise position regardless of the speed at which the “main motor” is run-
ning.
- Analogue bi position mode
The motor will move a certain distance or go to one of 2 positions depending on the
voltage at the analogue input. The voltage at the analogue input will be seen as a digital
signal, meaning either logic low or logic high.
The distance or positions can be set up in 2 internal registers and saved permanently
in the motor.
-Analoguetoposition
The position of the motor will change proportionally with the voltage at the analogue
input, between the zero position and a predefined position.
A typical apllication could be controlling a valve position using a voltage or a current
control signal.

8 JVL Industri Elektronik A/S - User Manual - Integrated Servo Motors MAC050 - 800
1.3 Expansion modules overview
JVL offers a wide variety of expansion modules to adapt the MAC motor to almost any
kind of application. The expansion module is easily mounted inside the motor. Only one
expansion module can be mounted.
The table below gives a brief overview of the features offered by the basic MAC motor
and the features that are available in each expansion module.
Cable glands M12 Connectors
MAC00-B1, B2, B4
MAC00-B41
Basic modules
Wireless modules
Fieldbus modules
Multiaxis modules
MAC00-FC2, FC4
MAC00-FD4
MAC00-FB4
MAC00-FS1, FS4
MAC00-FP2, FP4
MAC00-FR4
Connector module w/RS232
RS485 (non isolated) and LED’s
Connector module
with Optical isolated RS232, Rs485
6 General digital I/O
Support 2 multifunction I/O ports.
CANopen
Supports DS402
Wireless module
Bluetooth module
Profibus DP
12Mbit with 6(4) Inputs
and (2) outputs
High speed serial RS485
Multiaxis. Interf. to IEC61131-1
High speed serial RS485
Multiaxis 460kbaud
MAC00-B2
MAC00-FC2
MAC00-FP2
MAC00-B4
MAC00-B41
MAC00-FB4
MAC00-FC4
MAC00-FD4
MAC00-FP4
MAC00-FR4
MAC00-FS4
Not planned
Not planned
Not planned
Notplanned
Not planned
Notplanned
Notplanned
Notplanned
Not planned
Not planned
Not planned
DSUB Connectors
MAC00-B1
MAC00-FS1

JVL Industri Elektronik A/S - User Manual - Integrated Servo Motors MAC050 - 800 9
1.3 Expansion modules overview
Expansion module overview (continued).
Cable glands M12 Connectors
MAC00-00/01/02 and MAC00-CS
Programmable modules
Process control modules
Rear plates
MAC00-R1, R3, R4
MAC00-P5
Rearplates with or without
cable glandsConn.
No electronic features included
Nano PLC with graphic programming
interface 8 input and 4 outputs.
Process module 4-20mA input and output
galvanic isolated. Harting and M12 Connectors
MAC00-R1
MAC00-00
MAC00-R3
MAC00-01 MAC00-02 MAC00-CSxx
Not planned
Not planned
DSUB Connectors
MAC00-R4
MAC00-P5

10 JVL Industri Elektronik A/S - User Manual - Integrated Servo Motors MAC050 - 800
1.3 Expansion modules overview
Continued next page.
MAC50,95,140,141-A1
Unbalanced async. serial interface For setup/sending commands Balanced async. serial interface For setup/sending commands ±10V Analogue input For controlling speed/torque Also used for zero search
Pulse inputs Accepts pulse and direction or quadrature encoder signal Pulse outputs 90 degree phase shifted outputs from internal encoder
Digital user inputs For control of program flow or motor start/stop Digital user outputs For indicating the motor status or as output from the program Ext. connector type Protection class Integrated brake
MAC50,95,140,141-A3
MAC800-D5
MAC800-D2
MAC400-D2
MAC800-D6
MAC800-D3
MAC400-D5
MAC00-CS
(2)
MAC00-B1
MAC00-B2
MAC00-B4
MAC00-B41
MAC00-FB4
MAC00-EW4
Feature
Ty p e
Basic MAC motors IP42
Basic MAC motors IP67
Basic MAC motors IP55
Basic MAC motors IP55
Basic MAC motors IP55
Basic MAC motors IP55
Basic MAC motors IP66
Basic MAC motors IP55
Conn. module w/cable glands
No electronic features added
Connector module w/DSUB
connectors
Connector module w/cable
glands (2)
Connector module
w/M12 connectors
Connector module
w/M12 connectors
Wireless bluetooth module
w/M12 connectors
Wireless Ethernet module
w/M12 connectors
MAC Motors feature overview including expansion modules
TT0933GB
5V TTL
19.2kbaud
Full Duplex
5V TTL
19.2kbaud
Full Duplex
5V TTL
19.2kbaud
Full Duplex
5V TTL
19.2kbaud
Full Duplex
5V TTL
19.2kbaud
Full Duplex
5V TTL
19.2kbaud
Full Duplex
5V TTL
19.2kbaud
Full Duplex
5V TTL
19.2kbaud
Full Duplex
5V TTL
19.2kbaud
Full Duplex
RS232
19.2kbaud
Full Duplex
RS232
19.2kbaud
Full Duplex
RS232
19.2kbaud
Full Duplex
RS232
19.2kbaud
Full Duplex
RS232
19.2kbaud
Full Duplex
RS232
19.2kbaud
Full Duplex
RS422 (3)
19.2kbaud
Full Duplex
RS422 (3)
2.5Mhz or
150kHz (LP)
RS422 (3)
4096 cpr
RS422 (3)
4096 cpr
RS422 (3)
8000 cpr
RS422 (3)
8000 cpr
RS422 (3)
8192 cpr
RS422 (3)
RS422 (3)
RS422 (3)
RS422 (3)
RS422 (3)
RS422 (3)
RS422 (3)
No
No
No
No
No
No
No
No
No
No
No
No
No
No
6 In/Out.
(selectable)
5-30V
Motor stat.
2 x NPN
25mA
Motor stat.
2 x NPN
25mA
Motor stat.
2 x NPN
25mA
Motor stat.
2 x NPN
25mA
Motor stat.
2 x NPN
25mA
Motor stat.
2 x NPN
25mA
Motor stat.
2 x NPN
25mA
Motor stat.
2 x NPN
25mA
Motor stat.
2 x NPN
25mA
Motor stat.
PNP 10-32V
100mA
Motor stat.
PNP 10-32V
100mA
Motor stat.
PNP 10-32V
100mA
No
Motor stat.
PNP 10-32V
100mA
Motor stat.
PNP 10-32V
100mA
AMP
Molex
JST
AMP
Molex
JST
AMP
Molex
JST
AMP
Molex
JST
AMP
Molex
JST
AMP
Molex
JST
AMP
Molex
JST
AMP
Molex
JST
DSUB
Plug-
able
Cable
Gland
M12
Conn.
M12
Conn.
M12
Conn.
M12
Conn.
Cable
Gland
IP42
IP42
IP67
(1)
IP55
IP55
IP55
IP66
IP66
IP55
IP67
(1)
IP67
(1)
IP67
(1)
IP67
(1)
IP67
(1)
IP67
(1)
RS422 (3)
2.5Mhz or
150kHz (LP)
RS422 (3)
2.5Mhz or
150kHz (LP)
RS422 (3)
2.5Mhz or
150kHz (LP)
RS422 (3)
2.5Mhz or
150kHz (LP)
No
No
RS422 (3)
2.5Mhz or
150kHz (LP)
RS422
19.2kbaud
Full Duplex
(3)
RS422 (3)
RS485 19.2k
Full Duplex
RS422
RS485 19.2k
Full Duplex
(3)
RS422
R 485 19.2k
Full Duplex
(3)
S
RS422
R 485 19.2k
Full Duplex
(3)
S
RS422
R 485 19.2k
Full Duplex
(3)
S
RS422
R 485 19.2k
Full Duplex
(3)
S
Basic MAC motors
Expansion modules
1) All these modules offer IP67 protection class. Please notice that the final protection class is limited by the actual motor used.
2) Can be ordered without cable (eg. MAC00-CS) or with cable in lengths of 2, 10 or 20 metres (eg. MAC-CS-10).
3) Either pulse input, pulse output or serial must be chosen. Not all of them at the same time.
4) Onl
y
a total of 4 I/O terminals are available.
RS422 (3)
19.2kbaud
Full Duplex
RS422 (3)
19.2kbaud
Full Duplex
RS422 (3)
19.2kbaud
Full Duplex
RS422 (3)
19.2kbaud
Full Duplex
RS422 (3)
19.2kbaud
Full Duplex
RS422 (3)
19.2kbaud
Full Duplex
RS422 (3)
19.2kbaud
Full Duplex
RS422 (3)
2.5Mhz or
150kHz (LP)
RS422 (3)
2.5Mhz or
150kHz (LP)
RS422 (3)
2.5Mhz or
150kHz (LP)
RS422 (3)
2.5Mhz or
150kHz (LP)
RS422 (3)
2.5Mhz or
150kHz (LP)
RS422 (3)
2.5Mhz or
150kHz (LP)
RS422 (3)
2.5Mhz or
150kHz (LP)
RS422 (3)
8000 cpr
RS422 (3)
8000 cpr
RS422 (3)
8192 cpr

JVL Industri Elektronik A/S - User Manual - Integrated Servo Motors MAC050 - 800 11
1.3 Expansion modules overview
Unbalanced async. serial interface For setup/sending commands Balanced async. serial interface For setup/sending commands ±10V Analogue input For controlling speed/torque Also used for zero search
Pulse inputs Accepts pulse and direction or quadrature encoder signal Pulse outputs 90 degree phase shifted outputs from internal encoder
Digital user inputs For control of program flow or motor start/stop Digital user outputs For indicating the motor status or as output from the program Ext. connector type Protection class Integrated brake
MAC00-FC2
MAC00-FC4
MAC00-FD4
MAC00-FS1
MAC00-FS4
MAC00-P5
MAC00-R1
MAC00-R3
MAC00-R4
MAC00-FP2
MAC00-FP4
MAC00-FR4
Feature
Ty p e
CAN-Open module
w/cable glands
CAN-Open module
w/M12 connectors
DeviceNet module
w/M12 connectors
RS485 High Speed. w/DSUB
connectors. Multiaxis control
RS485 High Speed. w/M12
connectors. Multiaxis control
Process module 4-20mA
w/M12+Harting connectors
Nano PLC w/ DSUB connect.
Nano PLC w/cable glands (2)
Nano PLC w/M12 circular
connectors
Profibus DP w/cable glands
Profibus DP
w/M12 connectors
High speed serial RS485
Multiaxis interf. to IEC61131-1
MA
C
Motor expansion modules overview
(
continued from last page
)
TT1175GB
RS232
19.2kbaud
Full Duplex
RS232
19.2kbaud
Full Duplex
RS232
19.2kbaud
Full Duplex
RS232
19.2kbaud
Full Duplex
RS232
19.2kbaud
Full Duplex
RS232
19.2kbaud
Full Duplex
RS232
19.2kbaud
Full Duplex
RS232
19.2kbaud
Full Duplex
RS232
19.2kbaud
Full Duplex
RS232
19.2kbaud
Full Duplex
RS232
19.2kbaud
Full Duplex
No
RS422 (3)
RS422 (3)
RS422 (3)
No
No
(4)
(4)
(4)
No
No
No
No
No
No
No
No
No
No
No
No
No
No
No
No
No
8 Inputs
Opto isol.
5-30V
8 Inputs
Opto isol.
5-30V
8 Inputs
Opto isol.
5-30V
6 Inputs
Opto isol.
5-30V
4 Inputs
Opto isol.
5-30V (4)
4 Inputs
Opto isol.
5-30V
6 Inputs
Opto isol.
5-30V
4 Inputs
Opto isol.
5-30V (4)
4 Inputs
Opto isol.
5-30V (4)
4 Inputs
Opto isol.
5-30V
4 Inputs
Opto isol.
5-30V
4 Outputs
PNP 10-32V
300mA
4 Outputs
PNP 10-32V
300mA
4 Outputs
PNP 10-32V
300mA
2 Outputs
PNP 10-32V
25mA
2 Outputs
PNP 10-32V
25mA (4)
4 Outputs
PNP 10-32V
300mA
2 Outputs
PNP 10-32V
25mA
2 Outputs
PNP 10-32V
25mA (4)
2 Outputs
PNP 10-32V
25mA (4)
2 Outputs
PNP 10-32V
25mA
2 Outputs
PNP 10-32V
25mA
Motor stat.
PNP 10-32V
100mA
M12
Conn.
Cable
Gland
M12
Conn.
M12
Conn.
DSUB
Plug-
able
M12
Conn.
Cable
Gland
M12
Conn.
Cable
Gland
M12
Conn.
M12
Conn.
DSUB
Plug-
able
IP42
IP42
IP67
(1)
IP67
(1)
IP67
(1)
IP67
(1)
IP67
(1)
IP67
(1)
IP67
(1)
IP67
(1)
IP67
(1)
IP67
(1)
RS422 (3)
2.5Mhz or
150kHz (LP)
RS422 (3)
2.5Mhz or
150kHz (LP)
RS422 (3)
2.5Mhz or
150kHz (LP)
RS422
R 485 19.2k
Full Duplex
(3)
S
RS485
19.2kbaud
Half Duplex
RS485
19.2kbaud
HalflDuplex
RS485
19.2kbaud
HalflDuplex
No
No
RS485
230kBaud
Opto isol.
RS485
460kBaud
Opto isol.
RS485
460kBaud
Opto isol.
No
No
No
Expansion modules
1) All these modules offer IP67 protection class. Please notice that the final protection class is limited by the actual motor used.
2) Can be ordered without cable (eg. MAC00-CS) or with cable in lengths of 2, 10 or 20 metres (eg. MAC-CS-10).
3) Either pulse input, pulse output or serial must be chosen. Not all of them at the same time.
4) Onl
y
a total of 4 I/O terminals are available.

12 JVL Industri Elektronik A/S - User Manual - Integrated Servo Motors MAC050 - 800
1.4 Setting up the MAC motor
1.4.1 MacTalk introduction
The MacTalk software is the main interface for setting up the MAC motor for a specific
application.
The program offers the following features:
- Choice of the operating mode of the MAC motor.
- Changing main parameters such as speed, motor torque, zero search type, etc.
- Monitoring the actual motor parameters in real time, such as motor load, supply volt-
age, voltage at the analogue input, etc.
- Changing protection limits such as position limits, maximum position error.
- Determine what should happen if the supply voltage gets too low.
- Saving all current parameters to disc.
- Restoring all parameters from disc.
- Saving all parameters permanently in the motor.
- Updating the motor firmware or MacTalk software from the internet or a file.
The main window of the program changes according to the selected mode, thus only
showing the relevant parameters for operation in the selected mode.
The following pages describe the actual window for each mode and how the parameters
affect the MAC motor operation.
Startup mode
The basic functionality
of the MAC motor is
set up in this field.
Setup save/open
The complete setup
can be either saved
or reloaded from a
file using these
buttons
System control
Use these buttons to save data
permanently, reset the motor etc.
Error Handling
Use these fields to define error
limits for the position range etc.
Input/Outputs
The functionality of the I/O's
is specified here.
Motor status
This field shows the
actual motor load,
position and speed etc.
Errors
If a fatal error occurs,
information will be
displayed here.
Profile Data
All the main para-
meters for control-
ing the motor behaviour
are set up in this field.
Zero Search
All the parameters regarding
the position zero search can
be specified here.
Undervoltage handling
Determine what hap-
pens if the supply
voltage gets too low..
MAC motor connection
information Always shows
if the motor is on line or not.
Inputs
This field shows the
actual supply voltage,
the speed at the pulse
input and the voltage
at the analogue input.
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JVL Industri Elektronik A/S - User Manual - Integrated Servo Motors MAC050 - 800 13
1.4 Setting up the MAC motor
1.4.2 Toolbar description
The toolbar at the top of the MacTalk window contains the most commonly used fea-
tures.
Open
Opens a setup file from disc and downloads the setup to the motor. If no motor is con-
nected, the setup is shown in MacTalk and can be edited and saved to disc again.
Save
Saves the actual setup from the motor to a file. If no motor is connected, the actual off-
line settings (including module setups and program) will be saved.
Save in flash
The complete current setup of the basic motor will be saved permanently in the flash
memory. If the motor is powered down or reset, the saved setup will be used.
Reset position
Resets the position counter to 0. The content of the position counter can be monitored
in the right side of the main screen as “Actual position”.
Clear errors
Clears all the errors (if any). Please note that if an error is still present, the motor will
remain in the actual error state.
Reset motor
Reset the motor. Same as doing a power off / on operation.
Filter setup
Short-cut to the servo filter setup screen.
Stop motor
Stops the motor immediately using a controlled deceleration ramp and puts the motor
into passive mode. If a program is present this is stopped as well.
This button shall be considered as a functional stop button and is available also by using
the keyboard shortcut CTRL+F8.
Pressing the “STOP” button will immediately stop the motor by changing the currently
running mode to “passive” using a fast controlled deceleration curve.
Using a MAC motor or a module that enables the user to execute RxP programs this
execution is also halted to prevent the motor from starting up if a startup-mode is setup
from a program.
Warning! Do not consider this button as an appropriate Emergency stop. Al-
ways fit an Emergency stop circuitry to your motor setup.
MacTalk Address
Only if more than one motor is connected to the same interface. The address specified
in this field determines with which motor line communication is made.

14 JVL Industri Elektronik A/S - User Manual - Integrated Servo Motors MAC050 - 800
1.4 Setting up the MAC motor
1.4.3 Saving or opening a setup file to/from disc
The complete motor setup can be saved to disc or retrieved from disc and transferred
to the motor. The setup files can be saved anywhere on the hard disc or to a floppy disc.
Saving and opening a file over a network is also possible.
The setup files use the extension .MAC. By default, the setup files are saved in the same
directory where MacTalk itself is also installed. Other directories can be selected.
From file to motor.
Use Open to select a file containing the desired motor setup.
When opening the file the setup will simultaneously be sent
to the motor.
Remember to use the Save in flash button if the setup must
be permanently saved in the motor.
From motor to file.
Use Save or Save as to save the actual setup in a motor as a
setup file. Make sure that the motor is on-line with MacTalk,
otherwise only the MacTalk default setup is saved.
In case where a motor is present and a disc file is opened the user is prompted for keep-
ing the connection or going offline and displaying the file content. The following message
box appears.
If the user decides to go offline the following textbox is presented.
TT1020GB
TT1153GB
Transfers data to the moto
r
and display the data in
MacTalk afterwards.
Going off/line and displays
the data in MacTalk.
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JVL Industri Elektronik A/S - User Manual - Integrated Servo Motors MAC050 - 800 15
1.4 Setting up the MAC motor
Pressing “OK” disconnects the motor from the PC application and all data can be edited
without any interruption in the motor. The following MacTalk view is presented.
As seen in the bottom info line, the motor is disconnected and the filedata is currently
present in MacTalk. To re-establish communication with the motor, simply press the
“Go Online” button and if any data has been changed a warning box appears enabling the
user to save current data before re-establishing communication with the motor as this
will overwrite existing data in MacTalk.
If data is changed in MacTalk the user is warned that current data in MacTalk may be
overwritten and needs to be saved. The following warning message box appears.
Choosing “No” will immediately upload all motor data, presing “Yes” will save all data in
the open file.
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16 JVL Industri Elektronik A/S - User Manual - Integrated Servo Motors MAC050 - 800