JVL MAC050 User manual

LB0047-39GB JVL A/S Revised January 2023
MAC050 - MAC141
MAC400 - MAC402 - MAC800
MAC1200 - MAC1500 - MAC3000
MAC4500
Integrated Servo Motors
User Manual
Including expansion modules

Important
User Information
Please contact your nearest JVL representative in case of technical assis-
tance. Your nearest contact can be found on our web site www.jvl.dk
Copyright 1998-2022, JVL A/S. All rights reserved.
This user manual must not be reproduced in any form without prior written
permission of JVL A/S.
JVL A/S reserves the right to make changes to information contained in this
manual without prior notice.
Similarly JVL A/S assumes no liability for printing errors or other omissions
or discrepancies in this user manual.
MacTalk and MotoWare are registered trademarks
JVL A/S
Bregnerødvej 127
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 A/S - User Manual - Integrated Servo Motors MAC050 - 4500 1
Contents
1Introduction .................................................................................................................... 3
1.1 Features .............................................................................................................................................................. 4
1.2 Overall description ............................................................................................................................................. 5
1.3 Expansion modules overview ........................................................................................................................... 10
2Function description ..................................................................................................... 15
2.1 Using Position mode ......................................................................................................................................... 16
2.2 Gear Mode ........................................................................................................................................................ 17
2.3 Coil Mode ......................................................................................................................................................... 20
2.4 Analogue bi position mode ............................................................................................................................... 23
2.5 Analogue to position mode ............................................................................................................................... 24
2.6 Mechanical Homing ........................................................................................................................................... 28
2.7 Error messages and error handling ................................................................................................................... 36
2.8 How to monitor motor torque and load .......................................................................................................... 47
2.9 Under Voltage Handling .................................................................................................................................... 48
2.10 Servo filter adjustment ...................................................................................................................................... 49
2.11 Using external SSI encoder ............................................................................................................................... 55
2.12 Absolute Multiturn Encoder ............................................................................................................................. 61
2.13 Electro Mechanical brake .................................................................................................................................. 70
2.14 Rotary table option ........................................................................................................................................... 71
2.15 Power Save ....................................................................................................................................................... 77
2.16 Safe Torque Off (STO) ..................................................................................................................................... 78
2.17 Silent mode ....................................................................................................................................................... 80
2.18 High resolution velocity .................................................................................................................................... 82
2.19 How to update the motor firmware ................................................................................................................. 86
3Hardware description ................................................................................................... 87
3.1 Connector overview ......................................................................................................................................... 88
3.2 Power Supply.................................................................................................................................................... 89
3.3 Serial interface ................................................................................................................................................ 111
3.4 User I/O .......................................................................................................................................................... 112
4MacTalk setup software ............................................................................................. 119
4.1 Installation of MacTalk .................................................................................................................................... 120
4.2 Using MacTalk to setup the motor ................................................................................................................. 123
4.3 MacTalk Scope usage ...................................................................................................................................... 131
4.4 Message Center .............................................................................................................................................. 136
5Expansion Modules ..................................................................................................... 137
5.1 Expansion Module MAC00-CS ....................................................................................................................... 138
5.2 Expansion Module MAC00-B1/B2/B4 ............................................................................................................. 139
5.3 Expansion module MAC00-B41 ...................................................................................................................... 155
5.4 Expansion module MAC00-B42 ...................................................................................................................... 172
5.5 Expansion module MAC00-Exx4 .................................................................................................................... 178
5.6 Expansion Mod. MAC00-FC2/FC4/FC41 ....................................................................................................... 179
5.7 Expansion Module MAC00-FD4 ..................................................................................................................... 245
5.8 Expansion Module MAC00-FP2/FP4 .............................................................................................................. 269
5.9 Expansion Module MAC00-FS1/FS4 ............................................................................................................... 289
5.10 Expansion module MAC00-P4/P5 .................................................................................................................. 295
5.11 Expansion Module MAC00-R1/R3/R4 ............................................................................................................. 311
6Appendix ..................................................................................................................... 351
6.1 Technical Data ................................................................................................................................................ 352
6.2 Torque Curves ................................................................................................................................................ 360
6.3 Efficiency curve ............................................................................................................................................... 364
6.4 Physical Dimensions ........................................................................................................................................ 365
6.5 Life time .......................................................................................................................................................... 375
6.6 Installation instructions ................................................................................................................................... 378
6.7 Emergency stop considerations ...................................................................................................................... 384
6.8 Trouble-shooting guide ................................................................................................................................... 390
6.9 Bus serial communication ............................................................................................................................... 392
6.10 Serial communication ...................................................................................................................................... 395

2 JVL A/S - User Manual - Integrated Servo Motors MAC050 - 4500
6.11 MacTalk communication .................................................................................................................................402
6.12 Registers ..........................................................................................................................................................406
6.13 Connecting to other equipment ......................................................................................................................445
6.14 Accessories ......................................................................................................................................................448
6.15 Cable drawings ................................................................................................................................................450
6.16 Vibration test certificates .................................................................................................................................452
6.17 CE Declaration of Conformity ........................................................................................................................455
6.18 UL Certificate of Compliance ..........................................................................................................................457
7Practical Applications ................................................................................................. 459
7.1 Synchronous Movement ..................................................................................................................................460

JVL A/S - User Manual - Integrated Servo Motors MAC050 - 4500 3
1 Introduction

4 JVL A/S - User Manual - Integrated Servo Motors MAC050 - 4500
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 8 to 48VDC, 90
to 240VAC, 47-63Hz and 3 x 400-
480VAC, 47-63Hz
• Excellent efficiency compared to
step motors.
• Resolution 4096, 8000 or 8192 cpr.
• Wide variety of expansion modules which
can be mounted internally:
- Profibus DP module
- CAN-Open® or DeviceNet module
- Ethernet modules
- nano-PLC w/graphic programming
- Several module connector options
- Custom-designed modules on request
• Outputs for In position and Error
indication.
• High order digital filter which only needs a
single inertia adjustment.
• Standard NEMA23 flange.
• Built-in sensors make the motor stay sta-
tionary when powering up.
• Easy and simple Windows program - Mac-
Talk available for installation/setup.
• High-efficiency power stage keeps temper-
ature at a low level.
• CE approved. UL recognized (MAC400 and
800/1200 - MAC1500 & 3000 pending)

JVL A/S - User Manual - Integrated Servo Motors MAC050 - 4500 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, 402, 800, 1200, 1500, 3000 and MAC4500have 2 supply
voltages which offers the possibility to remove energy to the motor but keep having the
control core active and thereby keeping position values and other dynamic parameters.
3-phase
brushless
motor
Optional
brake
Optical
incr. or abs.
encoder
+24VDC
Motor dependent
Ground+Earth
AIN1 & 2
Analogue
inputs ±10V
Output 1
Output 2
Tr a n s m i t
Ground
Receive
+5VDC Out
Switchmode
Power
Supply
Power Dump
for absorbing
regenerative
energy
3-phase
motor driver
Current
Sensing
High speed
A/D converter
High speed
digital logic
array
Analogue inputs
Level shifter
and filter
2 channel
differential
Tr a n s c e i v e r
2 Digital NPN
outputs showing
motor status
32 Bit ARM
Micro processor
64MHz
ABZ
or
Data
W
V
U
Power supply
User I/O connectors
Serial interface
Basic MAC motor block diagram including motor and feedback devices
TT1543-01GB
1x 12-48VDC
1x 115/230VAC or
3x 400-480VAC
Motor dependent
Asynchronous
serial interface
A2+
A2
B2+
B2
Multifunction I/O2
A1+
A1
B1+
B1
Multifunction I/O1
2 channel
differential
Tr a n s c e i v e r

6 JVL A/S - User Manual - Integrated Servo Motors MAC050 - 4500
1.2 Overall description
The MAC motor is available many different sizes: MAC050, MAC95, MAC140, MAC141-
A, MAC141-F, MAC400, MAC800, MAC1200, MAC1500, MAC3000 and MAC4500
with continuous power ratings from 46W to 4500W. The basic functions and I/O features
are the same for all models.
Basic
Motor Type
Continuous
Torque
Peak
Torque
Power
(cont.)
Nom.
Speed
Flange Total
length
MAC50 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
(67.97 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”)
MAC402 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”)
MAC1200 3.82 Nm
(538.1 oz-in)
11.46 Nm
(1614 ox-in) 1200 Watt 3000 RPM 80x80mm (3.14”x3.14”)
226 mm
(8.89”)
MAC1500 4.78 Nm
(676.91 oz-in)
14.33 Nm
(2030.7 oz-in) 1500 Watt 3000 RPM 130x130mm (5.12”x5.12”)
205.0 mm
(8.07”)
MAC3000 9.56 Nm
(1353.8 oz-in)
28.7 Nm
(4061.4 oz-in) 3000 Watt 3000 RPM 130x130mm (5.12”x5.12”)
255 mm
(10.04”)
MAC4500 14.30 Nm
(2025.0 oz-in)
52.00 Nm
(7363.7 oz-in) 4500 Watt 3000 RPM 130x130mm (5.12”x5.12”)
330 mm-
391 mm
(13.0” -
15.5”)

JVL A/S - User Manual - Integrated Servo Motors MAC050 - 4500 7
1.2 Overall description
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 internal
registers can be set up.
- Velocity mode.
The motor velocity can be controlled using MacTalk software or by sending commands
via the serial interface.
- Position mode
The motor position can be controlled using MacTalk or by sending position commands
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 control
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 maintaining var-
iable but constant speed in feeding mechanisms or as a slave driver in multi-axis systems
with a master position controller for several axes.
- Analogue Velocity (with deadband) Mode.
Same function as Analogue Velocity Mode but a deadband around zero is inserted. The
deadband is +/-600mV. This feature is useful if a potentiometer or similar device is used
to control the speed of the motor, since the motor will be stationary if the input voltage
is almost at zero.
- Analogue Velocity/Gear Mode.
This mode is similar to Gear mode but it is possible to increase or decrease the position
of the motor by adjusting the voltage applied to the ±10V input. A typical application 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 sys-
tems with a master position controller for several axes. The update frequency is 521 Hz.
Use Analogue Torque (Direct) if a higher bandwidth is required.

8 JVL A/S - User Manual - Integrated Servo Motors MAC050 - 4500
1.2 Overall description
- 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.
- Analogue Gear Mode.
This mode is somewhat similar to Gear mode or Analogue Velocity/Gear mode. The posi-
tion of the motor is controlled by the multifunction I/O, which is configured as input. Ei-
ther 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 pulses
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 mo-
tor 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 controlling 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 pre-
cise position regardless of the speed at which the “main motor” is running.
- Analogue bi position mode
The motor will move a certain distance or go to one of 2 positions depending on the volt-
age at the analogue input. The voltage at the analogue input will be seen as a digital signal,
meaning either logic low or logic high.
The distance or positions can be set up in 2 internal registers and saved permanently
in the motor.
- Analogue to position
The position of the motor will change proportionally with the voltage at the analogue in-
put, between the zero position and a predefined position.
A typical application could be controlling a valve position using a voltage or a current con-
trol signal.

JVL A/S - User Manual - Integrated Servo Motors MAC050 - 4500 9
1.2 Overall description
All the motor families with sub-features is shown below.
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 (-D6)
MAC1500-D5 (-D6)
MAC3000-D5 (-D6)
MAC800-D2 (-D3)
MAC1500-D2 (-D3)
MAC3000-D2 (-D3)
MAC400-D2 (-D3)
MAC402-D2 (-D3)
MAC400-D5 (-D6)
MAC402-D5 (-D6)
Feature
Ty p e
Basic MAC motors IP42
Basic MAC motors IP67
Basic MAC motor IP55 (IP66)
Basic MAC motor IP55 (IP66)
Basic MAC motor IP55 (IP66)
Basic MAC motor IP55 (IP66)
Basic MAC motor IP55 (IP66)
Basic MAC motor IP55 (IP66)
Basic MAC motor IP55 (IP66)
Basic MAC motor IP55 (IP66)
Basic MAC motor IP55 (IP66)
Basic MAC motor IP55 (IP66)
MAC Motors feature overview
TT0933-02GB
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
5V TTL
19.2kbaud
Full Duplex
5V TTL
19.2kbaud
Full Duplex
5V TTL
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)
8192 cpr
RS422 (3)
8192 cpr
RS422 (3)
8000 cpr
(8192)
RS422 (3)
8000 cpr
(8192)
RS422 (3)
8192 cpr
RS422 (3)
8192 cpr
RS422 (3)
8192 cpr
RS422 (3)
8192 cpr
No
No
No
No
No
No
No
No
No
No
No
No
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.
2 x NPN
25mA
Motor stat.
2 x NPN
25mA
Motor stat.
2 x NPN
25mA
AMP
Molex
JST
AMP
Molex
JST
AMP
Molex
JST
AMP
Molex
JST
AMP
Molex
JST
AMP
Molex
JST
AMP
Molex
JST
AMP
Molex
JST
AMP
Molex
JST
AMP
Molex
JST
AMP
Molex
JST
AMP
Molex
JST
IP42
IP67
(1)
IP55
(IP66)
IP55
(IP66)
IP55
(IP66)
IP55
(IP66)
IP55
(IP66)
IP55
(IP66)
IP55
(IP66)
IP55
(IP66)
IP55
(IP66)
IP55
(IP66)
Basic MAC motors
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)
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)
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)
8192 cpr
RS422 (3)
8192 cpr

10 JVL A/S - User Manual - Integrated Servo Motors MAC050 - 4500
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-EZ4
MAC00-EW4
MAC00-FS1, FS4
MAC00-FP2, FP4
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 Bluetooth module
Wireless Zigbee (IEEE 802.15.4) module
Wireless WLAN module
Profibus DP
12Mbit with 6(4) Inputs
and (2) outputs
High speed serial RS485
Multiaxis 460kbaud
MAC00-B2
MAC00-FC2
MAC00-FP2
MAC00-B4
MAC00-B41
MAC00-FB4, EZ4 and EW4
MAC00-FC4
MAC00-FD4
MAC00-FP4
MAC00-FS4
Not planned
Not planned
Notplanned
Notplanned
Not planned
Notplanned
Not planned
Notplanned
Notplanned
DSUB Connectors
MAC00-B1
MAC00-FS1
TT1033-02GB
Industrial Ethernet modules
MAC00-EC4
MAC00-EI4
MAC00-EL4
MAC00-EM4
MAC00-EP4
EtherCAT© module
EthernetIP module
Powerlink module
Modbus TCP/IP module
Profinet module
©
©
©
©
MAC00-EC4, EI4, EL4, EM4, EP4
Not planned
Not planned
Industrial Ethernet modules extended IO
MAC00-EC41
MAC00-EI41
MAC00-EL41
MAC00-EM41
MAC00-EP41
EtherCAT© module
EthernetIP module
Powerlink module
Modbus TCP/IP module
Profinet module
©
©
©
©
Not planned
N
o
t
p
l
a
n
n
e
d

JVL A/S - User Manual - Integrated Servo Motors MAC050 - 4500 11
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-P4
Rearplates with or without
cable glandsConn.
No electronic features included and no print at surface
Nano PLC with graphic programming
interface 8 input and 4 outputs.
Process module 4-20mA input and output
galvanic isolated. Only M12 Connectors
MAC00-R1
MAC00-00
MAC00-R3
MAC00-01 MAC00-02 MAC00-CSxx
TT1176-03GB
Not planned
Not planned
DSUB Connectors
MAC00-R4
MAC00-P4
MAC00-P5
Process module 4-20mA input and output
galvanic isolated. Harting and M12 Connectors
MAC00-P5
Notplanned
Notplanned

12 JVL A/S - User Manual - Integrated Servo Motors MAC050 - 4500
1.3 Expansion modules overview
Below a detailed module overview also covering features, connectors etc. for each mod-
ule.
Continued next page.
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MAC00-CS (2)
MAC00-E 4 x
MAC00-FB4
MAC00-B1
MAC00-E 41
x
MAC00-FZ4
MAC00-EW4
MAC00-B2
MAC00-B4
MAC00-B41
Feature
Ty p e
Conn. module w/cable glands
No electronic features added
Ethernet module
Basic version
Bluetooth module
Ethernet module
Extended version
Zigbee module
- IEEE 802.15.4
WLAN module
Connector module w/DSUB
connectors
Connector module w/cable
glands (2)
Connector module
w/M12 connectors
Connector module
w/M12 connectors
Expansion module overview.
TT1544-01GB
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
RS232
19.2kbaud
Full Duplex
RS232
19.2kbaud
Full Duplex
RS422 (3)
RS422 (3)
RS422 (3)
RS422 (3)
RS422 (3)
RS422 (3)
RS422 (3)
RS422 (3)
RS422 (3)
No
No
No
No
6 In/Out.
(selectable)
5-30V
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
DSUB
Plug-
able
Cable
Gland
M12
Conn.
M12
Conn.
Cable
Gland
M12
Conn.
M12
Conn.
M12
Conn.
M12
Conn.
M12
Conn.
IP42
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 (3)
2.5Mhz or
150kHz (LP)
RS422 (3)
2.5Mhz or
150kHz (LP)
RS422 (3)
2.5Mhz or
150kHz (LP)
RS422
19.2kbaud
Full Duplex
(3)
No No
No
No
No
No
No
No
No
RS422 (3)
RS485 19.2k
Full Duplex
RS422 (3)
RS485 19.2k
Full Duplex
RS422 (3)
RS485 19.2k
Full Duplex
RS422 (3)
RS485 19.2k
Full Duplex
RS422 (3)
RS485 19.2k
Full Duplex
x2
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
Basic 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) Only a total of 4 I/O terminals are available.
MAC00-FC2
MAC00-FC4
MAC00-FD4
MAC00-FP2
MAC00-FP4
CAN-Open module
w/cable glands
CAN-Open module
w/M12 connectors
DeviceNet module
w/M12 connectors
Profibus DP w/cable glands
Profibus DP
w/M12 connectors
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 (4)
(4)
(4)
No
No
No
No
No
No
No
No
No
No
6 Inputs
Opto isol.
5-30V
4 Inputs
Opto isol.
5-30V (4)
6 Inputs
Opto isol.
5-30V
4 Inputs
Opto isol.
5-30V (4)
4 Inputs
Opto isol.
5-30V (4)
2 Outputs
PNP 10-32V
25mA
2 Outputs
PNP 10-32V
25mA (4)
2 Outputs
PNP 10-32V
25mA
2 Outputs
PNP 10-32V
25mA (4)
2 Outputs
PNP 10-32V
25mA (4)
Cable
Gland
M12
Conn.
M12
Conn.
Cable
Gland
M12
Conn.
IP67
(1)
IP67
(1)
IP67
(1)
IP67
(1)
IP67
(1)
No
No
No
No
No
1 Input
Opto isol.
5-30V
4 Inputs
Opto isol.
5-30V
1 Output
PNP 10-32V
15mA
Motor stat.
PNP 10-32V
100mA
Motor stat.
PNP 10-32V
100mA
Motor stat.
PNP 10-32V
100mA
2 Outputs
PNP 10-32V
15mA
Industrial Ethernet modules
Wireless modules
Fieldbus modules

JVL A/S - User Manual - Integrated Servo Motors MAC050 - 4500 13
1.3 Expansion modules overview
Continued from last page
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Feature
Ty p e
E overview.xpansion module
TT GB1175-02
Multiaxis modules
Process Control 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) Only a total of 4 I/O terminals are available.
Programmable modules
MAC00-P5
MAC00-P4
MAC00-R1
MAC00-R3
MAC00-R4
Process module 4-20mA
M12+Harting connectorsw/
Process module 4-20mA
only M12w/
Nano PLC w/ DSUB connect.
Nano PLC w/cable glands (2)
Nano PLC w/M12 circular
connectors
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
R 422S (3)
R 422S (3)
NoNo
No
No
No
No
8 Inputs
Opto isol.
5-30V
8 Inputs
Opto isol.
5-30V
8 Inputs
Opto isol.
5-30V
3 Inputs
NO iso.!
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
00mA1
1 Output
PNP 10-32V
00mA1
M12+
Hart.
Conn.
M12
Conn.
Cable
Gland
M12
Conn.
DSUB
Plug-
able
IP42
IP67
(1)
IP67
(1)
IP67
(1)
IP67
(1)
R 422S (3)
2.5Mhz or
150kHz (LP)
R 422S (3)
2.5Mhz or
150kHz (LP)
R422S (3)
R 485 19.2kS
Full Duplex
R422S (3)
R 485 19.2kS
Full Duplex
RS485
19.2kbaud
Half Duplex
RS485
19.2kbaud
HalflDuplex
RS485
19.2kbaud
HalflDuplex
MAC00-FS1
MAC00-FS4
RS485 High Speed. w DSUB/
connectors. Multiaxis control
RS485 High Speed. w M12/
connectors. Multiaxis control
RS232
19.2kbaud
Full Duplex
RS232
19.2kbaud
Full Duplex
RS422 (3)
RS422 (3)
4 Inputs
Opto isol.
5-30V
4 Inputs
Opto isol.
5-30V
2 Outputs
PNP 10-32V
mA25
2 Outputs
PNP 10-32V
mA25
DSUB
Plug-
able
M12
Conn.
IP42
IP67
(1)
RS422 (3)
2.5Mhz or
150kHz (LP)
RS422 (3)
2.5Mhz or
150kHz (LP)
R 485S
460kBaud
Opto isol.
R 485S
460kBaud
Opto isol.
No

14 JVL A/S - User Manual - Integrated Servo Motors MAC050 - 4500

JVL A/S - User Manual - Integrated Servo Motors MAC050 - 4500 15
2 Function description

16 JVL A/S - User Manual - Integrated Servo Motors MAC050 - 4500
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.
Startup Mode Select position mode in this field.
Reset Position The counter which keeps track of the actual position can reset using
this button.
Error Handling Worst case limits for the position range can be set up here. Please con-
sult the Error Handling chapter for details.
Input/Outputs The multifunction I/O terminals can be defined here. In Position mode
these terminals can either work as a quadrature output from the inter-
nal encoder or as a serial RS422 interface for commands sent from a
master controller. See also the Multifunction I/O general description,
page 115.
Motor Status The actual mode, speed, position, position error, load torque, load
current, regenerative energy (returned energy from the motor) can be
monitored here.
Inputs The supply voltage can be measured here.
Startup mode
Choose Position mode
Reset Position
Use this button to reset the
actual position counter
Error Handling
Use these fields to define error
limits for the position range etc.
Input/Outputs
The functionality of the I/O's is specified
here. In position mode, only Pulse Output
or Serial Interface is relevant.
Motor status
This field shows the
actual motor load,
position and speed etc.
Inputs
This field shows the
actual supply voltage
.
Errors
If a fatal error occurs,
information will be
displayed here.
Run Status
The motor status
can be monitored here.
Profile Data
All the main para-
meters for the
motion profile
are setup in this
field.
Motion Parameters
The desired position
and the "in position"
window can be
specified here.
MAC motor connection information
Always shows if the motor is on line or not.
TT0926 GB-01