352 JVL A/S - User Manual - Integrated Servo Motors MAC050 - 4500
6.1 Technical Data
General All data are specified for the MAC motor only, i.e. without any expansion module mounted.
Technology AC-servomotor (brushless) with built-in 1024 PPR encoder, hall sensors and 3-phase servo amplifier/controller
Controller capacity MAC050 MAC095 MAC140 MAC141
Rated output @4000 RPM 46W 92W 134W 134W
Rated Torque RMS Nm/(oz-in) 0.11 / (15.6) 0.22 / (31.2) 0.32 / (45.3) 0.48 / (68)
Peak Torque Nm/(oz-in) 0.32 / (45.3) 0.62 / (88) 0.90 / (127.5) 1.59 / (225.2)
Torque @200RPM with 20:1 gear. Nm/(oz-in) 2.0 / (283) 4.1/ (581) 6.0 / (850) 9.0 / (1275)
Inertia kgcm² / (oz-in-sec²) 0.075(0.0011) 0.119(0.0017) 0.173(0.0025) 0.227(0.0032)
Maximum angular acceleration 85300rad/sec² 85300rad/sec² 85300rad/sec² 85300rad/sec²
Length mm/(inch) 112/(4.409) 131/(5.157) 153/(6.024) 172/(6.772)
Weight (kg) (without expansion module) 0.60 0.85 1.10 1.33
Speed range 0-4000RPM with full torque @48VDC. Max 4000 RPM (0-2700RPM for MAC141)
Amplifier control system Sinusoidal wave PWM control. 15.75kHz switching
Filter 4.th. order filter with only one inertia load factor parameter to be adjusted. Expert tuning also available
Feedback Incremental A and B encoder 4096 CPR. (Physical 1024 PPR)
Input power supply Single supply 8-48VDC (absolute max=50VDC. Power consumption with no load: Active/not active = 10/8W
Current consumption MAC050 MAC095 MAC140 MAC141
Avg. current consump. @ 48VDC/Nom. load (ADC) 2 (4000RPM) 4 (4000RPM) 6 (4000RPM) 6 (2700RPM)
Avg. current consump. @ 24VDC/Nom. load (ADC) 2 (2000RPM) 4 (2000RPM) 6 (2000RPM) 6 (1350RPM)
Peak supply current (worst case) 6A peak 12A peak 16A peak 16A peak
Control modes * ±10V Speed and Torque. A+B encoder outputs
* Pulse/direction and 90° phase shifted A++B (Incremental)
* RS422 or RS232 (5V) position and parameter commands
* Gear mode with analogue input speed offset + different options
* Sensor Homing or mechanical Homing
Flange and shaft dimension NEMA23 compatible. Front: 58 x 58mm. Rear: Ø58. Shaft Ø6.35mm
POSITION (pulse inputs)
Command input pulse Pulse/direction or 90° phase shifted A+B. RS422. Logic 0=<2.0V. Logic 1=>3.0V. Max voltage at A+, A-, B+ and B- = 5.5V.
Input frequency 0-2.5MHz or 0-150kHz with input filter
Electronic gear A/B: A=-10000 to 10000, B=1 to 10000. Simulation of all step resolutions for easy replacement of step motor systems.
Follow error register 32 bit
In position width 0-32767 pulses
Position range 32 bit. Infinity, Flip over at ±2
31
pulses.
POSITION (serial communication)
Communication facility From PLC, PC etc via RS422 or asynchronous serial port RS232 with special cable. MacTalk JVL commands, special commands with
high security.
Communication Baud-rate 19200 bit/sec. (19.2kBaud)
Position range ±67.000.000
Speed range 0-4000 RPM. Digital resolution 0.477 RPM
Acceleration range 248 - 397.364 RPM/sec
Addressing Point to point on RS422. Up to 32 units on the same serial RS232/RS485 interface with built-in expansion module. Address range 1-
254
Number of parameters. Standard 85. With MacRegIO software 156 (Only for experts)
Speed variance Max. ±4 RPM variance between command and actual speed.
SPEED/ TORQUE
Analogue speed/torque input. 9 bit + sign. Nom. input voltage ±10V. 10kOhm input resistance. Voltage range max. -10 to +32VDC. Offset typical ±50mV.
Analogue input tolerance Typical ±1%. Max. 5% (Possible to make software adjustment to minimize gain and offset errors)
Sampling rate at analogue input 521 Hz
Encoder output signals A+,A-,B+,B-, RS422. Line driver 5V outputs (SN75176). 90° Phase shifted.
Analogue speed input +voltage -> CW rotation. Shaft view
Zero speed determination. 0 - rated speed.
Speed variance at rated speed Initial error @20°C: ±0,5% Power Supply: ±10%: 0.0%
Load 0-300%: ±0.0% Ambient temperature 0-40°C: ±0,1%
Torque limit in speed mode 0-300% by parameter
Analogue torque input +voltage (positive torque) -> CW rotation. Shaft view
Torque control accuracy ±10% @ 20°C (Reproducibility)
VARIOUS
Electromechanical brake This option is not available on these motor sizes. Use the MAB23x - see Brakes and shaft reinforcement, page 449
Regenerative Integrated power dump. 3W can be absorbed continuously. External attachment is possible
Protective functions. Error trace back.Overload (I²T), Regenerative overload, follow error, function error, regenerative overload (over voltage), software
position limit. Abnormality in flash memory, under voltage, over current.
LED functions Power (Green LED), Error (Red LED). Note that the LED’s are only visible when no module is mounted.
Output signals 2 general purpose NPN <32V/25 mA outputs. Error and In position.
Homing 1: Automatic Homing with sensor connected to input (2 formats)
2: Mechanical Homing without sensor. (Torque controlled)
Shaft load maximum Radial load: 75N (20mm from flange). Axial load: 15N.
Leakage current to earth Not relevant. Supply ground (P-) is hard-wired to earth and motor housing
Standards CE approved / UL pending
Protection IP42 or IP67
Usage / Storage Temperature Ambient 0 to +40°C (32-104°F)/ -20 to +85°C. (-4 to 185 °F) (Humidity 90%).
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