354 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 2048 PPR encoder, hall sensors and 3 phase servo amplifier/controller
Controller capacity - MAC402-D2 & -D3 MAC402-D5 & -D6 (w/brake)
Rated output @3000 RPM - 400W 400W
Rated Torque RMS / Peak Torque - 1.27Nm / 3.8Nm 1.27Nm / 3.8Nm
Inertia (kgcm²) - 0.34 (kgcm²) 0.36 (kgcm²)
Maximum angular acceleration
-
114359 rad/sec²
(1092048 RPM/sec)
102053 rad/sec²
(974534 RPM/sec)
Length - 191mm 225mm
Weight (without expansion module) - 2.3kg 2.8kg
Audible noise level (measured in 30cm distance) - - (to be defined) dB(A)
Backlash (when brake is activated) - - < ±1 degree
Speed range 0-3000RPM with nom. torque. (max 3500RPM short-term). O.Speed protection trips at >4300RPM. Motor will shut down.
Amplifier control system Sinusoidal wave PWM control. 20kHz switching
Filter 6.th. order filter with only one inertia load factor parameter to be adjusted.
Expert tuning also available for professionals.
Feedback Incremental A and B encoder 8192 CPR. (Physical 2048 PPR). Optional multiturn absolute encoder.
Input power supply
Nominal 8-48VDC (max 53VDC) for main power circuit. Recommended also for 12V battery applications. Consumption at 12-
48VDC - see power supply section. 18-32VDC for control circuit.
Control circuitry consumption: MAC402D2 and 3 (wo/brake) = Typical 0.22A @ 24VDC(5.3W).
Control circuitry consumption: MAC402D5 and 6 (w/brake) = Typical 0.58A @ 24VDC(14W).
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 Front: 60x60mm. Rear: 63x115mm. Shaft Ø14mm
POSITION (pulse inputs)
Command input pulse Pulse/direction or 90° phase shifted A+B. RS422
Input frequency 0-8 MHz. 0-1 MHz with input filter
Electronic gear A/B: A= -10000 to 10000, B=1 to10000. Simulation of all step resolutions.
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 0-3000 RPM.
Digital resolution 0.3606 RPM
Acceleration range 250 - 444.675 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. 11bit+sign. nom. input voltage ±10V. 10kOhm input resistance. Voltage range max. -10 to +32VDC. Offset typical ±50mV.
Sampling rate at analogue input 750 Hz
Encoder output signals A+,A-,B+,B-, RS422. Line driver Typical 1.1 - 3.7 Volt outputs (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: ±0,0% Power Supply: ±10%: 0.0%
Load 0-300%: ±0.0% Ambient temperature 0-40°C: ±0,0005% (±50ppm)
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 Optional feature. The brake is activated automatically when an unrecoverable error situation occur.
Regenerative Integrated power dump. External attachment is possible
Protective functions. Error trace back.Overload (I²T), Regenerative overload, follow error, function error, regenerative overload (over voltage), software
position limit. Abnormality in flash memory, under voltage, over current, temperature too high.
LED functions Power (Green LED), Error (Red LED). Note that the LED’s are only visible when no module is mounted.
Output signals 3 general purpose NPN 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: 24.5kg (13.5mm from flange). Axial load: 9.8kg.
Optional brake(-D4 option) Controlled automatic or from input. 1.3Nm, inertia 0.22cm2, turn on time: 50ms, turn off time: 15ms
Rated power rate. (motor) 50.0 kW/s
Mechanical time constant. (motor) 0.59±10% ms
Electrical time constant. (motor) 3.5±10% ms
Leakage current to earth Not relevant. Supply ground is hard-wired to earth and motor housing
Standards CE approved / UL File: E254947
Protection IP55 or IP66
Usage / Storage Temperature Ambient 0 to +40°C (32-104°F)/ Storage (power not applied): -20 to +85°C. (-4 to 185°F) (Humidity 90%).
Temperature warning is given before reaching max.
Temperature shut down and error message generated at 84°C (183F).
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