JVL A/S - User Manual - Integrated Servo Motors MAC050 - 4500 359
6.1 Technical Data
Notes: * = Only continuous above 2000 RPM if the motor is with fan (MAC4500-Gx-xTxx). See also torque curves.
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 - MAC4500-G2 or G3 MAC4500-G5 or G6 (w. brake)
Rated output @3000 RPM - 4500W 4500W
Rated Torque RMS / Peak Torque - 14.33Nm* / 43Nm 14.33Nm* / 43Nm
Inertia (kgcm²) - 40.5 kgcm² (TBD) kgcm²
Maximum angular acceleration - (TBD) rad/sec² (TBD) rad/sec²
Length - 312mm / 12.276” 366mm / 14.439”
Weight (without expansion module) - 13.2kg 17.1kg
Audible noise level (measured in 30cm distance) - - 65 dB(A)
Backlash (when brake is activated) - - ±0.5 degree
Speed range 0-3000 RPM with full torque. Max 3500 RPM. Overspeed protection if speed >3600 = Motor will go in passive mode
Amplifier control system Sinusoidal wave PWM control. 5kHz 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/lines per rev.). Optional multiturn absolute encoder.
Input power supply 3 phase supply 400 to 480AC, 47-63Hz for driver circuit. Absolute max 550VAC! 18-32VDC for control circuit.
Control circuitry consumption: MAC4500-G2 and G3 (wo/brake) =0.3A @ 24VDC(8W).
Control circuitry consumption: MAC4500-G5 and G6 (w/brake) =1.2A @ 24VDC(24W).
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: 130x130mm. Rear: 130x203mm(excl. connectors). Shaft Ø24.0mm +0/-0.013mm
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 (Driver: 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: xxN (xxmm from flange). Axial load: xxkg.
Optional brake (-D5 or D6 option) Controlled automatic or from input. Brake torque: 16Nm, turn on time: 16ms, turn off time (motor released): 55ms
Leakage current to earth Less than 3 mA @ 50 Hz
Standards CE approved / UL recognized -Pending (file number E254947)
Protection IP55 (-D2 or D5 version). IP66 (D3 or D6 version)
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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