JVL A/S - User Manual - Integrated Servo Motors MAC050 - 4500 1
Contents
1 Introduction .................................................................................................................... 3
1.1 Features .............................................................................................................................................................. 4
1.2 Overall description ............................................................................................................................................. 5
1.3 Expansion modules overview ........................................................................................................................... 10
2 Function 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
3 Hardware description ................................................................................................... 87
3.1 Connector overview ......................................................................................................................................... 88
3.2 Power Supply.................................................................................................................................................... 89
3.3 Serial interface ................................................................................................................................................ 111
3.4 User I/O .......................................................................................................................................................... 112
4 MacTalk 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
5 Expansion 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
6 Appendix ..................................................................................................................... 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
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