1 The MAC motor®. AC-servo motor with Integrated driver MAC50, 95, 140 and 141 The MAC series of brushless servo motors with integrated electronics represents a major step forward. All the necessary electronics in a servo system are integrated in the motor itself. In the past, a traditional motor system has typically been based on a cen ller unit located remote from the motor. This configuration however has the negative effect that installation costs are a major part of the total expense of building machinery. The basic idea of the MAC motors is to minimize 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 the controller and motor. The servo motor, hall sensor, encoder and electronics are specially developed by JVL so that together they form a closed unit in which the power driver and controller are mounted inside the motor in a closed section. The advantages of this solution are: • De-central intelligence. • Simple installation. No cables between motor and driver. • Pulse/direction or quadrature inputs. • 10 bit ±10V input for speed or torque control. A+B en coder output. • Register mode via 4 inputs or serial commands • Option for ìPLC built-in with IF THEN ELSE commands. • Option for Fieldbus. Profibus DP, Canbus, Devicenet, LD0043-15 GB 29-11-06 • EMC safe. Switching noise remains within motor. • Compact. Does not take space in cabinet. Typically a 3/5 core cable is used from PLC or similar to MAC motor. • 12-48VDC power. • Low price. Interface possibilities to the MAC motor: • From PC/PLC with drivecommands via RS232/RS485/ RS422

2 The MAC motor can be controlled with ±10V for speed or torque control with encoder feedback to one master motion controller. Furthermore the MAC motor can replace an arbitrary step or servo system, being based on pulse and direction signals. There is a built-in electronic gear so that the MAC motor can simulate all possible step resolutions. The MAC motor can thus replace all step- and servo-systems without change in the PLC/PC/ controller software. Adaptation/ replacement of existing step motor/servo systems can therefore be achieved quickly. Parameters are set up via the RS232 port from a...

3 Modes of Operation (Basic Motor) Gear Mode In this mode the MAC motor functions as in a step motor system. The motor moves one step each time a voltage pulse is applied to the step-pulse input. Velocity, acceleration and deceleration are determined by the external frequency. Use of an encoder enables monitoring and adjustment during motor operation — a feature that is not possible with a standard step motor system. In addition, the MAC motor also provides a facility for electronic gearing at a keyed-in ratio with analogue speed offset. Positioning Mode In this mode the MAC motor positions the...

4 Software, MacTalk Block diagram 3-phase brushless motor 1024(2000) ppr optical incremental encoder Hall elements +12-48VDC (+24V and 90-240VAC) Ground AIN Analogue input ±10V A+ A B+ B Output 1 Output 2 Transmit Ground ( ) = Valid for MAC400 and MAC800 Receive +5VDC Out Switchmode Power Supply Power Dump for absorbing regenerative energy 3-phase driver Current Sensing High speed A/D converter High speed digital logic array Analogue input Level shifter and filter 2 channel differential Transceiver Asynchronous serial interface Memory and system control 2 Digital NPN outputs showing motor status...

5 Expansion modules MAC00-FR4 High Speed Multi-axis Module w. M12 connectors: RS485 bus w/up to 255 axes. • Multiaxis operation • Compatible with SMCopen IEC 61131-3 automation software • Advanced motion profiles for robot and xyz tables • 4I/4O for user purposes • Open hardware with PIC18F6520 for own sw. • Dual supply support for MAC50-141 MAC00-CS Low cost module, connection directly to basic motor, serial communication not RS232. • Low cost module • Cable connected directly to basic motor connector • User I/O connection • 10 or 20 meter cable • NPN outputs MAC00-B1 General purpose module...

6 Technical Data GENERAL Technology AC-servomotor with built-in 1024 PPR encoder, hall sensor and 3 phase servo amplifier/controller. Controller capacity MAC50 MAC95 MAC140 MAC141 Rated output @ 4000RPM 46W 92W 134 W 134W Rated Torque RMS (Nm) 0.11Nm 0.22Nm 0.32Nm 0.48Nm Peak Torque (Nm) 0.32Nm 0.62Nm 0.90Nm 1.59Nm Torque @ 200 RPM with 20:1 gear 2.0 Nm 4.1 Nm 6.0Nm 9.0Nm Inertia (kgcm2) 0.075 0.119 0.173 0.227 Length (mm) 112 131 153 172 Weight (kg) (without expansion module) 0.6 0.85 1.1 1.33 Speed range 0-4000RPM with full torque @ 48VDC. Max 4000 RPM (0-2700 RPM for MAC141) Amplifier control...

7 MAC motor selection chart Planetary and cycloidal gearheads • Sealed Ball Bearings • High Reliability, High Efficiency Design • NEMA Mounting Standards • High Shaft Loading Capacity • Low Backlash Design • Strong, Caged Roller Bearings • Precision Input Pinion with Balanced Clamp Collar L1: Gear length incl. flange, D2: Gear housing diameter, D2:Output shaft diameter HTRG type gears: HSPG type gears: Power supply and power dump resistor Large capacitor which absorbs energy returned during deceleration so that it can be reused. If the voltage nevertheless increases to more than about 50VDC,...

8 JVL Industri Elektronik A/S Blokken 42 DK-3460 Birkerød, Denmark Tel: +45 4582 4440 Fax: +45 4582 5550 E-mail: [email protected] www.jvl.dk AC servo motors MAC50, 95, 140 and 141 Ordering information Accessories MAC140 - A 1 Motor Type AC-brushless Rated Output 50: 46W 95: 92W 140:134W 141:134W Protection 1: IP42 3: IP67 (Stainless steel flange+shaft) A: Standard, max. 4000 rpm RS232-9-1 Cable for PC RS232-9-1-Mac Cable for PC with built in RS232 converter MacTalk Software for set-up of Mac motor MacRegIO Software for experts MAC00-00 End cover IP42 without holes MAC00-01 End cover IP67 with 2 cable...