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Integration in motion
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WWW.JVLMX.COM
2009
ABOUT US..The JVL Company ...integration in motion
Our Mission The mission of JVL Industri Elektro-nik A/S is exclusively to help our customers to build better, faster and more reliable machines.
Our Goals Our goal is to apply the latest tech-nology in order to develop and pro-duce the best, most user-friendly and most economical products of the hig-hest quality.
Our Vision It is our vision to be a preferred and compe-tent partner for lea-ding machine builders all over the world.
Product Program The up-to-date development, re-search and production facilities of JVL employ only the latest techno-logy for the development and pro-duction of electronic controls for step- and servo motors. More than 50% of the staff are engineers with a very high degree of experien-ce and competence in the field of motion control. They are all highly motivated and innovative, and we
can therefore offer a product pro-gramme today that includes all the necessary units and components to build up complete motor control systems. Our Mission The mission of JVL Industri Elektro-nik A/S is exclusively to help our customers to build better, faster and more reliable machines.
MarketingJVL products are marketed all over the world, in Europe, the USA and Asia, by independent re-presentatives who are, carefully selected by JVL to have the neces-sary knowledge and experience, in order to help our customers in the best possible way in their choice of motion control components.
JVL is represented in the following countries:In Germany and Great Britain/Ire-land by our own companies, JVL Deutschland and JVL UK respecti-vely. In USA and overseas we are represented through our company JVL International. Belgium PortugalChina SingaporeFrance SpainGermany SwedenIceland SwitzerlandIreland The NetherlandsItaly United KingdomKorea (KR) Norway We are constantly looking for sui-table representatives in all other markets, and are in the process of signing contracts with several re-cognized companies around the world.
70 to 80% of the equipment produ-ced by JVL is exported and a large part is in use outside Denmark, as an integral part of equipment ex-ported by JVL’s Danish customers.
11
WWW.JVLMX.COM
2009
The CustomersJVL´s customers are mainly machine builders, either independent companies or the process machinery departments of larger concerns. A proportion of customers are also found within the education sector and research laboratories.
Many customers also use JVL equipment as a part of their own production which is then sold globally. Among the customers are some of the biggest and internationally most acknowledged companies, including:
ABOUT US..The JVL Company ...integration in motion
automatic updating of firmware via the internet, and to extended use of Profibus, CANopen, Devicenet, Ethernet and wireless systems With a control system from JVL you are sure to be at the forefront of motion control technology. JVL awardsJVL has received several awards during the years. Among others from Dun & Bradstreet and Experian (KOB and RKI) for the highest credit rating on the triple-A scale and 5 stars scale. These ratings are awarded on the basis of an overall evaluation of a company´s payment history.
ProductionJVL’s production uses external su-ppliers to a large extent, so that the company can concentrate on inspection, final mounting and test. ISO 9000 requirements for quality assurance are widely followed and certification is planned as soon as all procedures have been docu-mented. Computer testing is widely used, and all new designs are tes-ted to ensure that they can withs-tand the environmental conditions in which they have to work in prac-tical use.
New DevelopmentsAt JVL we pay very high attention to, and use a very large part of the budget on, the continuing development and improvement of the product range we offer our customers for motion control.
We are constantly following the trends on the markets and listening to the wishes of our customers. Amongst other things, this attentive approach to the needs of the market has led to the development of unique set-up software with
22
MAC Integrated Motors
33
WWW.JVLMX.COM
2009
MAC050 - 141 - Integrated Servo Motors
MAC050 to MAC141- the complete solution for lower power ratings. Choose between 4 sizes of motor.From 50W to 141W.Also in IP67 versions.Choose Expansion module from the extensive selection for any applica-tion. Motor sizes are:
* MAC050 46W * MAC095 92W * MAC140 134W * MAC141 134W
Expansion module you can choose between:
* Basic Modules * Programmable Modules * Field Bus Modules * High Speed Multi-Axis Modules * Wireless Modules
Most of them available with either cable glands, DSUB connectors and
M12 connectors. See EXPANSION MODULES SELECTION CHART. See the ACCESSORIES, GEARS, POWER SUPPLIES and SPECIAL VER-SIONS for further possibilities.
MAC Integrated Motors
Example Apllication:
Poul Johansen Maskiner A/S is now also using JVL´s integrated AC servo motors
Danish company Poul Johansen Maskiner A/S has long used a wide range of JVL´s step motor contro-llers and drivers for a variety of so-lutions. Recently the company also adopted the new integrated AC-servo motors from JVL - the MAC motors.Danish company Poul Johansen Maskiner A/S has long used a wide range of JVL´s step motor contro-llers and drivers for a variety of so-lutions. Recently the company also adopted the new integrated AC-servo motors from JVL - the MAC motors.
A total of 4 MAC motors in all are being used for a range of different purposes in one of the company’s large assembly machines.
44
WWW.JVLMX.COM
2009
MAC800 - Integrated Servo Motors
MAC800 - The complete solution for larger power ratings.All with built-in mains power su-pply. Choose between model with or wi-thout brake.Also in IP65 version.Choose Expansion module from the extensive selection for any applica-tion.
Motor size is:
* MAC800-D2 746W * MAC800-D5 (with built-in brake) 746W
Expansion module you can choose between:
* Basic Modules * Programmable Modules * Field Bus Modules * High Speed Multi-Axis Modules * Wireless Modules
Most of them available with either cable glands, DSUB connectors and M12 connectors. See EXPANSION MODULES SELECTION CHART.
See the ACCESSORIES, GEARS, and POWER SUPPLIES for further possi-bilities.
MAC800-D models with asso-ciated expansion
modules are UL recognized.
MAC Integrated Motors
55
The MAC motor®. AC-servo motor with integrated driver MAC800
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 central controller unit located remote from the motor. This configuration however has the negative effect that instal-lation costs are a major part of the total expense of building machinery.
The basic idea of the MAC mo-tors 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 spe-cially 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. • 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.• ��5/230V AC for driver voltage.• 24VDC for control circuits.• Option for built-in brake.• Uses the same expansion modules as the MAC 50-�4� series.• Built-in mains supply filter.• CE approved/UL pending.• Low price.
Interface possibilities to the MAC motor: • From PC/PLC with drive- commands via RS232/RS485/ RS422 • Pulse/dir. or quadrature inputs. • �0 bit ±�0V input for speed or torque control. • A+B encoder output.• Register mode via 4 inputs or serial commands• Option for µPLC built-in.• Option for Fieldbus. Profibus- DP, CanOpen, Devicenet, High- speed serial bus etc.• IP55 and IP65
LD0048-16 GB Date: 21-8-08
66
The MAC motor can be con-trolled with ±�0V for speed or torque control with encoder feedback to one master motion controller.
Furthermore the MAC motor can replace an arbitrary step or ser-vo 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 re-place all step- and servo-sys-tems without change in the PLC/PC/controller software.
Adaptation/replacement of existing step motor/servo sys-tems can therefore be achieved quickly.
Parameters are set up via the RS232 port from a Windows program.The supply voltage is 230VAC for the drive and 24VDC for the control circuit. The motor offers a power of 750W. Standard flange so that the MAC motor can replace other servo motors directly without mechanical changes.
System and feature overview
The connector can be chosen as DSUB, Phoenix connector, Military, M�2 plug or cable out. Backlash free and planetary gears in ratios of 3, 5, �2, 20, �00 can be delivered from stock.
77
Selection of register via serial command
Modes of Operation (Basic Motor)Gear ModeIn 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 ModeIn this mode the MAC motor positions the motor via commands sent over the RS422 or serial interface. Various operating param-eters can be changed continuously while the motor is running. This mode of operation is used primarily in systems where the Control-ler is permanently connected to a PC/PLC via the interface. This mode is also well suited for setting up and testing systems.Serial Mode (FastMac)In this mode the MAC motor’s registers contain the parameter sets, positions, velocities, etc., required for the actual system. The registers can be selected and executed by a single byte sent via the serial interface. This mode provides maximum utilisation of the MAC motor’s features since the MAC motor itself takes care of the entire positioning sequence.Velocity / Torque ModeIn this mode the MAC motor controls the motor velocity/torque via the analogue input. This mode is typically used for simple tasks or for applications in which an overall unit, such as a PC-board or PLC, controls velocity and positioning. Encoder A and B signals can be connected to the overall controller to close the servo loop.
Pulse signal
PC/PLC with control-ler modules or pulse generator
Operating param-eters
via RS 2�2/485 Interface
analog ±10V
e.g. PC-board as overall controller
Direction signal
PC/PLC with e.g. LabWiew or MacTalk
PLC or similar
Gear mode
Positioning mode
Serial mode (FastMac)
Encoder signal
Analogue signal
To other MAC motors
Torque versus speed
TT2119GB
= Peak Torque
= Average Torque
Conditions:Supply voltage = Nominel 115 or 230VACAmbient temperature = 20°CTorque setting = 100%Load setting = 1.0
Operation above 3000 RPMcan be done, but losses inthe motor make it impossibleto operate in this area continously
Oz./InchNm
1000
7085.0
5664.0
4253.0
2832.0
1421.0
02000 3000 4000
RPM
MAC800 Torque versus speed
6.0
7.0
8.0
850
991
1133
Operation above 3000 RPMis not recommended.
Velocity/Torque mode
88
Software, MacTalk
Block diagram
Startup modeThe basic functionalityof the MAC motor issetup in this field.
Setup save/openThe complete setupcan be either savedor reloaded from afile using thesebuttons
System controlUse these buttons to save datapermanently, reset the motor etc.
Error HandlingUse these fields to define errorlimits for the position range etc.
Input/OutputsThe functionality of the I/O'sis specified here.
Motor statusThis field shows theactual motor load,position and speed etc.
ErrorsIf a fatal error occurs,information will be displayed here.Profile Data
All the main para-meters for control-ing the motor behaviourare setup in this field.
Zero SearchAll the parameters regardingthe position zero search canbe specified here.
Undervoltage handlingDetermine what must happening if the supplyvoltage gets too low..
MAC motor connectioninformation Always showsif the motor is on line or not.
InputsThis field shows theactual supply voltage,the speed at the pulseinput and the voltageat the analogue input.
TT2013GB
3-phasebrushlessmotor
Optionalbrake
3.35Nm
2000 pproptical
incrementalencoder
Hall elements
+24VDC
Ground
AINAnalogue
input ±10V
A+
A
B+
B
Output 1
Output 3
Input 2
Output 3
Input 1
TransmitGround
Receive+5VDC Out
SwitchmodePowerSupply
Power Dumpfor absorbingregenerative
energy
3-ph. Mos-Fetdriver
Current Sensing
High speedA/D converter
High speeddigital logic
array
Analogue inputLevel shifter
and filter
2 channeldifferentialTransceiver
2 channeldifferentialencoderoutput
3 Digital NPNoutputs showing
motor status32 Bit ARM
Microprocessor64MHz
A
HU
HV
B
W
V
U
HW
Po
wer
su
pp
lyco
nn
ecto
r
Use
r I/O
co
nn
ecto
r
Use
r I/O
co
nn
ecto
r
Ser
ial i
nte
rfac
eco
nn
ecto
r
Basic MAC motor block diagram including motor and feedback devices
TT2016G B
115/230VAC
AI-
AO-
AI+
AO+
BI-
BO-
BI+
BO+
2 channeldifferential
input
2 digitalPNP inputs
Asynchronousserial interface
99
Expansion modules
MAC00-FR4High Speed Multi-axis Module w. M�2 connec-tors: RS485 bus w/up to 255 axes.• Multiaxis operation• Compatible with SMCopen IEC 6��3�-3 auto- mation software• Advanced motion profiles for robot and xyz tables• 4I/4O for user purposes• Open hardware with PIC�8F6520 for own sw.• Dual supply support for MAC50-�4�
MAC00-CSLow 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• �0 or 20 meter cable• NPN outputs
MAC00-B1General purpose module w/ Sub-D connectors: • Ideal for pulse/direction, ±�0V input or RS232/422/485 interface• Standard D- Sub conn.• Home switch input• LEDs to indicate status, Home switch status, Input power status• PNP outputs
MAC00-B2General purpose module w/Cable Glands: other-wise same as –B�.
MAC00-B4General purpose module w/M�2 connectors: otherwise same as –B�, but with USB interface.• Dual supply support for MAC50-�4�
MAC00-R1Nano-PLC Module w/Sub-D connectors: Stand-alone operation with 8 DI + 4 DO, RS232/485.• Ideal for stand-alone operation with sequential program execution• 8/4 Opto isolated in-/out. 5-30VDC• Outputs up to 200mA. �0-30VDC• LEDs to indicate output status Home+power status• RS232/RS485 interface
MAC00-R3Nano-PLC Module w/Cable Glands: otherwise same as –R�.
MAC00-R4Nano-PLC Module w/M�2 connectors: otherwise same as –R�.
MAC00-FS1High Speed Multi-axis Module w. D-Sub connectors and opto-isolated RS485.• 9.6 - 460.8kbit• Up to 255 axes (with repeaters)• Command broadcast• Pulse input or output• Dual supply support for MAC50-�4�MAC00-FS4As module FS� but with M�2 connectors.
MAC00-FP2Profibus Module w/ Cable Glands: Bus, 6 DI + 2 DO and RS232.• Control and setup through �2Mbit/s profibus-DP• Logic I/Os for High speed start/stop In position indication. Home switch• LEDs to indicate status• End limit inputs• Dual supply support for MAC50-�4�MAC00-FP4Profibus Module w/M�2 connectors: Bus, 4 DI/DO and RS232.• End limit inputs• Dual supply support for MAC50-�4�
MAC00-FC4CAN bus Module w/M�2 connectors: Bus, 4 DI/DO and RS232.• Control and setup• Logic I/O for high speed start/stop• CANbus/CANopen DS30�/DSP402• Optional with cable bushes (MAC00-FC2)• End limit inputs• Dual supply support for MAC50-�4�MAC00-FD4DeviceNet Module w/M�2 connectors: Bus, 4 DI/DO and RS232.• End limit inputs• Dual supply support for MAC50-�4�
MAC00-FB4Bluetooth Module w/M�2 connectors. Controlled from PC, PDA, Cellphone or PLC with Bluetooth• Standard Bluetooth SPP profile• Pulse input or output• External connector for antenna• Dual supply support for MAC50-�4�
Basic Modules Bus Modules
Programmable Modules
High Speed Multi-Axis Modules
Wireless Modules
The JVL Integrated motors utilizes the unique module concept. Plug in expansion modules adapt the motor to the application. You can choose connector type, D-Sub. (IP42), cable glands (IP67) or M�2 connectors (IP67) and you can choose freely between Profibus, DeviceNet, CANopen or nano PLC communication. A High Speed and wireless
module add to the possibilities. This means that you have possibilities as with no other motors on the market, and also important, you only pay for what you need. Moreover, if you do not find the feature you need, please contact us, and we will develop your own module. All modules can be delivered with or with cables of up to 20m length.
1010
Technical Data GENERALTechnology AC-servomotor with built-in 2000 PPR encoder, hall sensor and 3 phase servo amplifier/controller. Controller capacity MAC800-D2 and D3 MAC800-D5 and D6 w. brake
Rated output @ 3000RPM 750W 750WRated Torque RMS (Nm) 2.38Nm 2.38NmPeak Torque (Nm) 6.8Nm 6.8NmInertia (kgcm2) 0.9� �.�3Length (mm) �70 2�0Weight (kg) (without expansion module) 3.5 4.3
Speed range 0-3000RPM with full torque. Max 3500 RPM.Amplifier control system Sinusoidal wave PWM control. 20kHz switching.Filter 4th order filter with only one inertia load factor parameter to be adjusted.
Expert tuning also available for professionals.
Feedback Incremental A and B encoder 8000 CPR. (Physical 2000 PPR ) Input power supply ��5/230/240VAC for driver circuit. �2-32VDC for control circuit. Consumption at ��5-240VAC - see power supply section.
Control circuitry consumption: MAC800D2 and 3 (wo/brake) =0.25A @ 24VDC(6W).Control circuitry consumption: MAC800D5 and 6 (w/brake) =0.75A @ 24VDC(�8W).
Control mode * ±�0V 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 analog input speed offset + various options.* Sensor zero search or mechanical zero search.
Flange and shaft dimension Front: 80x80mm. Rear: 80x��3mm. Shaft Ø�9mmPOSITION (pulse inputs) Command input pulse Pulse/direction or 90° phase shifted A+B. RS422 Input frequency 0-8 MHz. 0-�MHz with input filterElectronic gear A/B: A= -�0000 to �0000, B=� to�0000. Simulation of all step resolutions.Follow error register 32 bit In position width 0-32767 pulsePosition range 32 bit. Infinity, Flip over at ±23� 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 �9200 bit/sec (�9.2kBaud)Position range ±67 000 000Speed range 0-3000 RPM. Digital resolution 0.3606 RPMAcceleration range 250 – 444675 RPM/secAddressing Point to point on RS422. Up to 32 units on the same serial RS232/RS485 interface with built-in expansion module. Address range �-254 Number of parameters. Standard 85. With MacRegIO software �56 (Only for experts) Speed variance Max ±4 RPM variance between command and actual speed. SPEED/ TORQUEAnalogue speed/torque input. �2bit ±�0V. �0kOhm input resistance. Voltage range max. -�0 to +32VDC. Offset typical ±50mV.
Sampling rate at analogue input 750 HzEncoder output signals A+, A-, B+, B-, RS422. Line driver 5V outputs (SN75�76). 90° Phase shifted.Analogue speed input +voltage -> CW rotation. Shaft viewZero speed determination. 0 - rated speed.Speed variance at rated speed Initial error @20°C: ±0,5% Power Supply: ±�0%: 0.0%
Load 0-300%: ±0.0% Ambient temperature 0-40°C: ±0,�%
Torque limit in speed mode 0-300% by parameterAnalogue torque input +voltage (positive torque) -> CW rotation. Shaft viewTorque control accuracy ±�0% @ 20°C (Reproducibility)VARIOUSFatal error brake Controlled deceleration by fatal error. Adjustable 250 – 444.675 RPM/sec.Regenerative Integrated power dump. External attachment is possibleProtective functions. Error trace back. Overload I2t, 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) Output signals 3 general purpose NPN 30V/25 mA outputs. Error and In position. Zero search �: Automatic zero search with sensor connected to input (2 formats)
2: Mechanical zero search without sensor. (Torque controlled)
Shaft load maximum Radial load: �8kg (20mm from flange). Axial load: ��kg.Optional brake (-D4 option) Controlled automatic or from input. 3.25Nm, inertia 0.22kgcm2, turn on time: 50ms, turn off time: �5msRated power rate. (motor) 62.8 kW/sMechanical time constant. (motor) 0.428±�0% msElectrical time constant. (motor) 4.�22±�0% msStandards CE approved/UL pending Protection IP55 and IP65Usage / Storage Temperature Ambient 0 to +40°C / -20 to +85°C. (Humidity < 90%)Basic motor connector:(Other functions available with expansion
modules)
RS232 serial inter-face (1)
IN/OUT: User I/O connector(2)
Power (3)
Power (control circuitry)
�: +5VDC out �: Ground 5: A+ MultifunctionI/O �:P+ L�:��5/230VAC PD: Power Dump2: Rx (5V) 2: Analog in 6: A- Multifunction I/O 2:P- N: ��5/230VAC BO: Bus output3: Tx (5V) 3: Out� (Error) 7: B+Multifunction I/O PE: Earth CM: Common
4: Ground 4: Out2 (In pos.) 8: B- Multifunction I/O PE: Earth
Basic motor connector: (J1B)(Not supported by expansion modules at present time)
�: GND 6: IN� ��: B+ �6: BO-2: AIN 7: A+ �2: AO- �7: BI-3: O� (Error) 8: IN2 �3: B- �8: AI+4: O2 (Input) 9: A- �4:BO+ �9: GND5: O3 �0: AO+ �5: BI- 20 AI�
1111
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
HTRG type gears:
HSPG type gears:
Power SupplyThe Integrated MAC800 motors have a complete 90-240VAC power supply built in and furthermore only requires an �8 to 30 VDC for the control cir-cuitry. Having 2 independant supply circuits offer the feature that the sup-ply voltage for the power circuitry (90-240VAC) can be removed for safety reasons while the control circuitry can keep operating and thereby keep the position counter updated and keep other vital functions.
Main power, internal busvoltage and powerdump is accessible through these springcontacts placed under the top lit.Main power must be 115 or 230VAC.
Control power (+18-30VDC) mustbe connected to the P+ and P- terminalat the expansion module.
MAC800 supply connectionsRemove the lit to access
the internal supply terminals
L1 N PE
(Ear
th)
PE
(Ear
th)
PD
BO
CM
TT2025GB
Model. Back-lash [arcmin]
Gear ratio
Effi-ciency [%]
Rated torque>�0000 Hours [Nm]
Emerg stopTorque [Nm]
Inertia at motor shaft [kg*cm2]
Noise[dB(A)]
Radialload @ mid length.�00rpm[N]
Axial load[N]
Weight [kg]
L� [mm]
D� [mm]
D2[mm]
(h7)
HTRG08N003MHP70��9MC �5 3 97 40 �80 0.74 <70 �300 �460 4.0 ��7.5 85 �9HTRG08N005MHP70��9MC �5 5 97 50 200 0.46 <70 �300 �460 4.0 ��7.5 85 �9HTRG08N0�2MHP70��9MC �5 �2 94 70 250 0.48 <70 �300 �460 4.6 �42 85 �9HTRG08N020MHP70��9MC �5 20 94 70 250 0.48 <70 �300 �460 4.6 �42 85 �9HSPG�40-33-SAA-N23 <� 33 >90 37 670 - ��500 �7000 6.4 �40 92HSPG�40-�39-SAA-N23 <� �39 >90 78 670 - ��500 �7000 6.4 �40 92
MAC50,95,140,141-A1
Unba
lanc
ed a
sync
.se
rial i
nter
face
For s
etup
/sen
ding
com
man
ds
Bala
nced
asy
nc.
seria
l int
erfa
ceFo
r set
up/s
endi
ng c
omm
ands
±10V
Ana
logu
e in
put
For c
ontr
ollin
g sp
eed/
torq
ueAl
so u
sed
for z
ero
sear
ch
Puls
e in
puts
Acce
pts
puls
e an
d di
rect
ion
orqu
adra
ture
enc
oder
sig
nal
Puls
e ou
tput
s90
deg
ree
phas
e sh
ifted
outp
uts
from
inte
rnal
enc
oder
Digi
tal u
ser
inpu
tsFo
r con
trol
of p
rogr
am fl
owor
mot
or s
tart
/sto
p
Digi
tal u
ser
outp
uts
For i
ndic
atin
g th
e m
otor
sta
tus
or a
s ou
tput
from
the
pro
gram
Ext.
conn
ecto
r ty
pe
Prot
ectio
n cl
ass
Inte
grat
ed b
rake
MAC50,95,140,141-A3
MAC800-D2/D5
MAC800-D3/D6
MAC00-CS
MAC00-B1
MAC00-B2
MAC00-B4
MAC00-R1
MAC00-FC4
MAC00-R3
MAC00-FD4
MAC00-FB4
MAC00-R4
MAC00-FS1
MAC00-FP2
MAC00-FP4
MAC00-FR4
Feature
Type
Basic MAC motors IP42
Basic MAC motors IP67
Basic MAC motors IP55 or IP65
Basic MAC motors IP55 or IP65
Conn. module w/cable glandsNo electronic features added
Connector module w/DSUBconnectors
Connector module w/cableglands 2)
Nano PLC w/ DSUB connect.
CANopenw/M�2 connectors
Nano PLC w/cable glands2)
Bluetooth module
Nano PLC w/M�2 connectors
Profibus DP w/cable glands2)
Profibus DP w/M�2 connectors
High speed serial RS485Multiaxis. Interf. to IEC6��3�-�
High speed serial RS485Multiaxis
MAC Motors feature overview including expansion modules
5V TTL�9.2kbaudFull Duplex
5V TTL�9.2kbaudFull Duplex
5V TTL�9.2kbaudFull Duplex
5V TTL�9.2kbaudFull Duplex
5V TTL�9.2kbaudFull Duplex
RS232�9.2kbaudFull Duplex
RS232�9.2kbaudFull Duplex
RS232�9.2kbaudFull Duplex
RS232�9.2kbaudFull Duplex
RS232�9.2kbaudFull Duplex
RS232�9.2kbaudFull Duplex
RS232�9.2kbaudFull Duplex
RS232�9.2kbaudFull Duplex
RS232�9.2kbaudFull Duplex
RS232�9.2kbaudFull Duplex
RS232�9.2kbaudFull Duplex
No
RS422 �9.2kbaudFull Duplex
3) RS422 2.5Mhz or
�50kHz (LP)
3)RS422 4096 cpr
3)
RS422 4096 cpr
3)
RS422 8000 cpr
3)
RS422 8000 cpr
3)
RS422 3)
RS422 3)
RS422 3)
RS422 3)
RS422 3)
No
No
No
No
No
No
No
No
No
No
No
No
No
No
No
RS422 3)2.5MHz or
�50kHz
TT20�2GB
No
No4)
4)
4)
No
No
No
No
No
RS422 3)
No
No
No
6 InputsOpto isol.
5-30V
4 InputsOpto isol.5-30V 4)
6 InputsOpto isol.
5-30V
4 InputsOpto isol.5-30V 4)
6 InputsOpto isol.
5-30V
4 InputsOpto isol.5-30V 4)
6 InputsOpto isol.
5-30V
4 InputsOpto isol.
5-30V
4 InputsOpto isol.
5-30V
Motor stat.2 x NPN25mA
Motor stat.2 x NPN25mA
Motor stat.2 x NPN25mA
Motor stat.2 x NPN25mA
Motor stat.2 x NPN25mA
4 OutputsPNP �0-30V
300mA
2 OutputsPNP �0-32V
25mA 4)
2 OutputsPNP �0-32V
25mA 4)
4 OutputsPNP
300mA�0-30V
4 OutputsPNP
300mA�0-30V
2 OutputsPNP �0-32V
25mA
Motor statusPNP �0-32V
25mA
Motor statusPNP �0-32V
25mA 4)
4 OutputsPNP
300mA�0-30V
Motor stat.PNP �0-32V
�00mA
Motor stat.PNP �0-32V
�00mA
Motor stat.PNP �0-32V
�00mA
Motor stat.PNP �0-32V
�00mA
AMPMolex
JST
AMPMolex
JST
AMPMolex
JST
AMPMolex
JST
DSUB
CableGland
M�2
CableGland
CableGland
M�2
CableGland
M�2
M�2
M�2
M�2
M�2
DSUB
DSUB
IP42
IP42
IP67�)
IP67�)
IP42
IP67�)
IP55/65
IP55/65
IP67�)
IP67�)
IP67�)
IP67�)
IP67�)
IP67�)
IP67�)
IP67�)
IP67�)
IP42
RS422 2.5Mhz or
�50kHz (LP)
3)
RS422 2.5Mhz or
�50kHz (LP)
3)
RS422 2.5Mhz or
�50kHz (LP)
3)
RS422 3)2.5Mhz or
�50kHz (LP)
RS422 3)2.5Mhz or
�50kHz (LP)
RS422 3)2.5Mhz or
�50kHz (LP)
RS422 3)2.5Mhz or
�50kHz (LP)
RS422 �9.2kbaudFull Duplex
3)
RS422 �9.2kbaudFull Duplex
3)
RS422 �9.2kbaudFull Duplex
3)
RS422 3)�9.2kbaudFull Duplex
RS422 3) �9.2k
Full Duplex
RS422 3) RS485 �9.2kFull Duplex
RS422 3) RS485 �9.2kFull Duplex
RS485�9.2kbaudHalf Duplex
RS485�9.2kbaudHalflDuplex
RS485�9.2kbaudHalflDuplex
RS485460 kBaudOpto isol.
No
No
No
No
RS485230kbaudOpto isol.
Basic MAC motors
Expansion modules
�) IP67 protection class is only possible if the basic MAC motor also offers IP672) Can be ordered without cable (eg. MAC00-CS) or with cable in metre 2, �0 or 20 (eg. MAC-CS-�0).3) Either pulse input, pulse output or serial must be chosen. Not all of them at the same time.4) Only a total of 4 I/O terminals are available.
Connector module w/M�2 connectors
RS232�9.2kbaudFull Duplex
RS422 3)RS485 �9.2kFull Duplex
RS422 3)2.5MHz or
�50kHz (LP)
D1
TT2010GB
D2
59
∅48 ∅86
L1
51.5
42 6
All dimensions in mm
124xM6 holes
305.0
25.0
46 L1
34
80x80
TT2017GB
D1∅ 50 D2
r=32.5
1212
AC servo motors MAC800Ordering information
MAC800 - D2
Motor TypeAC-brushless
Rated Output 800: �50W
Housing2: IP55�: IP655: IP55 w. brake6: IP65 w. brake
D: Standard. �000 rpm.
AccessoriesRS232-9-� Cable for PCRS232-9-�-Mac Cable for PC with built in RS232 converterMacTalk Software for set-up of Mac motorMacRegIO Software for expertsMAC00-00 End cover IP42 without holesMAC00-0� End cover IP67 with 2 cable bushesMAC00-02 End cover IP67 with 4 cable bushesMacCommOCX OCX/ActiveX driver for WindowsMAC00-xx Expansion modules. See page 5PSU24-075 24VDC Power Supply for control circuit
Mechanical dimensions
Get started quickly!Starter Kit (MAC800-D1-KIT): Contains all neccessary parts to get startedThe kit consists of: Motor, Expansion Module, Software, PC Cable and Power SupplyMAC 800-D2MAC00-B�MacTalkRS232-9-�PSU24-060
3.56
112
84
63.64
d=90
63.64
∅70 +0/-0.03
80
TT2018GB
80
30
a
3
36
8
l
3
1
∅19 +0/-0.013
4x 5.5∅
All dimensions in millimeter
6
120
l a
MAC800 - D2
MAC800 - D5
174
202
13.8
20.2
49.8
54.8
210
23740
MAC800 - D3
MAC800 - D6
1313
The MAC motor®. AC-servo motors with integrated driv-er MAC400 and MAC800
LD0083-01 GB Date: 3-9-08
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 central controller unit located remote from the motor. This configuration however has the negative effect that instal-lation costs are a major part of the total expense of building machinery.
The basic idea of the MAC mo-tors 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 spe-cially 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. • 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.• ��5/230V AC for driver
voltage.• 24VDC for control circuits.• Option for built-in brake.• Uses the same expansion modules as the MAC 50-�4� series.• Built-in mains supply filter.• CE approved/UL pending.• Low price.
Interface possibilities to the MAC motor: • From PC/PLC with drive- commands via RS232/RS485/ RS422 • Pulse/dir. or quadrature inputs. • �0 bit ±�0V input for speed or torque control. • A+B encoder output.• Register mode via 4 inputs or serial commands• Option for µPLC built-in.
1414
System and feature overview
• Option for Fieldbus. Profibus- DP, CanOpen, Devicenet, High- speed serial bus etc.• IP55 and IP65
The MAC motor can be con-trolled with ±�0V for speed or torque control with encoder feedback to one master motion controller.
Furthermore the MAC motor can replace an arbitrary step or ser-vo 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 re-place all step- and servo-sys-tems without change in the PLC/PC/controller software.
Adaptation/replacement of existing step motor/servo sys-tems can therefore be achieved quickly.
Parameters are set up via the RS232 port from a Windows program.The supply voltage is ��5 or 230VAC for the drive and 24VDC for the control circuit. The mo-tors offer a power of 400 and 750W. Standard flange so that
the MAC motor can replace other servo motors directly without mechanical changes.
The connector can be chosen as DSUB, M�2 plug or cable glands. Backlash free and plan-etary gears in ratios of 3, 5, �2, 20, �00 can be delivered from stock.
1515
Selection of register via serial command
Modes of Operation (Basic Motor)Gear ModeIn 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 ModeIn this mode the MAC motor positions the motor via commands sent over the RS422 or serial interface. Various operating param-eters can be changed continuously while the motor is running. This mode of operation is used primarily in systems where the Control-ler is permanently connected to a PC/PLC via the interface. This mode is also well suited for setting up and testing systems.Serial Mode (FastMac)In this mode the MAC motor’s registers contain the parameter sets, positions, velocities, etc., required for the actual system. The registers can be selected and executed by a single byte sent via the serial interface. This mode provides maximum utilisation of the MAC motor’s features since the MAC motor itself takes care of the entire positioning sequence.Velocity / Torque ModeIn this mode the MAC motor controls the motor velocity/torque via the analogue input. This mode is typically used for simple tasks or for applications in which an overall unit, such as a PC-board or PLC, controls velocity and positioning. Encoder A and B signals can be connected to the overall controller to close the servo loop.
Pulse signal
PC/PLC with control-ler modules or pulse generator
Operating param-eters
via RS �3�/485 Interface
analog ±10V
e.g. PC-board as overall controller
Direction signal
PC/PLC with e.g. LabWiew or MacTalk
PLC or similar
Gear mode
Positioning mode
Serial mode (FastMac)
Encoder signal
Analogue signal
To other MAC motors
Torque versus speed
Velocity/Torque mode
= Peak Torque
= Average Torque
Conditions:Supply voltage = Nominel 115 or 230VACAmbient temperature = 20°CTorque setting = 100%Load setting = 1.0
Operation above 3000 RPMcan be done, but losses inthe motor make it impossibleto operate in this area continously
TT2250GB
Oz./InchNm
1000
7085.0
5664.0
4253.0
2832.0
1421.0
02000 3000 4000
RPM
MAC800 Torque versus speedMAC400 Torque versus speed
6.0
7.0
8.0
850
991
1133
Operation above 3000 RPMis not recommended.
Oz./InchNm
1000
566
425
283
142
4.0
2.0
1.0
3.0
02000 3000 4000
RPM
Operation above 3000 RPMis not recommended.
1616
Software, MacTalk
Block diagram
Startup modeThe basic functionalityof the MAC motor issetup in this field.
Setup save/openThe complete setupcan be either savedor reloaded from afile using thesebuttons
System controlUse these buttons to save datapermanently, reset the motor etc.
Error HandlingUse these fields to define errorlimits for the position range etc.
Input/OutputsThe functionality of the I/O'sis specified here.
Motor statusThis field shows theactual motor load,position and speed etc.
ErrorsIf a fatal error occurs,information will be displayed here.Profile Data
All the main para-meters for control-ing the motor behaviourare setup in this field.
Zero SearchAll the parameters regardingthe position zero search canbe specified here.
Undervoltage handlingDetermine what must happening if the supplyvoltage gets too low..
MAC motor connectioninformation Always showsif the motor is on line or not.
InputsThis field shows theactual supply voltage,the speed at the pulseinput and the voltageat the analogue input.
TT2013GB
3-phasebrushlessmotor
Optionalbrake
3.35Nm
2000 pproptical
incrementalencoder
Hall elements
+24VDC
Ground
AINAnalogue
input ±10V
A+
A
B+
B
Output 1
Output 3
Input 2
Output 3
Input 1
TransmitGround
Receive+5VDC Out
SwitchmodePowerSupply
Power Dumpfor absorbingregenerative
energy
3-ph. Mos-Fetdriver
Current Sensing
High speedA/D converter
High speeddigital logic
array
Analogue inputLevel shifter
and filter
2 channeldifferentialTransceiver
2 channeldifferentialencoderoutput
3 Digital NPNoutputs showing
motor status32 Bit ARM
Microprocessor64MHz
A
HU
HV
B
W
V
U
HW
Po
wer
su
pp
lyco
nn
ecto
r
Use
r I/O
co
nn
ecto
r
Use
r I/O
co
nn
ecto
r
Ser
ial i
nte
rfac
eco
nn
ecto
r
Basic MAC motor block diagram including motor and feedback devices
TT2016G B
115/230VAC
AI-
AO-
AI+
AO+
BI-
BO-
BI+
BO+
2 channeldifferential
input
2 digitalPNP inputs
Asynchronousserial interface
1717
Expansion modules
MAC00-FR4High Speed Multi-axis Module w. M�2 connec-tors: RS485 bus w/up to 255 axes.• Multiaxis operation• Compatible with SMCopen IEC 6��3�-3 auto- mation software• Advanced motion profiles for robot and xyz tables• 4I/4O for user purposes• Open hardware with PIC�8F6520 for own sw.• Dual supply support for MAC50-�4�
MAC00-CSLow 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• �0 or 20 meter cable• NPN outputs
MAC00-B1General purpose module w/ Sub-D connectors: • Ideal for pulse/direction, ±�0V input or RS232/422/485 interface• Standard D- Sub conn.• Home switch input• LEDs to indicate status, Home switch status, Input power status• PNP outputs
MAC00-B2General purpose module w/Cable Glands: other-wise same as –B�.
MAC00-B4General purpose module w/M�2 connectors: otherwise same as –B�, but with USB interface.• Dual supply support for MAC50-�4�
MAC00-R1Nano-PLC Module w/Sub-D connectors: Stand-alone operation with 8 DI + 4 DO, RS232/485.• Ideal for stand-alone operation with sequential program execution• 8/4 Opto isolated in-/out. 5-30VDC• Outputs up to 200mA. �0-30VDC• LEDs to indicate output status Home+power status• RS232/RS485 interface
MAC00-R3Nano-PLC Module w/Cable Glands: otherwise same as –R�.
MAC00-R4Nano-PLC Module w/M�2 connectors: otherwise same as –R�.
MAC00-FS1High Speed Multi-axis Module w. D-Sub connectors and opto-isolated RS485.• 9.6 - 460.8kbit• Up to 255 axes (with repeaters)• Command broadcast• Pulse input or output• Dual supply support for MAC50-�4�MAC00-FS4As module FS� but with M�2 connectors.
MAC00-FP2Profibus Module w/ Cable Glands: Bus, 6 DI + 2 DO and RS232.• Control and setup through �2Mbit/s profibus-DP• Logic I/Os for High speed start/stop In position indication. Home switch• LEDs to indicate status• End limit inputs• Dual supply support for MAC50-�4�
MAC00-FP4Profibus Module w/M�2 connectors: Bus, 4 DI/DO and RS232.• End limit inputs• Dual supply support for MAC50-�4�
MAC00-FC4CAN bus Module w/M�2 connectors: Bus, 4 DI/DO and RS232.• Control and setup• Logic I/O for high speed start/stop• CANbus/CANopen DS30�/DSP402• Optional with cable bushes (MAC00-FC2)• End limit inputs• Dual supply support for MAC50-�4�
MAC00-FD4DeviceNet Module w/M�2 connectors: Bus, 4 DI/DO and RS232.• End limit inputs• Dual supply support for MAC50-�4�
MAC00-FB4Bluetooth Module w/M�2 connectors. Controlled from PC, PDA, Cellphone or PLC with Bluetooth• Standard Bluetooth SPP profile• Pulse input or output• External connector for antenna• Dual supply support for MAC50-�4�
Basic Modules Bus Modules (continued)
Programmable Modules
High Speed Multi-Axis Modules
Wireless Modules
The JVL Integrated motors utilizes the unique module concept. Plug in expansion modules adapt the motor to the application. You can choose connector type, D-Sub. (IP42), cable glands (IP67) or M�2 connectors (IP67) and you can choose freely between Profibus, DeviceNet, CANopen or nano PLC communication. A High Speed and wireless
module add to the possibilities. This means that you have possibilities as with no other motors on the market, and also important, you only pay for what you need. Moreover, if you do not find the feature you need, please contact us, and we will develop your own module. All modules can be delivered with or with cables of up to 20m length.
Bus Modules
MAC00-EW4WLAN Module w/M�2 connectors. Controlled from PC, PDA, Cellphone or PLC with WLAN• Standard WLAN profile• Pulse input or output• External connector for antenna• Dual supply support for MAC50-�4�
1818
Technical Data GENERALTechnology AC-servomotor with built-in 2000 PPR encoder, hall sensor and 3 phase servo amplifier/controller. Controller Type MAC400-D2 and D3 MAC400-D5 and D6 w.
brakeMAC800-D2 and D3 MAC800-D5 and D6 w.
brakeCon-troller capac-ity
Rated output @ 3000RPM 400W (0.84hp) 400W (0.84hp) 750W (�.00hp) 750W (�.00hp)
Rated Torque RMS �.3Nm (�84oz-in) �.3Nm (�84 oz-in) 2.38Nm (337.04oz-in) 2.38Nm (337.04oz-in)Peak Torque 3.8Nm (538.�3oz-in) 3.8Nm (538.�3oz-in) 6.8Nm (962.96oz-in) 6.8Nm (962.96oz-in)Inertia (kgcm2)/(oz-in-s2) 0.34/0.0048�5 0.36/0.005098 0.9�/0.0�289 �.�3/0.0�6Length �9�mm (7.52”) 224.5mm (8.84”) �74mm (6.85”) 2�0mm (8.27”)Weight (without expansion module)
2.3kg (5.��lb) 2.8kg (6.�7lb) 3.5kg (7.7�6lb) 4.3kg (9.48lb)
Speed range 0-3000RPM with full torque. Max 3500 RPM.Amplifier control system Sinusoidal wave PWM control. 20kHz switching.Filter: 6th order filter with only one inertia load factor parameter to be adjusted. Expert tuning also available.Feedback: Standard incremental:Optional absolute multiturn encoder:
Incremental A and B encoder 8�92 CPR. (Physical 2048 PPR ) Encoder 65535 CPR and 4096 rev.
Input power supply ��5/230/240VAC for driver circuit. �2-32VDC for control circuit. Consumption at ��5-240VAC - see power supply section.Control circuitry consumption: MAC800D2 and 3 (wo/brake) =0.25A @ 24VDC(6W).Control circuitry consumption: MAC800D5 and 6 (w/brake) =0.75A @ 24VDC(�8W).
Control mode * ±�0V 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 analog input speed offset + various options.* Sensor zero search or mechanical zero search.
Flange and shaft dimension Front: 80x80mm. Rear: 80x��3mm. Shaft Ø�9mmPOSITION (pulse inputs) Command input pulse Pulse/direction or 90° phase shifted A+B. RS422 Input frequency 0-8 MHz. 0-�MHz with input filterElectronic gear A/B: A= -�0000 to �0000, B=� to�0000. Simulation of all step resolutions.Follow error register 32 bit In position width 0-32767 pulsePosition range 32 bit. Infinity, Flip over at ±23� 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 �9200 bit/sec (�9.2kBaud)Position range ±67 000 000Speed range 0-3000 RPM. Digital resolution 0.3606 RPMAcceleration range 250 – 444675 RPM/secAddressing Point to point on RS422. Up to 32 units on the same serial RS232/RS485 interface with built-in expansion mod-
ule. Address range �-254 Number of parameters. Standard 85. With MacRegIO software �56 (Only for experts) Speed variance Max ±4 RPM variance between command and actual speed. SPEED/ TORQUEAnalogue speed/torque input. �2bit ±�0V. �0kOhm input resistance. Voltage range max. -�0 to +32VDC. Offset typical ±50mV. Sampling rate at analogue input 750 HzEncoder output signals A+, A-, B+, B-, RS422. Line driver 5V outputs (SN75�76). 90° Phase shifted.Analogue speed input +voltage -> CW rotation. Shaft viewZero speed determination. 0 - rated speed.Speed variance at rated speed Initial error @20°C:
±0,5% Power Supply: ±�0%: 0.0%
Load 0-300%: ±0.0% Ambient temperature 0-40°C: ±0,�%Torque limit in speed mode 0-300% by parameterAnalogue torque input +voltage (positive torque) -> CW rotation. Shaft viewTorque control accuracy ±�0% @ 20°C (Reproducibility)VARIOUSFatal error brake Controlled deceleration by fatal error. Adjustable 250 – 444.675 RPM/sec.Regenerative Integrated power dump. External attachment is possibleProtective functions. Error trace back. Overload I2t, 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) Output signals 3 general purpose NPN 30V/25 mA outputs. Error and In position. Zero search �: Automatic zero search with sensor connected to input (2 formats)
2: Mechanical zero search without sensor. (Torque controlled)Shaft load maximum Radial load: �8kg (20mm from flange). Axial load: ��kg.Optional brake (-D4 option) Controlled automatic or from input. 3.25Nm, inertia 0.22kgcm2, turn on time: 50ms, turn off time: �5msRated power rate. (motor) 62.8 kW/s
1919
Mechanical time constant. (motor) 0.428±�0% msElectrical time constant. (motor) 4.�22±�0% msStandards CE approved/UL pending Protection IP55 and IP65
Basic motor connector:(Other functions available with expan-sion modules)
RS232 serial interface (1)
IN/OUT: User I/O connector (2) Power (3)
Power (control circuitry)
�: +5VDC out �: Ground 5: A+ MultifunctionI/O �:P+ L�: ��5/230VAC PD: Power Dump2: Rx (5V) 2: Analog in 6: A- MultifunctionI/O 2:P- N: ��5/230 VAC BO: Bus output3: Tx (5V) 3: Out� (Error) 7: B+ MultifunctionI/O PE: Earth CM: Common4: Ground 4: Out2 (In pos.) 8: B- MultifunctionI/O PE: Earth
Basic motor connector: (J1B)(Not supported by expansion modules at present time)
�: GND 6: IN� ��: B+ �6: BO-2: AIN 7: A+ �2: Ao- �7: BI-3: O� (Error) 8: IN2 �3: B- �8: AI+4: O2 (Input) 9: A- �4: BO+ �9: GND5: O3 �0: A0+ �5: BI 20 AI�
Technical Data (continued)
Power SuppliesThe Integrated MAC400 and MAC800 motors have a complete 90-240VAC power supply built in and furthermore only requires an �8 to 30 VDC for the control circuitry. Having 2 independ-ant supply circuits offer the feature
External Power Supplies
For external low voltage supply JVL can deliver a wide variety of high quality switchmode powersupplies. Power Supply PSU24-075 is recom-mended for control power supply. For detailed information ask for separate
Main power, internal bus voltage and powerdump is accessible through these springcontacts placed under the top lid.Main power must be 115 or 230VAC.
Control power (+18-30VDC) mustbe connected to the P+ and P- terminalat the expansion module.
Power Input115/230VAC
Ext. Power dumpand Bus voltage
MAC800 supply connectionsRemove the lid to access
the internal supply terminals
MAC400 supply connections
L1 N PE
(Ear
th)
PE
(Ear
th)
PD
BO
CM
TT2249GB
that the supply voltage for the power circuitry (90-240VAC) can be removed for safety reasons while the control circuitry can keep operating and there-by keep the position counter updated and keep other vital functions.
2020
MAC motor selection chart
MAC50,95,140,141-A1
Unba
lanc
ed a
sync
.se
rial i
nter
face
For s
etup
/sen
ding
com
man
ds
Bala
nced
asy
nc.
seria
l int
erfa
ceFo
r set
up/s
endi
ng c
omm
ands
±10V
Ana
logu
e in
put
For c
ontr
ollin
g sp
eed/
torq
ueAl
so u
sed
for z
ero
sear
ch
Puls
e in
puts
Acce
pts
puls
e an
d di
rect
ion
orqu
adra
ture
enc
oder
sig
nal
Puls
e ou
tput
s90
deg
ree
phas
e sh
ifted
outp
uts
from
inte
rnal
enc
oder
Digi
tal u
ser
inpu
tsFo
r con
trol
of p
rogr
am fl
owor
mot
or s
tart
/sto
p
Digi
tal u
ser
outp
uts
For i
ndic
atin
g th
e m
otor
sta
tus
or a
s ou
tput
from
the
pro
gram
Ext.
conn
ecto
r ty
pe
Prot
ectio
n cl
ass
Inte
grat
ed b
rake
MAC50,95,140,141-A3
MAC400/800-D2/D5
MAC400/800-D3/D6
MAC00-CS
MAC00-B1
MAC00-B2
MAC00-B4
MAC00-R1
MAC00-FC4
MAC00-R3
MAC00-FD4
MAC00-FB4
MAC00-R4
MAC00-FS1
MAC00-FP2
MAC00-FP4
MAC00-FR4
Feature
Type
Basic MAC motors IP42
Basic MAC motors IP67
Basic MAC motors IP55 or IP65
Basic MAC motors IP55 or IP65
Conn. module w/cable glandsNo electronic features added
Connector module w/DSUBconnectors
Connector module w/cableglands 2)
Nano PLC w/ DSUB connect.
CANopenw/M�2 connectors
Nano PLC w/cable glands2)
Bluetooth module
Nano PLC w/M�2 connectors
Profibus DP w/cable glands2)
Profibus DP w/M�2 connectors
High speed serial RS485Multiaxis. Interf. to IEC6��3�-�
High speed serial RS485Multiaxis
MAC Motors feature overview including expansion modules
5V TTL�9.2kbaudFull Duplex
5V TTL�9.2kbaudFull Duplex
5V TTL�9.2kbaudFull Duplex
5V TTL�9.2kbaudFull Duplex
5V TTL�9.2kbaudFull Duplex
RS232�9.2kbaudFull Duplex
RS232�9.2kbaudFull Duplex
RS232�9.2kbaudFull Duplex
RS232�9.2kbaudFull Duplex
RS232�9.2kbaudFull Duplex
RS232�9.2kbaudFull Duplex
RS232�9.2kbaudFull Duplex
RS232�9.2kbaudFull Duplex
RS232�9.2kbaudFull Duplex
RS232�9.2kbaudFull Duplex
RS232�9.2kbaudFull Duplex
No
RS422 �9.2kbaudFull Duplex
3) RS422 2.5Mhz or
�50kHz (LP)
3)RS422 4096 cpr
3)
RS422 4096 cpr
3)
RS422 8�92/
8000 cpr
3)
RS422 8�92/
8000 cpr
3)
RS422 3)
RS422 3)
RS422 3)
RS422 3)
RS422 3)
No
No
No
No
No
No
No
No
No
No
No
No
No
No
No
RS422 3)2.5MHz or
�50kHz
TT20�2GB
No
No4)
4)
4)
No
No
No
No
No
RS422 3)
No
No
No
6 InputsOpto isol.
5-30V
4 InputsOpto isol.5-30V 4)
6 InputsOpto isol.
5-30V
4 InputsOpto isol.5-30V 4)
6 InputsOpto isol.
5-30V
4 InputsOpto isol.5-30V 4)
6 InputsOpto isol.
5-30V
4 InputsOpto isol.
5-30V
4 InputsOpto isol.
5-30V
Motor stat.2 x NPN25mA
Motor stat.2 x NPN25mA
Motor stat.2 x NPN25mA
Motor stat.2 x NPN25mA
Motor stat.2 x NPN25mA
4 OutputsPNP �0-30V
300mA
2 OutputsPNP �0-32V
25mA 4)
2 OutputsPNP �0-32V
25mA 4)
4 OutputsPNP
300mA�0-30V
4 OutputsPNP
300mA�0-30V
2 OutputsPNP �0-32V
25mA
Motor statusPNP �0-32V
25mA
Motor statusPNP �0-32V
25mA 4)
4 OutputsPNP
300mA�0-30V
Motor stat.PNP �0-32V
�00mA
Motor stat.PNP �0-32V
�00mA
Motor stat.PNP �0-32V
�00mA
Motor stat.PNP �0-32V
�00mA
AMPMolex
JST
AMPMolex
JST
AMPMolex
JST
AMPMolex
JST
DSUB
CableGland
M�2
CableGland
CableGland
M�2
CableGland
M�2
M�2
M�2
M�2
M�2
DSUB
DSUB
IP42
IP42
IP67�)
IP67�)
IP42
IP67�)
IP55/65
IP55/65
IP67�)
IP67�)
IP67�)
IP67�)
IP67�)
IP67�)
IP67�)
IP67�)
IP67�)
IP42
RS422 2.5Mhz or
�50kHz (LP)
3)
RS422 2.5Mhz or
�50kHz (LP)
3)
RS422 2.5Mhz or
�50kHz (LP)
3)
RS422 3)2.5Mhz or
�50kHz (LP)
RS422 3)2.5Mhz or
�50kHz (LP)
RS422 3)2.5Mhz or
�50kHz (LP)
RS422 3)2.5Mhz or
�50kHz (LP)
RS422 �9.2kbaudFull Duplex
3)
RS422 �9.2kbaudFull Duplex
3)
RS422 �9.2kbaudFull Duplex
3)
RS422 3)�9.2kbaudFull Duplex
RS422 3) �9.2k
Full Duplex
RS422 3) RS485 �9.2kFull Duplex
RS422 3) RS485 �9.2kFull Duplex
RS485�9.2kbaudHalf Duplex
RS485�9.2kbaudHalflDuplex
RS485�9.2kbaudHalflDuplex
RS485460 kBaudOpto isol.
No
No
No
No
RS485230kbaudOpto isol.
Basic MAC motors
Expansion modules
�) IP67 protection class is only possible if the basic MAC motor also offers IP672) Can be ordered without cable (eg. MAC00-CS) or with cable in metre 2, �0 or 20 (eg. MAC-CS-�0).3) Either pulse input, pulse output or serial must be chosen. Not all of them at the same time.4) Only a total of 4 I/O terminals are available.
Connector module w/M�2 connectors
RS232�9.2kbaudFull Duplex
RS422 3)RS485 �9.2kFull Duplex
RS422 3)2.5MHz or
�50kHz (LP)
2121
Planetary and cycloidal (robot) gearheads
• Sealed Ball Bearings• High Reliability, High Efficiency Design• NEMA Mounting Standards
• High Shaft Loading Capacity• Low Backlash Design• Strong, Caged Roller Bearings
HTRG type gears: HSPG type gears:
Model. Back-lash [arcmin]
Gear ratio
Effi-ciency [%]
Rated torque>�0000 Hours [Nm]
Emerg stopTorque [Nm]
Inertia at motor shaft [kg*cm2]
Noise[dB(A)]
Radialload @ mid length.�00rpm[N]
Axial load[N]
Weight [kg]
L� [mm] D� [mm]
D2[mm]
(h7)
HTRG08N003MHP70��9MC �5 3 97 40 �80 0.74 <70 �300 �460 4.0 ��7.5 85 �9HTRG08N005MHP70��9MC �5 5 97 50 200 0.46 <70 �300 �460 4.0 ��7.5 85 �9HTRG08N0�2MHP70��9MC �5 �2 94 70 250 0.48 <70 �300 �460 4.6 �42 85 �9HTRG08N020MHP70��9MC �5 20 94 70 250 0.48 <70 �300 �460 4.6 �42 85 �9HSPG�40-33-SAA-N23 <� 33 >90 37 670 - ��500 �7000 6.4 �40 92HSPG�40-�39-SAA-N23 <� �39 >90 78 670 - ��500 �7000 6.4 �40 92
D1
TT2010GB
D2
59
∅48 ∅86
L1
51.5
42 6
All dimensions in mm12
4xM6 holes
305.0
25.0
46 L1
34
80x80
TT2017GB
D1∅ 50 D2
r=32.5
• Precision Input Pinion with Balanced Clamp Collar
JVL offers a wide range of both planetary and cycloidal (robot) gears. They fit either directly or by means of
adaptors on the MAC400 and MAC800 motors. gear ratios can be from �:3 to �:�000. Se separate datasheets for
detailed information
2222
3.5[0.14]
6 [0.24]
112[4.41]
84[3.31]
63.64[2.51]
D=90 [3.94]
63.64 [2.51]
∅70 [2.96] +0/-0.03 [0.00118]
80 [3.15]
TT2018GB
80[3.15]
30 [1.18]
a
3 [0.118]
36 [1.42]
8 [0.32]
l
3 [0.118]
1 [0.039]
19 [0.75] +0/-0.013 [0.0005]
4x 5.5 [0.22]∅
All dimensions in millimeter [inches]
6 [0.24]
120[4.72]
l a
MAC800 - D2
MAC800 - D5
174 [6.85]
202 [7.95]
13.8 [0.54]
20.2 [0.80]
49.8 [1.96]
54.8 [2.16]
210 [8.27]
237 [9.33]40 [1.57]
MAC800 - D3
MAC800 - D6
Mechanical dimensions MAC400
Mechanical dimensions MAC800
186 [7.32]141.4 [5.57]152.5 [6.0]
224.5 [8.82]
107.9 [4.25]191 [7.52]
mm [Inch]BA
mm [Inch]mm [Inch]L
MAC400-D3 with BrakeMAC400-D2 without Brake
137.
5 [5
.41]
60 [2
.36]
60 [2.36]
114
[4.4
9]
70 [2
.76]
5.5
[0.2
2]
TT2247GB
A
Ø0.06 A
0.08 A
h9 5
[0.2
0]
h6 1
4[0.
55]
0.0160 [2
.3] +
2 [0
.08]
/-0
h7
[1.9
7]50
L 30 [1.18]
38.5 [1.51] B 3.15 [0.12]
83.1 [3.27] A 25 [0.98]
All dimensions in millimeter [inches]
2323
AC servo motors MAC400 and MAC800Ordering information
MAC400 - D�
Motor TypeAC-brushless
Rated Output 400: 400W 800: �50W
Housing�: IP553: IP�55: IP55 w. brake�: IP�5 w. brake
D: Standard. 3000 rpm.
AccessoriesRS232-9-� Cable for PCRS232-9-�-Mac Cable for PC with built in RS232 converterMacTalk Software for set-up of Mac motorMacRegIO Expert tool for programmersMacCommOCX OCX/ActiveX driver for WindowsMAC00-xx Expansion modules. See page 5PSU24-075 24VDC Power Supply for control circuit
Get started quickly!
Starter Kit (MAC800-D1-KIT): Contains all neccessary parts to get started
The kit consists of: Motor, Expansion Module, Software, PC Cable and Power SupplyMAC 400-D2MAC00-B�MacTalkRS232-9-�PSU24-060
Starter Kit (MAC400-D1-KIT): Contains all neccessary parts to get started
The kit consists of: Motor, Expansion Module, Software, PC Cable and Power SupplyMAC 800-D2MAC00-B�MacTalkRS232-9-�PSU24-060
2424