MACS3 - zub · The MACS3 is a freely programmable control system including ten digital and one analog input. Two CAN busses provide direct control of multiple axes or an easy extension

Single- and Multi-Axis Control Installation Manual and Hardware Reference

zub machine control AG

zub machine control AG · 2013

MACS3

Imprint

zub machine control AG Manual MACS3 · Introduction page 2

MACS3

Imprint

Address zub machine control AG · Buzibachstrasse 31

CH-6023 Rothenburg

Telephone +41-41-541 50 40

Fax +41-41-541 50 49

http://www.zub.ch

http://www.aposs.ch

[email protected]

zub machine control AG. All rights reserved. Copyright

zub machine control AG reserves the right to change the described software or the features

associated with the product without prior notice.

No part of this publication may be reproduced in any form (copy, microfilm or any other

form) or processed or duplicated with use of electronic systems or given to a third party

without prior written permission from zub machine control AG.

Version 1.x, Issue June 2005

Disclaimer The author reserves the right not to be responsible for the topicality, correctness, complete-

ness, or quality of the information provided. Liability claims regarding damage caused by the

use of any information provided, including any kind of information which is incomplete or

incorrect, will therefore be rejected.

All descriptions in this manual or in other written form, which you have, are considered to be

a general rule and do not imply a guarantee.

Editorial department Monika Droeger, marketingdienstleistung

This manual is set in ITC MixageBQ. To improve utilization of the printed manual and the on-

line help with a variety of programs, only special characters from the Symbol and Wingdings

fonts were used.

Trademarks APOSS, APOS OS and the zub logo are registered trademarks of zub machine control AG.

ITC MixageBQ is a registered trademark of the International Typeface Corporation.

Microsoft, MS, MS-DOS, Microsoft NT and XP, Windows and Wingdings are either registered

trademarks or trademarks of the Microsoft Corporation in the USA and other countries.

All other trademarks are the property of their respective owners.

http://www.zub.ch

mailto:[email protected]

Table of Contents


MACS3

MACS3 1 Table of Contents

Imprint..................................................................................................................................................................................... 2 Table of Contents........................................................................................................................................................... 3

Introduction 5 Control for Positioning and Synchronizing ................................................................................................. 5

Application Areas and Functions.....................................................................................................................................5 Controller Program.....................................................................................................................................................................6

Drives....................................................................................................................................................................................... 6 About this manual.......................................................................................................................................................... 7

Conventions ......................................................................................................................................................................................7 Basics 8

Display and Setting Elements ............................................................................................................................... 8 LEDs........................................................................................................................................................................................................8 7-Segment-Display.....................................................................................................................................................................8 HEX Switches ..................................................................................................................................................................................9

Terminal Assignment ................................................................................................................................................... 9 Tips for Beginners and Professionals 10

Tips for Former MACS2 Users.......................................................................................................................... 10 Supply Voltage............................................................................................................................................................................ 10 Migrating MACS2 Configuration Data..................................................................................................................... 10 CANINI .............................................................................................................................................................................................. 10 Further differences between MACS2 and MACS3 ...................................................................................... 10

Tips for an EMC-compatible Installation................................................................................................... 11 Hardware Installation 13

General Safety Instructions ................................................................................................................................. 13 Before You Start.......................................................................................................................................................... 13 Supply Voltage Connection.................................................................................................................................. 14

What to do, if … ....................................................................................................................................................................... 14 Communication Set-up (serial).......................................................................................................................... 15

What to do, if … ....................................................................................................................................................................... 15 Limit Switch and Reference Switch Setting ............................................................................................ 16 Encoder Connection.................................................................................................................................................. 17

Master / Slave............................................................................................................................................................................. 17 Encoder Testing......................................................................................................................................................................... 18 What to do, if … ....................................................................................................................................................................... 18

Amplifier and Motor Connection..................................................................................................................... 19 Amplifier ........................................................................................................................................................................................... 19 Motor ................................................................................................................................................................................................. 19 Cabling Amplifier or Frequency Converter.......................................................................................................... 20 Sample Connection Amplifier V1 ................................................................................................................................. 21 Amplifier/Motor Testing...................................................................................................................................................... 22 What to do, if … ....................................................................................................................................................................... 22

Frequency Converter Connection ................................................................................................................... 23 Testing the Frequency Converter................................................................................................................................ 24 What to do, if … ....................................................................................................................................................................... 24

CAN Networking .......................................................................................................................................................... 25 Master Bus / Slave Bus....................................................................................................................................................... 25 Communication Set-up (CAN)....................................................................................................................................... 25

Table of Contents MACS3

Setting the Baud rate ............................................................................................................................................................ 26 Setting of the CAN number CANNR ....................................................................................................................... 27

Initialize CAN Drives .................................................................................................................................................. 31 CANINI .............................................................................................................................................................................................. 31 Parameter DRIVETYPE........................................................................................................................................................ 32 APOSS commands................................................................................................................................................................. 32 What to do, if … ....................................................................................................................................................................... 32

Migrating Configuration Data (*.cnf).............................................................................................................. 33 I/O Extensions ............................................................................................................................................................... 34

Program Test ............................................................................................................................................................................... 34 Check Inputs and Outputs ................................................................................................................................................ 34

Programming 35 First steps towards programming.................................................................................................................. 35 Setting the Control Parameters........................................................................................................................ 35

Mode of Action of the PID Filter................................................................................................................................. 35 Basic Setting for a Vibration-free Operation .................................................................................................... 36 Fine Adjustment......................................................................................................................................................................... 36

Download new Firmware via the Interface 37 Firmware Download ................................................................................................................................................. 37

Using the Download Wizard ........................................................................................................................................... 37 Using a DOS window for Download....................................................................................................................... 37 Ending Download .................................................................................................................................................................... 37

Hardware Reference 38 Supply voltage ............................................................................................................................................................... 38 CPU ........................................................................................................................................................................................ 38 COM Interface ............................................................................................................................................................... 38 Axis Controller ............................................................................................................................................................... 39 Encoder Inputs.............................................................................................................................................................. 39 Control Inputs (freely programmable) ......................................................................................................... 39 Control Outputs (freely programmable)..................................................................................................... 40 Analog Input .................................................................................................................................................................... 40

Reading Values ........................................................................................................................................................................... 40 HEX Switches................................................................................................................................................................. 41 Display Elements ......................................................................................................................................................... 41 Mechanical Dimensions.......................................................................................................................................... 41 Operation Conditions............................................................................................................................................... 41

Appendix 42 CAN Adapter................................................................................................................................................................... 42

Technical Data............................................................................................................................................................................. 42 Terminal Assignment ............................................................................................................................................................. 42

Index...................................................................................................................................................................................... 43


Control for Positioning and Synchronizing MACS3

Introduction

Control for Positioning and Synchronizing

The MACS3 is a freely programmable control system including ten digital and one analog

input. Two CAN busses provide direct control of multiple axes or an easy extension of inputs

and outputs. With these features and fast processing time, the MACS3 is ideal for

synchronization of complex systems.

Application Areas and

Functions With these features the MACS3 is ideal for the following plant and machinery uses:

♦ flying saws

♦ belt synchronization, conveyor belts

♦ coil applications

♦ printing machines

♦ x-y-tables

♦ electronic gearing

♦ palletizing, packaging

♦ feeding, positioning

Positioning Functions The MACS3 handles all of the functions necessary for positioning, including:

♦ HOME

♦ absolute and relative positioning

♦ marker specific positioning

♦ programmable speed profiles

♦ speed, acceleration ramp, and braking ramp can be altered during motion

Synchronizing Functions With the MACS3 it is possible to precisely synchronize a controlled drive to any guiding axle in

terms of speed and angle. The following synchronization functions are available for this:

♦ speed synchronization

♦ position (angle) synchronization with or without marker correction

♦ ratio and offset can be altered online

♦ any change of operation mode in between synchronization, positioning, and speed

regulation, even during motion

♦ recording of master and slave position, speed, synchronicity errors, etc., even during

operation

Control Functions and Bus

Commands

All of the APOSS macro language control commands are available for the MACS3, for

example:

♦ extension of inputs and outputs using CAN open modules

♦ the MACS3 assumes CAN master functions as well as CAN drive functions

♦ interrupt functions on inputs, bus bits, bus telegrams, etc.

♦ timer function

♦ calculation function, branching, etc.

CAM Functions CAM disc and CAM switch controls can be realized with the MACS3: The APOSS

applications program includes the following features:

♦ interactive curve editor

♦ curve points and tangent points

♦ synchronization with slave or master marker correction


Drives


MACS3

It is recommended that you use the delivered APOSS 6.x program for controlling,

positioning, and synchronizing. APOSS is supported in Windows 95, NT 3.5, Windows 2000,

and Windows XP.

Controller Program

If you want to program the control without APOSS, please refer to the APOSS Software

Manual, chapter Technical Reference in the sections Communication Reference and ASCII-

Command Reference.

Drives The MACS3 can control the following drives:

♦ all amplifiers with ±10 V or 0 …10 V input or CAN interface

♦ frequency converter with and without CAN, e.g. Danfoss, Lenze

♦ servo controls for brushed and brushless motors

Controlling of

Asynchronous Motors

The MACS is suitable for controlling field-oriented and vector-oriented frequency converters.

As well, the velocity and position of all asynchronous motors which have been upgraded with

an encoder or other pulse generator, can be properly controlled.

With the control, the motor generates torque at the target position even at standstill. This

torque can reach up to double the nominal torque: It is not possible to move the motor from

the position. This behavior was not previously possible with asynchronous motors.

Controlling of Servo

Motors

Another class of amplifiers that may be controlled by the MACS, are all well-established

servo amplifiers for brushed and brushless motors. Up until now, the MOCON control was

used for these applications. The MACS supplies another mounting and connection facilities

and completes the product range.

About this manual


MACS3

About this manual Please read this manual completely. In particular, observe the hints marked with ! ! ! and

cautionary remarks marked with to be able to work with the system safely and

professionally.

Chapter Hardware

Installation

The first chapter gives step by step instructions on how to connect and start the MACS3

motor control. Prepared test programs will help you to check the desired functions. You will

find a detailed description of programming and commands in the APOSS software manual.

Chapter Hardware

Reference

Please see this chapter for details regarding the technical data, the assignment of the

connecting terminals, and the connection of the encoder inputs.

Simple layouts showing the wiring and PIN assignment are included.

Appendix You can use I/O modules from zub machine control AG to extend the number of inputs and

outputs. You will find the most important technical data of the Centronics-Adapter for CAN

networking, in the appendix. A short index is included at the end of the manual.

Conventions The information in this manual uses the typographical features described below to the

greatest extend possible:

! ! ! Hints and cautionary remarks are marked with ! ! !.

Important contents are emphasized in boldfaced italics, for example … should never.

This cautionary remark indicates a dangerous situation which may cause damage to the

equipment, serious personal injury, or death, if the directives are not correctly followed.

Menus and Functions Menus and functions of the APOSS Software are printed in boldface type, for example:

Controller → Parameter.

Commands and

Parameters

Commands and parameter keywords of the APOSS Software are written in capitals, for

example AXEND and GAIN. Parameter names are written in boldfaced italics, for example:

Proportional factor KPROP (11).

Keys The names of keys and function keys of the APOSS Software are emphasized in bold face

type, for example the control key Ctrl-key (or just Ctrl), the Esc-key, or the F1-key.

Cross References Cross references to other parts of the text in this or other manuals, are underlined. For

example Command list. In the online help, they are also marked in color.

Display and Setting Elements MACS3

Basics

Display and Setting Elements

Below, you will find a short description of the displays, the setting elements, and the terminals.

LEDs Terminal X3 and X4

Removable bracket for top hat rail or wall fastening.

I

S

T

Th

♦

♦

7-Segment-Display Th

ex

P

P

Th

th

Th

If

re

d

zub machine control AG M

Terminal X1

3 x 7- segment-display (programmable by the user)
erminal X2
/O-LEDs

)

The 24V/GND supply of the I/Os

is to the right of terminal X2

e light emitting diodes on the front side are a

The three status LEDs display the internal s

Power (on/off),

Run (axis is moving) and

Error (red = fault).

Exception: The Power and Run LEDs light g

process or firmware download.

I/O-LEDs for the 10 inputs and 6 outputs.

e 7-segment-display is programmable by the

tended for this purpose. Please refer to the S

RINT CON 100 ….. printlist ….

RINT CON 101 ….. printlist ….

ese commands write into a display buffer wh

ere are more than three characters in the buf

e difference between these two commands

CON 100 = appends the print list to th

CON 101 = deletes the buffer and sta

a semicolon is used at the end of a PRINT co

petition. Without a semicolon, a linefeed is no

iscarded by the 7-segment-display.

anual MACS3 · Basics

HEX switches (bottom

tatus LEDs

rranged in two groups:

tatus of the unit:

reen and orange during the internal boot-up

user. The APOSS command PRINT was

oftware-Manual APOSS for more information.

ich has space for up to 150 characters. If

fer, the display will be “scrolled” every second.

is:

e end of the existing buffer

rts again at the beginning of the print list

mmand, CON nnn is still active, without

rmally executed but the linefeed will be

page 8

Terminal Assignment

zub machine control AG Manual MACS3 · Basics page 9

MACS3

HEX Switches Two rotating HEX switches are located on the bottom of the MACS3. Please hold the

MACS3 in a way that you see the HEX switches and terminal X2 rightmost:

X 2

High Low

ACB DE

F

98

76 5 4 3

2

10

ACB DE

F

98

76 5 4 3

2

10

Terminal Assignment You will also find the terminal assignment on every MACS3 side label:

+24V

GN

D

PE

CAN

Hig

h

CA

N L

ow

CAN

GN

D

CAN

Hig

h

CA

N L

ow

CAN

GN

D

RxD

TxD

GN

D

CAN

Hig

h

CA

N L

ow

CAN

GN

D

A_IN

A_O

UT

A_G

ND

1 2 3 4 5 6 7 8 9 10 11 12 13 14 15 16 17 18X 1

front view

Master MACS->MACS ->

Slave

IN 1

IN 2

IN 3

IN 4

IN 5

IN 6

IN 7

IN 8

IN 9

IN 1

0

OU

T 1

OU

T 2

OU

T 3

OU

T 4

OU

T 5

OU

T 6

GN

D

+24 V

19 20 21 22 23 24 25 26 27 28 29 30 31 32 33 34 35 36X 2

X 3Encoder

Slave

X 4EncoderMaster

1 +5 V

2 Encoder 2 A

3 Encoder 2 /A

4 Encoder 2 B

5 Encoder 2 /B

6 Encoder 2 Z

7 Encoder 2 /Z

8 GND

9 +5 V

10 Encoder 1 A

11 Encoder 1 /A

12 Encoder 1 B

13 Encoder 1 /B

14 Encoder 1 Z

15 Encoder 1 /Z

16 GND

Tips for Former MACS2 Users MACS3

Tips for Beginners and Professionals

Tips for Former MACS2 Users

Users that have been familiar with the MACS2 control up until now, will find important

differences between these controls. These differences, as well as some hints of particular

interest, are described below:

Supply Voltage

Supply vo

I

MACS3

MACS2

The 24V/GND supply of the I/Os are (in front view)

MACS3 at the X2 jack right

MACS2 at the X2 jack left!

! ! ! If the MACS2 terminals X1 and X2 are inte

permanently damaged. In order to make th

this terminal assignment has been changed

according to the PIN assignment, is still req

Migrating MACS2

Configuration Data When existing MACS2 configuration files a

the master bus must be entered ! ! ! in add

Please refer to Migrating Configuration Dat

For all new parameters of the MACS3, the

CANINI CANINI with Guarding can be configured o

use the slave bus to connect I/O modules.

Further differences

between MACS2 and

MACS3

Ongoing product development always resu

For example, unused functions are often o

application, please do not hesitate to conta

would be pleased to give advice on alterna

Virtual Master Please note that, unlike the MACS2, the M

Absolute Encoder Please note that, unlike the MACS2, you ca

zub machine control AG Manual MACS3 · Tips for Beginners and Profess

ltage of the

/Os

at X2 right

at X2 left

rchanged by mistake, the control will be

e MACS3 less sensitive to incorrect connection,

in the MACS3. However, the correct connection

uired for proper operation.

re migrated to the MACS3, the CAN baud rate of

ition to the existing MACS2 CAN baud rate.

a (*.cnf,) page 33.

default values will be entered automatically.

nly on the slave bus, see page 31. Thus you should

lts in the re-engineering of functions and modules.

mitted. If you need such a function for your

ct zub machine control AG for assistance. We

tive solutions and/or alternative products.

ACS3 has no virtual master function.

n use only incremental encoders with the MACS3.

ionals page 10

Tips for an EMC-compatible Installation

zub machine control AG Manual MACS3 · Tips for Beginners and Professionals page 11

MACS3

Tips for an EMC-compatible Installation

The purpose for the following short section is to inform you of what you need to be aware

for an EMC-compatible installation and what you need to know about connection cables and

connectors.

Screen Grounding The grounding system must address low earth impedance as well as low resistance.

Equipotential grounding is achieved when all equipment within the structure(s) is referenced

to one master earth point or bar, which in turn is grounded to the external grounding

system. It is essential that any connection to the earth point is done with ground straps and

not just thin cables. Earth loops must be avoided. The grounding system should be designed

to reduce AC impedance and DC resistance.

General Tips for

Connection Cables and

Connectors

Generally, there are two types of circuits:

♦ Power cables:

e.g. motor and supply cables

♦ Signal lines:

e.g. encoder, sensor, communication cables

Power cables and signal lines should use shielded cables and be separated in order to

reduce interference. The screen grounding is to be done single-edged to a central earth

point and it must be ensured that no looping formation results over the screen.

! ! ! Power cables and signal lines must not be placed within the same cable or at the same

connector.

As far as possible, the power cables in the switch cabinet and in the installation should be

kept apart from the signal lines and run in their own cable channel. You should aim for

maximum spatial separation between the power cables and signal lines.

If having signal lines adjacent to shielded power cables is unavoidable, then they should be

crossed only at 90° and not run parallel to each other.

The usage of terminal blocks decreases the screening efficiency and results in transition

resistance. This can cause signal degradation.

High Frequency Isolation Generally, high frequency current isolation with a suitable ferrite toroid one-sided in a line

(power or signal lines), results in an improvement of the interference resistance against the

coupling from an interference source. For this, you can run a signal line in loops with three

windings through a ferrite toroid (core material with µr < 500). The usage of a so-called snap

ferrite, which can be snapped directly to one side of the signal lines (e.g. communication

lines), is the simplest in practice.

Current Supply The current supply lines of power amplifiers should be as short and as low resistance as

possible. The usage of several power supply units, which are preferably nearby the power

amplifiers, is preferred to a central supply from one power pack with long feed cables.

Motor Connection In order to minimize emitted interference, a shielded cable should be used for the motor

connection. The screen must be one-sided grounded at the power amplifierunless the motor

already has an internal connection to the screen which would cause a looping formation. It is

also necessary to ensure that there is no resulting earth loop via the motor cabinet.

! ! ! Motor connections should never run in the same connector or cable as signal lines.

The motor connection line should be as short and as low resistance as possible.

Encoder Signals The encoder signals must to be shielded.

Tips for an EMC-compatible Installation MACS3

“Channel A, channel A\”, “channel B, channel B\” and “channel I, channel I\” are twisted in

pairs.

The screen must be grounded one-sided with the power amplifier or low impedance with the

positioning control unless the motor has already an internal connection to the screen which

would cause a looping formation.

Lines for Analog Signals Signal lines for sensitive analog signals must be shielded and twisted as well.

The screen has to be grounded one-sided low impedance at the power amplifier (without

looping formation). When higher requirements are demanded, the signal line can be run at the

side of the grounding point with three windings through a round cable snap ferrite (core

material with µr < 500).

Lines for Digital Status

Signals

Lines for 24 V status signals normally do not need shielding. But they can possibly act as a

receiving aerial for fast transient disturbing signals. With higher requirements, the line

concerned can be run at the side of the power amplifier or the positioning control with three

windings through a round cable snap ferrite (core material with µr < 500).

Communication lines Communication lines (e.g. CAN) are designed to receive and transmit high frequency signals.

But EMC interference from sources with high energy can affect these signals and cause a

disturbance in the communication.

Communication lines should be run separated from the motor connection cables and – if

unavoidable – crossed only at 90 .

All the participants of a single communication network must be set to an identical data trans-

fer rate (baud rate). The maximum possible data transfer rate depends on the network

configuration, i.e. it depends on the total length of all communication lines in the network.

Please read about the correlation between baud rate and maximum line length in the

applicable interface specification.

In the case of CAN cabling, the CAN high and CAN low lines, as well as the double routed

CAN-GND, must be run pairwise twisted in a shielded cable. The screen is to be grounded

one-sided.

Every CAN network is to be provided with a 120 ohm bus termination at the first and last

participant. The correct value of the bus terminations can be checked easily in off state with a

impedance measuring between any CAN high and CAN low connection contact. The result

should be 60 ohms.

! ! ! Branch lines or a star-shaped CAN cabling are not allowed!

A one-sided fixed snap ferrite increases the interference resistance.

Please follow the detailed recommendations of the specific communication standards (CAN

or RS232).

EMC Check It makes sense to test only the complete system containing all components (motor, encoder,

power amplifiers, controls, power supplies, EMC filter, cabling etc.) to guarantee a trouble-free

and CE-conforming operation.

zub machine control AG Manual MACS3 · Tips for Beginners and Professionals page 12

General Safety Instructions MACS3

Hardware Installation

This chapter describes the installation step-by-step from the connection of the power supply

to the setting of the PID parameters for fine tuning.

General Safety Instructions

Safe operation of the MACS3 requires that the motor control is connected and actuated

appropriately and complies with all local provisions.

The operator must guarantee especially,

♦ that the control is used only according to the regulations,

♦ that the equipment is only operated in good order and condition, and

♦ that the safety arrangements in particular are checked at regular intervals to ensure their

functional efficiency.

! ! ! Please keep the following steps in mind when connecting the hardware and beginning

operation. Also bear in mind the corresponding hints and safety instructions.

Before You Start Please also read the chapter Starting the Controller Step by Step in the Software Manual

APOSS or in the online help.

If you are not familiar with the APOSS programming language and user interface, you should

first refer to the basics in Programming with APOSS. To program your individual control, you

will find all commands and parameters in the chapter Software and Parameter Reference.

zub machine control AG Manual MACS3 · Hardware Installation page 13

Supply Voltage Connection


MACS3

Supply Voltage Connection

Foremost, check whether the installation has an emergency stop button.

Make sure the installation is properly earthed.

! ! ! Please note that you must switch off the supply voltage consistently for every additional

installation step !

24 V power pack

+24V

GN

D

PE

CAN

Hig

h

CA

N L

ow

CAN

GN

D

CAN

Hig

h

CA

N L

ow

CAN

GN

D

RxD

TxD

GN

D

CAN

Hig

h

CA

N L

ow

CAN

GN

D

A_I

N

A_O

UT

A_G

ND

1 2 3 4 5 6 7 8 9 10 11 12 13 14 15 16 17 18

X 1

Master -> MACSMACS ->

Slave

IN 1

IN 2

IN 3

IN 4

IN 5

IN 6

IN 7

IN 8

IN 9

IN 1

0

OU

T 1

OU

T 2

OU

T 3

OU

T 4

OU

T 5

OU

T 6

GN

D

+24 V

19 20 21 22 23 24 25 26 27 28 29 30 31 32 33 34 35 36 X 2

~=

! ! ! Interchanging the +/– connection can permanently damage the MACS!

The following supply voltage source is necessary for the MACS3:

output voltage 24 V ±25 %

min. output current 1 A

At first, connect only the supply voltage and watch the LEDs. After turning on the voltage,

only the green power LED should light up.

What to do, if …

the green power LED

doesn’t light up?

If the power is turned on and the green power LED does not light up, the cause is likely with

the supply voltage.

Please check the supply voltage directly at the MACS3-connector: It should be 24 V ±25 %.

Please test all cables for a firm and good connection.

Communication Set-up (serial)


MACS3

Communication Set-up (serial)

After the connection of the supply voltage, connect the MACS to the RS232 interface of your

PC.

Check whether the interface settings are correct for the physical connection you have to your

controller. For a serial connection, set up the interface as follows:

Open an existing file or create a new one. In the menu Settings click on → Interface and

select the interface in the subsequent dialog field. For a serial connection, you should select

"V24".

Check the "Set as default" box, select the COM port that you are using, and choose the baud

rate that the connection will use.

! ! ! Note that some older controllers only support 9600 baud. For these controllers, the

"Baudrate" setting is ignored. Xon/Xoff support should be disabled if a USB-to-RS232

converter is being used and enabled otherwise.

Click Ok and then press the Esc key. A successful communication is reported:

Connecting to controller connected to "name" [#1, V5.6, 1-L]

Test the communication by reading and writing parameters, e.g. the Maximum Velocity. Click

on Controller → Parameters → Axis and mark the control unit that you are installing. Mark

Parameters: Velocity and the preset initial values will be read out.

! ! ! If the MACS will be networking with multiple controllers, do the set-up at first with the serial

communication as described above. After having a successful installation in RS232 operation,

you can then connect the CAN cable – please see CAN Networking at page 25.

What to do, if …

no communication

between PC and MACS?

Ensure that you have selected the correct interface in APOSS. You can check it and correct it

using the menu Settings → Interface. The V24 connection type should be marked as the

default, the COM port should be set to the port to which the RS232 cable was connected,

and “Xon/Xoff support” should be enabled (i.e. have a checkmark). The baudrate setting can

be ignored at this time; APOSS will use a default baudrate regardless of this setting.

! ! ! If you are using a USB-to-RS232 converter to connect the PC to the control unit, then

“Xon/Xoff support” must be disabled (i.e. have no checkmark).

Ensure that the power supply is on, the green Power LED on the front is light up and the

front display shows some data (usually 000).

Ensure that the RS232 cable connection is correct. Check this in detail.

Limit Switch and Reference Switch Setting


MACS3

You can use one or two of inputs 1- 8 for the limit switch and/or reference switch.

Set-up will be done in menu Controller → Parameters → Global and → Axis:

The input numbers must correspond with the cabling, e.g. :

After this you can test the limit and reference switch: When actuating the limit switch, an error

must be reported in the communication window:

X255 Limit switch activated!

Limit Switch and Reference Switch

Setting

Encoder Connection


MACS3

Encoder Connection Incremental encoders must be used. (Absolute encoders can be used only with the MACS2).

Please note that its strongly recommended encoders with differential signal lines (i.e. RS422

standard) A, /A, B, /B, Index and /Index be used. If there are no differential signals present,

the signal inputs A, B, and Index must be used.

For safe operation it is necessary to connect the encoder via shielded cable to the MACS, to

use lines as short as possible, and to run the line as far as possible away from power supplied

cable. Encoders with TTL or open collector outputs and with 5 V supply voltage can be used.

! ! ! For a standard 1-axis-control you must use the slave input (X3) for the encoder.

When using both encoder inputs, it is recommended that only one be connected and tested

first. Once you are sure that it is working properly, then connect and test the second encoder.

! ! ! Switch off the supply voltage, before you connect the encoder to the MACS.

! ! ! The encoder is mounted at the motor shaft. For encoder testing, the motor shaft must be

able to rotate freely.

Neither the motor nor the amplifier may be connected for this test!

Master / Slave Encoder 1 (terminal X4) Master (input for the axis synchronization)

Encoder 2 (terminal X3) Slave (actual position encoder of the controlled axis)

Encoder Connection


MACS3

Encoder Testing Check the encoder connections by means of the encoder test program. In the menu bar click

on File and Open the file “Enctst.m”.

axe = 1 // define axis number

Motor off x(axe) // switch off motor control

start: // loop starts here

PRINT Position: ,apos x(axe) // print actual position

WAITT 750 // wait 750 ms

GOTO start // repeat

Start the test program using menu Development → Execute.

The position 0 is reported in the communication window. If you turn the motor by hand (the

motor should not be connected!), you can test whether the encoder functions: The position is

continuously registered in the communications window. For a full revolution you should

receive 4 times the value of the resolution of the encoder, for example 2000 if the encoder

counts per revolution is 500.

End the test of the encoder with the Esc key and → Close the test program. A successful

test of the encoder is a requirement for the continued setup of operations.

! ! ! A successful functioning is absolute necessary for the operation of the positioning system. If

the test described above causes a malfunction, the error must be fixed before you continue

the setup.

What to do, if …

encoder doesn’t work? This could be a result of incorrect cable installation (check the connections) or the encoder

needs a higher supply voltage than 5 V.

Use another encoder with 5 V supply voltage or connect an external supply voltage to the

encoder (it is only valid for encoders with open collector outputs).

In this case, the encoder signals .A and B are not shifted at 90°. Adjust the encoder (if

possible). If not possible, you must use another encoder.

a wrong position is

reported?

index pulse is not

detected?

In this case, the following requirement is not fulfilled: The A-, B- and /Index signals have to be

low at the same time. If the encoder has /A- and /B signals, then connect them to the MACS

instead of A and B.

Amplifier and Motor Connection


MACS3


When both encoders operate correctly, you may connect the amplifier and the motor.

Frequency converters (see Frequency Converter Connection) and all well-established servo

amplifiers for brushed and brushless motors, are suitable for controlling. These amplifiers

must be controlled via a ±10 Volt input.

The connection is exemplified by the amplifier V1, see Sample Connection Amplifier V1 on

page 21.

! ! ! The amplifier should be installed without mechanics – if possible.

! ! ! Switch off the supply voltage.

The motor must have an EMERGENCY STOP BUTTON.

Additionally, you must ensure that the motor shaft can rotate freely in both directions at full

speed (coasting). For this, the motor must be fixed and any existing brakes must be open.

This is also necessary for accident prevention. Since it is possible that an encoder is

mismatched, the motor can run at full speed in the wrong direction. For this reason as well,

the motor should be put into operation without mechanics.

Amplifier Connect the reference inputs of the amplifier to the following pins:

Terminal X1, Pin 18 Analog GND

Terminal X1, Pin 17 Analog Output

Enabling Wiring At first, supply the outputs with 24 V and then connect output 1 with the enable input.

Motor Requirement: An incremental encoder must be installed on the motor.

! ! ! Connect the motor voltage now and make sure that the motor shaft can rotate freely.



MACS3

Cabling Amplifier or

Frequency Converter This diagram shows the cabling for a usual 1-axis operation with an amplifier or a frequency

converter:

+24V

GN

D

PE

CAN

Hig

h

CA

N L

ow

CAN

GN

D

CAN

Hig

h

CA

N L

ow

CAN

GN

D

RxD

TxD

GN

D

CAN

Hig

h

CA

N L

ow

CAN

GN

D

A_I

N

A_O

UT

A_G

ND

1 2 3 4 5 6 7 8 9 10 11 12 13 14 15 16 17 18 X 1

Enc


Slave

19 20 21 22 23 24 25 26 27 28 29 30 31 32 33 34 35 36

IN 1

IN 2

IN 3

IN 4

IN 5

IN 6

IN 7

IN 8

IN 9

IN 1

0

OU

T 1

OU

T 2

OU

T 3

OU

T 4

OU

T 5

OU

T 6

GN

D

+24 V

X 2

X 3Encoder

Slave

X 4EncoderMaster

1 +5 V

2 Enc. 2 A

3 Enc. 2 /A

4 Enc. 2 B

5 Enc. 2 /B

6 Enc. 2 Z

7 Enc. 2 /Z

8 GND

9 +5 V

10 Enc. 1 A

11 Enc. 1 /A

12 Enc. 1 B

13 Enc. 1 /B

14 Enc. 1 Z

15 Enc. 1 /Z

16 GND

+ –

24 Vpowersupply

amplifier orfrequency converter

power supply ornet feeding

power

motor enab

le

GN

D

ref.

+

ref.

–



MACS3

power supply24 V DC / 5 A±25 %

~=

Enable

+ 2

4 V

(IN

)

GN

D 2

4 V

ove

r te

mp. (

OU

T)

low

voltag

e (O

UT)

short

circ

uit

(OU

)

read

y (O

UT)

enab

le (IN

)

GN

D I/O

+ r

efe

rnce

– r

efe

rence

curr

ent m

onito

r (O

UT)

GN

D I/O

chopper

(IN

)

+ m

oto

r (O

UT)

– m

oto

r (O

UT)

+ c

hopper

U (O

UT)

+ U

load

(IN

)

GN

D U

load

ove

r te

mp.

Low

voltag

e

short

circ

uit

ok

V1

X1 3 4 5 6 11 121 2 7 8 9 10 X2 1 42 3 5 6

servo motor

X 3Encoder

Slave

X 4EncoderMaster

+24V

GN

D

PE

CAN

Hig

h

CA

N L

ow

CAN

GN

D

CAN

Hig

h

CA

N L

ow

CAN

GN

D

RxD

TxD

GN

D

CAN

Hig

h

CA

N L

ow

CAN

GN

D

A_IN

A_O

UT

A_G

ND

1 2 3 4 5 6 7 8 9 10 11 12 13 14 15 16 17 18

X 1


Slave

1 +5 V

2 Enc. 2 A

3 Enc. 2 /A

4 Enc. 2 B

5 Enc. 2 /B

6 Enc. 2 Z

7 Enc. 2 /Z

8 GND

9 +5 V

10 Enc. 1 A

11 Enc. 1 /A

12 Enc. 1 B

13 Enc. 1 /B

14 Enc. 1 Z

15 Enc. 1 /Z

16 GND

IN 1

IN 2

IN 3

IN 4

IN 5

IN 6

IN 7

IN 8

IN 9

IN 1

0

OU

T 1

OU

T 2

OU

T 3

OU

T 4

OU

T 5

OU

T 6

GN

D

+24 V

19 20 21 22 23 24 25 26 27 28 29 30 31 32 33 34 35 36X 2

Sample Connection

Amplifier V1

Amplifier and Motor Connection MACS3

→ Open the file “Movetst.m” and complete the prepared program with a command

(OUT 1 1) for enabling the amplifier.

Amplifier/Motor Testing


DEF ORIGIN x(axe) // define actual position as 0

ACC x(axe) 10 // set acceleration to 10% of maximum

VEL x(axe) 10 // set velocity to 10% of maximum

OUT 1 1 // enable the amplifier


POSA x(axe) 500 // run to position 500

WAITT 500 // wait 0.5 s for finishing movement



WAITT 500 // wait 0.5 s

GOTO start

Click on Development → Execute or press F5 to start the test program. The test is

successful when the motor runs slowly back and forth and the position 500 is reported.

End the test with Esc and → Close the File.

What to do, if …

Turn off the motor immediately with the EMERGENCY STOP button! motor is running

uncontrolled at full speed? If the motor runs uncontrolled at maximum speed, then the polarity of the motor probably

does not agree with the encoder signals A and B. Reverse the polarity of the motor or

interchange the encoder signals A and B.

position error is reported? Either there is no connection between the motor and the MACS or the motor polarity does

not agree with the encoder signals. Reverse the polarity of the motor or interchange the

encoder signals A and B.


Frequency Converter Connection


MACS3


The MACS is suitable for field-oriented and vector-oriented frequency converters. Please

note the manufacturer’s information, requirements, and safety instructions.

! ! ! The frequency converter should be put into operation without mechanics – if possible.

! ! ! Switch off the supply voltage.

When connecting the motor – asynchronous motors with encoder have to be used – the

following safety instructions are to be noted in addition:

The motor must have an EMERGENCY STOP BUTTON.

You must ensure that the motor shaft can rotate freely in both directions at full speed

(coasting). For this, the motor must be fixed and any existing brakes must be open. This is

also necessary for accident prevention.

⁄⁄

⁄

⁄

encoder

380 V

vector controlledfrequency converter

asynchronous motor

enable

24 V DCpower supply

reference value input

+24V

GN

D

PE

CAN

Hig

h

CA

N L

ow

CAN

GN

D

CAN

Hig

h

CA

N L

ow

CAN

GN

D

RxD

TxD

GN

D

CAN

Hig

h

CA

N L

ow

CAN

GN

D

A_I

N

A_O

UT

A_G

ND

1 2 3 4 5 6 7 8 9 10 11 12 13 14 15 16 17 18

X 1


Slave

X 3Encoder

Slave

X 4EncoderMaster

1 +5 V

2 Enc. 2 A

3 Enc. 2 /A

4 Enc. 2 B

5 Enc. 2 /B

6 Enc. 2 Z

7 Enc. 2 /Z

8 GND

9 +5 V

10 Enc. 1 A

11 Enc. 1 /A

12 Enc. 1 B

13 Enc. 1 /B

14 Enc. 1 Z

15 Enc. 1 /Z

16 GND

19 20 21 22 23 24 25 26 27 28 29 30 31 32 33 34 35 36

IN 1

IN 2

IN 3

IN 4

IN 5

IN 6

IN 7

IN 8

IN 9

IN 1

0

OU

T 1

OU

T 2

OU

T 3

OU

T 4

OU

T 5

OU

T 6

GN

D

+24 V

X 2

~=



MACS3

Testing the Frequency

Converter Test the proper connection of the frequency converter with a test run program:

→ Open the file “Movetst.m” and complete the prepared program with a command (OUT 1

1) for enabling the amplifier.


DEF ORIGIN x(axe) // define actual position as 0

ACC x(axe) 10 // set acceleration to 10% of maximum

VEL x(axe) 10 // set velocity to 10% of maximum

OUT 1 1 // Enable the frequency converter



WAITT 500 // wait 0.5 s for finishing movement



WAITT 500 // wait 0.5 s

GOTO start

Click on Development → Execute or press F5 to start the test program. The test is

successful when the motor runs slowly back and forth and the position 500 is reported.

End the test with Esc and → Close the File.

What to do, if …

motor is running

uncontrolled at full speed?

Turn off the motor immediately with the EMERGENCY STOP button!

If the motor runs uncontrolled at maximum speed, then the polarity of the motor probably

does not agree with the encoder signals A and B.

Exchange the +/- signal of the set value reference or the encoder signals A and B.

motor is drifting? When the motor drifts during switch on and a “Position Error” is reported, then you must

interchange the pulses or the traces of the frequency converter.

position error is reported? Either there is no connection between the motor and the MACS or the polarity of the motor

does not agree with the encoder signals. It is also possible to determine whether the drive

has run in the wrong direction by comparing the reference and actual curves with a Testrun.

Check the motor and encoder connections and interchange the encoder signals A and B if

necessary.

Otherwise, increase the Tolerated Position Error POSERR (15).

CAN Networking


MACS3

CAN Networking When you operate the MACS3 in a CAN network, first complete the installation using the

serial communication as described in Communication Set-up (serial) on page 15. Once the in-

stallation is successful in RS232 mode, you can connect the CAN cable to the CAN interface.

The CAN-Adapter by Centronics is recommended for the PC.

Master Bus / Slave Bus The master bus is used to connect upper level systems like PC or PLC to the MACS3.

The slave bus (= end of a CAN network) is used to connect subsidiary CAN participants like

I/O modules, CANopen amplifiers, or frequency converters.

The master and slave bus are two separate CAN busses. Corresponding connector pins of the

master bus (X1/4 and X1/7, X1/5 and X1/8, as well as X1/6 and X1/9) are internally connected.

This allows the looping of the CAN signal lines from one unit to another without having the need

to put two cables within one terminal clamp.

! ! ! Unlike the master bus, the slave bus is always regarded as the end point of a CAN bus and

therefore already has an internal bus termination (120 ohm).

120 WΩ ¼

+24V

GN

D

PE

CAN

Hig

h

CA

N L

ow

CAN

GN

D

CAN

Hig

h

CA

N L

ow

CAN

GN

D

RxD

TxD

GN

D

CAN

Hig

h

CA

N L

ow

CAN

GN

D

A_I

N

A_O

UT

A_G

ND

1 2 3 4 5 6 7 8 9 10 11 12 13 14 15 16 17 18

X 1


Slave

19 20 21 22 23 24 25 26 27 28 29 30 31 32 33 34 35 36

IN 1

IN 2

IN 3

IN 4

IN 5

IN 6

IN 7

IN 8

IN 9

IN 1

0

OU

T 1

OU

T 2

OU

T 3

OU

T 4

OU

T 5

OU

T 6

GN

D

+24 V

X 2

Communication Set-up

(CAN) The necessary settings are already pre-set for the connection of a CAN-Bus. You only need to

set the baud rate and define the Scan range (number of connected controllers in the

network).

Click on Development → Select Controller,

all currently available controllers will be dis-

played in a tree view. Select the desired

controller and click on OK to connect to that

controller. If no controllers are shown or the

desired interface is not present, then select the

desired interface from the Interface dropdown

box and click on Open Interface. The desired

interface can then be selected.

In addition to the numbers, you can also enter

names for each controller in the menu

Controller → Parameter → Name.

CAN Networking MACS3

The successful communication is reported:

Connecting to controller connected to "name" [#1, V5.6, 1-L]

Set the baud rate (if you don’t use the factory setting of 125 kB) and then the CAN number.

Setting the Baud rate The master and slave baud rates are set to 125 kB at the factory. You can change these either

with the HEX switches or via software.

Set the Baud rate with

HEX Switch

See following steps to set the baud rate for the master:

! Switch off the MACS3

! Set the HEX switches to 00

A

CB DEF

98

76 5 4 3

2

01

ACB DEF

98

76 5 4 3

2

01

H L

! Switch on the MACS3 – Power On

! The 7-segment-display reports “Can”.

! Within 30 seconds you must set the baud rate for the master using the “high” HEX

switch and for the slave using the “low” HEX switch:

1 = 10 kBaud

2 = 20 kBaud

3 = 50 kBaud

4 = 100 kBaud

5 = 125 kBaud

6 = 250 kBaud

7 = 500 kBaud

8 = 1000 kBaud

! ! ! If neither switch is changed and the setting is left at 00, then 125 kBaud is selected

for both master and slave.

! The baud rate is accepted and set after 30 seconds. The display will then report “Id”.

This is a prompt for you to enter the CAN-ID of the MACS3.

! Within another 30 seconds, you must set the CAN-ID.

! Switch the MACS off when “000” is reported in the front display.

If the MACS is switched off before the “000” message comes up in the front

display, the modified CAN baudrate is not saved!

Set the baud rate with

APOSS

You may also set the baud rate with the program APOSS, specifically with the menu

Development → Parameters → Global and the parameter CANBAUD (101). This parameter

has following range:

n = master baud * 10 + slave baud

master baud = 0 .. 8 (baud rate 5 kBaud … 1MBaud)

slave baud = 0 .. 8 (baud rate 5 kBaud … 1MBaud)

0 = 5 kBaud

1 = 10 kBaud

2 = 20 kBaud

3 = 50 kBaud

4 = 100 kBaud

5 = 125 kBaud

6 = 250 kBaud

7 = 500 kBaud

8 = 1000 kBaud

Sample:

CANBAUD 57 // master bus 125 kB, slave bus 500 kB

! ! ! After setting the baud rate you must switch off and on the MACS before the new baud rate

is enabled.


CAN Networking


MACS3

! ! ! If you migrate configuration data (*.cnf) from a MACS2, you must correct the setting of the

baud rate afterwards. Otherwise, the value of the MACS2 baud rate is used with MACS3 on

the slave bus and the master would be undefined.

Reset to default baud rate You can easily reset the baud rate to the default of 125 kBit/s:

! switch off MACS3

! set the HEX switches to 00 A

CB DEF

98

76 5 4 3

2

01

ACB DE

F

98

76 5 4 3

2

01

H L

! switch on MACS3

! wait 30 seconds, then the baud rate 125 kB is set and the display shows “Id”

! wait 30 seconds until the display shows “000”

! switch off MACS3

! adjust the CAN-ID properly again

! switch on MACS3

Setting of the CAN

number CANNR Every module in the network – that means the master and all slaves – need a participant

number, i.e. the CAN number (CANNR) or CAN-ID.

Set CANNR with HEX

switch

The CAN number is set with the two HEX switches. The address is coded in hexadecimal;

e.g.: for CAN number 12 (decimal) set the switches as follows:

1. Switch off MACS3.

2. Take the MACS in your hand in a way that you can see the HEX switches and terminal

X2 rightmost. Turn the high switch to 0 and the low switch to C. The MACS3 will then

use the CAN number 12

Switch H ⇒ 0

Switch L ⇒ C

ACB DE

F

98

76 5 4 3

0

2

1

ACB DE

F

98

76 5 4 3

2

01

H L

For other numbers, continue as follows:

0 1 MACS = no. 1

0 2 MACS = no. 2

…

0 F MACS = no. 15

1 0 MACS = no. 16

A change of the CAN number with the HEX switches does not come into operation until a

restart of the unit.

! ! ! No CAN number may be used more than once in a network!

! ! ! Please note that the HEX switches are placed in the opposite orientation to CIO modules!

Please refer to the CIO manual.

CAN Networking


MACS3

Set CANNR with APOSS From a theoretical point of view, the CAN number may also be set with APOSS: Use

Development → Parameters →Global and the parameter CANNR (100). From a practical

point of view, a modification of the CAN number is without any effect in most cases. The

CAN number parameter is updated according to the setting of the HEX switches as soon as

the unit is switched off and on. Only with a CAN number setting of 9999 is the situation

different. In this case, no standard CAN objects will be created and the CAN number is still

taken from the HEX switches. Standard CAN objects are necessary for communication with

the APOSS program when using the commands OUTMSG, INMSG, and INGLB. If there is no

need for these standard CAN objects, then it is possible to define additional application-

specific CAN objects.

! ! ! Generally, the slave bus must be addressed by APOSS commands with an offset of 100,000.

ID Name Mode Description MACS3 Bus

CAN Obj.No.

0 Global APOSS

Slave

global message, which is used for

Break and for the command INGLB

Master-

Bus

0

tnr*2 SlaveTx APOSS

Slave

message transmitted for APOSS slave

(OUTMSG)

Master-

Bus

1

tnr*2+1 SlaveRx APOSS

Slave

message received for APOSS Slave

(ON CANMSG, INMSG, MSGVAL)

Master-

Bus

2

NMT_GUARD

+tnr-1

CosObjGuard CANopen

slave

monitored object (Guarding) Master-

Bus

11

PDO_TX + tnr-1 CosObjTPdo CANopen

slave

transmit PDO Master-

Bus

12

(variable) CosObjTx CANopen

slave

common transmitted object, which is

used for SDO

Master-

Bus

13

(variable / no

mask)

CosObjRx CANopen

slave

common received object (Interrupt) for

SDO, NMT, PDO

Master-

Bus

14

user defined nn MACS

Application

program

user defined receiving and transmitting

objects (DEFCANIN, DEFCANOUT)

Master-

or Slave-

Bus

nxtfree

PDO_TX +

slave_id-1

PDO_RX +

slave_id-1

nn CANopen

master

receiving and transmitting PDO for I/O

or drives, defined by CANINI or OUT/

IN commands (temporary)

Slave-

Bus

nxtfree

NMT_GUARD +

xxx

GuardMobj CANopen

master

monitored object (guarding), which is

used for the total slave guarding

(different IDs)

Slave-

Bus

nxtfree

NMT_SYNC SyncMobj CANopen

master

Sync object, which is transmitted to the

slaves

Slave-

Bus

nxtfree

SDO_RX

SDO_TX

NMT_xxx

SdoRx SdoTx

..

CANopen

master

SDO objects, which are temporary

used for the connection and

SDOREAD or SDOWRITE commands.

Slave-

Bus

nxtfree

Used CAN objects

MACS3 Bus The column ’MACS3 Bus’ holds the name of the MACS3 CAN bus for which the CAN objects

are defined. The MACS3 has two completely separate CAN busses. Each has its own CAN

controller. The naming of the MACS3 CAN buses is based on the following scheme:

MACS3 Master Bus

(X1/4-9)

This bus is typically in use for connection of an upper level control unit (e.g. PC or PLC) which

commands the MACS3. The hex switches define the MACS3 CAN-ID for this bus.

CAN Networking


MACS3

MACS3 Slave Bus (X1/13-

15)

The MACS3 is used as the master device on this bus. There are just subordinate units, so-called

Slaves, connected to this bus. Typical slaves are I/O-modules or servo amplifiers. These units are

commanded by the MACS3. The CAN-ID setting of the hex switches has no meaning for this

CAN bus because any communication on this bus is always initiated by the MACS3.

Mode The column ‘Mode’ identifies the mode of operation which requires the corresponding CAN

object. The following four modes of operation are defined:

♦ APOSS Slave

These CAN objects are used by the APOSS user interface to communicate with the

MACS controller via the CAN master bus (X1/4-9).

If the parameter ‘CANNR’ (100) is set to a value of 9999, these objects are not initialized.

In this case the APOSS user interface will not be able to establish a connection to the

control unit via the CAN bus. Any other interfaces, e.g. RS232, are not affected by this and

can still exchange data with the APOSS user interface.

♦ CANopen Slave

These CAN objects are necessary for CANopen data exchange (e.g. SDO or PDO) in

between an upper level CANopen master (e.g. PLC or PC) and a MACS controller

(= slave) via the CAN master bus (X1/4-9).

If the CAN-ID hex switches are set to a value of 0 or a value within the range 128 up to

255, these CAN objects are not initialized. In this case, it is not possible for a CANopen

master to get access to the MACS, e.g. via a SDO data transfer.

♦ MACS Application Program

These are any kind of CAN objects that are initialized (APOSS commands DEFCANIN,

DEFCANOUT) or destroyed (CANDEL) directly inside a MACS application program. Such

objects can be initialized for the MACS3 CAN master bus (X1/4-9) as well as for the

MACS3 CAN slave bus (X1/13-15). Objects and actions related to the CAN slave bus are

identified by a bus-offset of 100,000 for APOSS programming commands.

The maximum number of objects which can be initialized for the MACS3 CAN master

bus, varies if the ‘APOSS slave’ and/or ‘CANopen Slave’ mode is configured too. Typically

up to 9 additional CAN objects for the master bus can be initialized in a MACS application

program. If ‘APOSS Slave’ and ‘CANopen Slave’, is deactivated by setting the parameter

CANNR = 9999 and CAN-ID hex switches to 128...255, it is possible to initialize up to 16

objects within an application program for the master bus.

The maximum number of CAN objects still available for application-specific initialization on

the MACS3 CAN slave bus depends on how far ‘CANopen Master’ functionality is already

used for I/O-modules or servo amplifiers on this bus. If no CANopen modules are

permanently handled or guarded on this bus, a maximum of 16 CAN objects can be

initialized by the application program.

♦ CANopen Master

These CAN objects are initialized if the MACS controller serves as an CANopen master

for I/O- or servo amplifier modules on the MACS3 CAN slave bus (X1/13-15).

Permanent CAN objects (PDOs, Guarding) are initialized by the APOSS command CANINI

or depending on the setting of the parameter ‘DRIVETYPE’ (0). Temporary CAN objects

are in use by the APOSS commands IN, OUT, INB, and OUTB if no CANINI was called up

before for the corresponding module. The APOSS commands SDOREAD and

SDOWRITE also set up temporary CAN-objects for SDO communication with the

CANopen slave. The number of active CAN objects of the MACS3 CAN slave bus

depends on the number and type of linked modules and the currently processed APOSS

command.

CAN Networking


MACS3

Number of the used

objects

The following table shows the configured operating modes depending on the parameter

‘CANNR’ and the CAN-ID hex switch setting. The configured operating modes again define

the maximum number of disposable CAN objects that can be initialized in addition by a

application program for each CAN bus.

Mode

Max. number

of disposable

MACS3

CAN-Objects

Parameter

CANNR

HEX-

Switches

CAN-ID APOSS-

Slave

MACS

Appl.prog.

CAN-Open

Slave

CAN-Open

Master

Master

Bus

Slave

Bus

< 9999 0 - - - - 0 16

< 9999 1-127 x x x x 9 16

< 9999 128-255 x x - x 13 16

= 9999 0 - x - x 16 16

= 9999 1-127 - x x x 12 16

= 9999 128-255 - x - x 16 16

This, as well as the former table, shows that …

… ‘APOSS Slave’ functionality requires 3 permanent CAN objects

(Global, SlaveTx, SlaveRx)

... ‘CANopen Slave’ functionality requires 4 permanent CAN objects

(CosObjGuard, CosObjTPdo, CosObjTx, CosObjRx)

on the MACS3 CAN master bus.

The typical setting (CANNR = CAN-ID = 1...127) has both modes are configured, i.e. the

corresponding CAN objects are initialized at start-up of the MACS. This means that there is

just a reduced number of disposable CAN objects available for initialization by the ‘MACS

Application Program’ and the ‘CANopen Master’ functionality.

There are no CAN objects initialized on the MACS3 CAN slave bus by the ‘APOSS Slave’ or

‘CANopen Slave’ functionality. This means that there are a maximum of 16 CAN objects avai-

lable which can be used for commanding of subordinated I/O-modules or servo amplifiers.

Up to 6 axes can be configured for usage on the MACS3 CAN slave bus, for example:

6*2 (PDO) + 2 (Guard / Sync) + 2 (Temp. for SDO, NMT)

Additional permanent CAN objects for I/O-module handling by the APOSS command CANINI

are not available in such a configuration. Nevertheless, inputs and outputs on I/O-modules

should still be accessible by the APOSS commands IN, OUT, INB, and OUTB. This is possible

because these commands just use temporary CAN objects during execution if no CANINI was

done formerly.

If a lower number of axes is in use on the CAN slave bus, then other CANopen devices can

be initialized such as I/O-modules via the APOSS command CANINI. This is an especially key

point for an efficient handling of interrupts linked to external inputs.

Initialize CAN Drives


MACS3

Initialize CAN Drives The command CANINI initializes CAN drives with PDO, both with or without guarding.

! ! ! CANINI with guarding is only supported on the slave bus.

See also CANINI in the chapter Software Reference or for the definition of the drive type

parameter DRIVETYPE (0) in the section Parameter Reference, both in the Software Manual

APOSS.

CANINI

Syntax CANINI no

Parameter no = ID (participant number) set with HEX rotating switch (with I/O modules)

or set in the program

General formula is as follows:

no = guard * (slav + DRIVETYPE * 1000 + ID)

guard = –1, +1 (without / with guarding)

slav = 100000 , 0 (slave bus, master bus)

DRIVETYPE = 0, 1, … (no DRIVETYPE, DRIVETYPE Lenze, DRIVETYPE …)

The numbers following CANINI can have different meanings as follows:

1…127 Initialize CAN I/O ID 1…127 with guarding and PDO

-1…–127 Initialize CAN I/O with PDO, but without guarding

1001…1127 Initialize CAN-Drives (ID 1…127) with PDO and guarding of type 1

(Lenze)

2001…2127 Initialize CAN-Drives (ID 1…127) with PDO and guarding of type 2

(NN)

-1001…–1127 Initialize CAN-Drives (ID 1…127) with PDO of type 1 (Lenze) without

guarding

100001…100127 Initialize CAN I/O ID 1…127 on slave-bus with guarding and PDO

101001…101127 Initialize CAN-Drives (ID 1…127) on slave-bus and guarding of type 1

(Lenze)

–100001…–100127 Initialize CAN I/O (ID 1..127) on slave Bus without guarding

0 Can be used to delete all CANINI definitions, beside DRIVETYPE and

ENCODERTYPE

Description The CANINI command establishes contact with the CAN modules and creates permanent

corresponding CAN objects in order to be able to communicate with these modules (PDO).

The advantage of this is that these input modules can also be used for interrupt functions. If

you do not need any interrupts, then you can accelerate the processing of the IN and INB

commands with CANINI, since the inputs are then automatically queried.

In addition, all modules which are initialized participate in permanent monitoring via

"guarding". If one participant is no longer present, then an error is triggered. This error can be

recovered with ON ERROR.

When CANINI is executed for drives, the corresponding PDO is created and also the SYNC

object if necessary.

If guarding is started, a guarding telegram is sent every 20 ms to one module. If for example

4 modules are present, it will take 80 ms to check every module. No response within 100 ms

indicates an error 88 (guarding error).

Initialize CAN Drives MACS3

A maximum of 16 modules can be stored internally (including drives set by DRIVETYPE).

The next CANINI command reinitializes all elements, i.e. guarding is stopped and also SYNC

telegrams. (This is not true, if there are permanent objects from a DRIVETYPE parameter.

These are not destroyed.)

The CANINI also does the start module, i.e. for every module a NMT0 (Network CANopen

command) message is sent to set the module on the status "operational".

! ! ! CANINI with guarding and SYNC telegrams are only supported on the Slave bus.

Syntax sample CANINI 1,2,3,4 /* Initialize the CAN modules with pre-set participant number */

Parameter DRIVETYPE Defines the drive type:

0 = Standard drive (analog output)

1 = CAN drive of type Lenze with guarding (–1 without guarding)

2 = not defined yet

See the detailed description of parameter DRIVETYPE (0) in the section parameter reference

in Software Manual APOSS.

APOSS commands You will find further information in Software Manual APOSS, especially all commands which

you need for networking:

OUTMSG sends a buffered CAN message

INMSG reads a buffered CAN message

USRSTAT sets the CAN user status

CANNR variable which contains the CAN number

INGLB reads a global CAN message

MSGVAL sends the second part (LONG value) of the last read CAN message.

REOPEN turn CAN handshake on or off

CANDEL deletes all CAN objects

DEFCANOUT defines a transmit object

DEFCANIN defines a receive object

CANOUT sends an object

CANIN reads an object

What to do, if …

Perhaps you selected a wrong interface in the PC software. Correct it in menu Settings →

Interface.

no communication

between PC and MACS?

Or the cable connection is wrong. Check this in detail.


Migrating Configuration Data (*.cnf)


MACS3

Migrating Configuration Data (*.cnf)

You can also migrate configuration data from a control unit that has already been configured.

Just execute Parameters → Save to file on this unit.

Click on Controller → Parameters → Restore from file and select the controller in which

the data should be loaded..

Then select in the subsequent dialog field the cnf-file and click on OK. The formerly saved

user parameters and arrays are then loaded into the controller.

! ! ! If you load the configuration data (*.cnf) of a MACS2, then only the existing settings and

parameters will be loaded. New parameters will be assigned by defaults (except the baud

rate).

! ! ! You must correct the baud rate for the master bus after loading a MACS2 configuration

because the baud rate of the MACS2 is used for the slave bus in the MACS3 and the

MACS3 master bus would be undefined.

I/O Extensions


MACS3

I/O Extensions If there is a need for additional inputs and outputs, you may connect the CANopen I/O

modules available from zub machine control AG.

Program Test After the MACS has been connected properly, some of the enclosed demo programs can be

started for initial testing.

! ! ! Whenever applicable, these test should be executed without connected mechanics.

To check the basic operability of the data link, the components as well as the programming

surface, load the motor test program → Open the demo program “Motortst.M“ and start it

with Development → Execute or with F5.

Check Inputs and

Outputs Another task is the check of the inputs 1 up to 10 and the outputs 1 and 6. For this case you

set the outputs in menu Development → Command List using the command OUT and

starting with → Execute now.

When you set the Inputs/Outputs in axis parameters for example “output 3“, then the LED

Output 3 will light during moving.

In the same manner, you check the ten inputs which you can read with the commands IN or

INB.

The menu item Development → Single Step or F9 gives you the chance to execute a

program stepwise line-by-line. If the outputs are switched during a program run, you can

monitor them with a measuring device. However, measuring only works properly if the open

collector outputs are connected to a resistor.

First steps towards programming MACS3

Programming

First steps towards programming

The programming of the MACS3 is carried out using the APOSS Axis Programming and

Synchronizing Language on the PC. The programming language supports the development of

the user’s own movement programs. The Command list of the APOSS development

environment offers a quick chance for on-line testing of the connected drive.

Please see the Software Manual APOSS 6.x to learn about the basics of programming, about

all APOSS commands and parameters, and in chapter Technical Reference about possible

sources of error.

The enclosed program samples can be used for testing of your unit and getting a first step

into the APOSS user interface and programming language. The comments in the samples

explain which commands are being executed and what should happen.

In general, all position specifications in the programs are given in units that are multiples of

four of the encoder resolution (referred to as qc = quadcounts). For instance, if an encoder

with 512 lines is being used, the command POSR 2048 (= 4 * 512) causes a relative

movement of a single revolution. Similarly, a command POSA 512 means that the motor will

be located at a quarter revolution from the machine's zero calibration. If an encoder with a

division of 1,000 lines is being used, the same results are achieved with the commands POSR

4000 or POSA 1000 respectively.

Setting the Control Parameters

There are different methods for empirically determining optimal control parameters, but the

one described below is the best one for setting the parameters without measured values. The

values determined in this manner have proven to be sufficient for most applications.

Use the function Testrun to simplify the parameter settings and to get charts to evaluate the

results.

In order to be able to perform the adjustment tests described here, the drive must be able to

move a test distance that is long enough to reach top speed for most of the movement. If the

motor is driven with greatly differing loads or inertia, then different control settings must be

determined for the various loads. The parameters of the control unit must be set accordingly

in application programs later on.

Please read about the Significance and Influence of the Controller Parameters and about the

general functionality in How the Control Process Works. Also very helpful is the section on the

Testrun menu. These sections are all in Software Manual APOSS.

Mode of Action of the

PID Filter Proportional, integration, and derivative factors are the determining factors of the control

algorithm. With a cyclic adjustment of the actual and reference values, the system is conse-

cutively controlled.

The proportional factor KPROP effects a gain, the derivative factor KDER dampens, and the

integral factor eliminates constant position errors.

To avoid the built-up of vibrations, the effect of these three factors can be limited by the use

of BANDWIDTH (35). Then the parameter Velocity-Feed-forward FFVEL (36) and Accelera-

tion-Feed-forward FFACC (37) are required in addition to the control.

zub machine control AG Manual MACS3 · Programming page 35

Setting the Control Parameters

zub machine control AG Manual MACS3 · Programming page 36

MACS3

Basic Setting for a

Vibration-free Operation When connecting the system for the first time, it is advisable to set a very low value for the

proportional factor, e.g. 1 (integration factor KINT, derivative factor KDER, and integration limit

KILIM = 0), to be sure that the cycle of the control loop is accurate.

Now, the proportional factor KPROP can be set to values from 20 up to 200 (typical values),

to check the basic functionality of the system and also to reach a vibration-free operation.

Then you can start setting the other PID parameters.

This way of PID parameter setting directly with the application is necessary because

mechanical systems may be changed enough due to variation in temperature, etc., to make an

accurate assessment of a model impossible.

Fine Adjustment Set the derivative factor KDER and the integration factor KINT to zero and increase the

proportional factor KPROP as long as a overcorrection is visible after a Testrun. Go back with

the overcorrection step-by-step with increasing the derivative factor KDER. You can increase

the proportional factor KPROP and the derivative factor KDER by iteration until the desired

reaction or the stability limit is reached.

Use the integration factor KINT and the integration limit KILIM, to eliminate a possibly acute

position error.

Firmware Download MACS3

Download new Firmware via the Interface

The functionality of the MACS controls are determined by the internal operation system. This firm-

ware is being continually improved and extended. The MACS controls will be delivered with the

firmware version for a 1-axis configuration which was up-to-date when the unit was produced.

From the type series MACS3 on, the firmware can be updated via the serial interface. For this

case, zub machine control AG provides a corresponding software set with all necessary files.

! ! ! Please note that new or specialized firmware versions may contain extended functions or

require additional safety instructions which are only contingently compatible with the standard

versions. Therefore, in each individual case, it is important to check before using new or

specialized versions in existing units or in series units.

Prompt advisory service is available on request. Please contact zub machine control AG for

support.

Firmware Download The software set for the update is delivered in a zipped file.

APOSS Version 6_6_20 provides a wizard for downloading. When using previous versions,

the download must be started in a DOS window via a batch file.

Using the Download

Wizard All files of the zip-file have to be unpacked into a single directory.

Start APOSS or close all files and click on → Firmware:

Select → Download and follow the instructions.

! ! ! Note that the MACS3 must be switched off, when starting the download!

During the internal boot process, the Power and Run LEDs will light (green and orange).

Using a DOS window for

Download All files of the zip-file have to be unpacked into a single directory.

Open a DOS window in the Windows desktop: Click on the Start-Button and use the

function →Run…. Input “cmd” in the subsequent dialog field and click on OK. A DOS-

window will be opened. Change to the directory containing the unzipped files e.g.:

cd \$Data_Disk\$Production\MACS3_3Axes

! ! ! Please note: MACS3 must be switched OFF at start of the download tool!

First, start the appropriate batch file in the DOS window:

pps_1ax.bat or

pps_3ax.bat

As soon as the message

Waiting for MACS3

is displayed, you must switch on the MACS3.

During the internal boot process, the Power and Run LEDs will light (green and orange).

The end of the Download is reported with following message:

Reached end of Srecord

Ending Download After the download the control has to be switched off and on. You will see the firmware

version number in the 7-segment-display of the MACS3 (e.g. 6_2 39).

zub machine control AG Manual MACS3 · Download new Firmware via the Interface page 37

Supply voltage MACS3

Hardware Reference

Supply voltage Control circuit (Control voltage UB) +24 V DC unregulated, ±25 %; 1 A

Requirements simple 24-V control cabinet power pack

Current input electronics 120 mA

CPU Micro control CPU MPC555 @ 40 MHz

Work space memory SRAM 256 kB

Program memory Flash EPROM 448 kB (Operating system)

APOSS application memory Flash EPROM 128 kB (enough for about 20,000

commands)

COM Interface Signal transmission according to RS232 standard

Baud rate 9600 bit/s

Data format 8 bit

Stop Bit 1

Parity none

Signals RxD, TxD, GND

Hardware handshake signals none

Software handshaking XON/XOFF

Pin assignment 5 = GND; 3 = RxD; 2 = TxD

SUB-D-9

PC

5

4

3

2

1

9

8

7

6

+24V

GN

D

PE

CAN

Hig

h

CA

N L

ow

CAN

GN

D

CAN

Hig

h

CA

N L

ow

CAN

GN

D

RxD

TxD

GN

D

CAN

Hig

h

CA

N L

ow

CAN

GN

D

A_I

N

A_O

UT

A_G

ND

1 2 3 4 5 6 7 8 9 10 11 12 13 14 15 16 17 18

X 1

Master -> MACSMACS ->Master

19 20 21 22 23 24 25 26 27 28 29 30 31 32 33 34 35 36

IN 1

IN 2

IN 3

IN 4

IN 5

IN 6

IN 7

IN 8

IN 9

IN 1

0

OU

T 1

OU

T 2

OU

T 3

OU

T 4

OU

T 5

OU

T 6

GN

D

+24 V

X 2

zub machine control AG Manual MACS3 · Hardware Reference page 38

Axis Controller


MACS3

Axis Controller Max. positioning path ±1 billion quadcounts

(500-series encoder ca. 536000 revolutions

1000-series encoder ca. 268000 revolutions)

Encoder Inputs Number 2

Input frequency 220 kHz

Input voltage low UEL

0 … 0.8 V

Input voltage high UEH

2,6 V … 6 V

Input current IEL

0 mA

Input current IEH

2.5 mA … 9 mA

Pull-up resistor 1 k intern

Assignment (terminal 4 + 3) Encoder-1 Encoder-2 Assignment

(Master) (Slave)

9 1 +5 V

10 2 A

11 3 /A

12 4 B

13 5 /B

14 6 Z

15 7 /Z

16 8 GND

Control Inputs (freely programmable)

Number 1 …10

13 … 30 VDC (high); Ri = 5 kΩ

Logic positive (high-active)

UB 24 V DC ±25 %

Input voltage low UEH –3 V … +5 V DC

Input voltage high UEL +13 V DC … UB

Input current low IEL –0,1 mA … +0,1 mA

Input current high IEH < 1 mA

Control Outputs (freely programmable)


MACS3

Control Outputs (freely programmable)

Number 1 …6 (short-circuit proof)

Logic positive;

APOSS program sample: OUT 1 1

Max. load current IAN 0,5 A

Voltage drop 1,8 V for IAN

Switching frequency max. 200 Hz for ohm resistive load

Defined output condition 200 ms after connecting the power supply

Zero current I∅max = 0,5 mA (not connected)

24 V power supply

GND

~

+24V

GN

D

PE

CAN

Hig

h

CA

N L

ow

CAN

GN

D

CAN

Hig

h

CA

N L

ow

CAN

GN

D

RxD

TxD

GN

D

CAN

Hig

h

CA

N L

ow

CAN

GN

D

A_I

N

A_O

UT

A_G

ND

1 2 3 4 5 6 7 8 9 10 11 12 13 14 15 16 17 18X 1


Slave

+24 V

19 20 21 22 23 24 25 26 27 28 29 30 31 32 33 34 35 36

IN 1

IN 2

IN 3

IN 4

IN 5

IN 6

IN 7

IN 8

IN 9

IN 1

0

OU

T 1

OU

T 2

OU

T 3

OU

T 4

OU

T 5

OU

T 6

GN

D

+24 V

X 2

=

! ! ! With inductive load (relays, etc.) you must use a suppressor diode.

Analog Input Number 1

Voltage 0 … 10 V (10 bit)

Ri = 44 kΩ

Reading Values You can read the analog value with the command INAD:

value = INAD 1

Return value is 0 … 2048.

HEX Switches


MACS3

HEX Switches The two HEX switches are at the bottom of the MACS3. Hold the MACS in a way that you

see the HEX switches and terminal X2 rightmost:

X 2

High Low

ACB DE

F

98

76 5 4 3

2

10

ACB DE

F

98

76 5 4 3

2

10

Display Elements LEDs Power, Run, Error

LEDs 10 x digital inputs

6 x digital outputs

7-segment-display 3 x

Mechanical Dimensions Design Housing for free mounting at DIN rail

Weight ca. 200 g (without brackets)

Dimensions (w x h x d) 70 mm x 75 mm x 110 mm (without brackets)

75 mm

110 mm

70 mm

Operation Conditions Operating temperature 0 °C … 50 °C

Storage temperature –20 °C … +70 °C

Relative humidity < 75 % noncondensing

CAN Adapter MACS3

Appendix

You will find in this chapter a short description and technical data for MACS3 suitable

accessories.

CAN Adapter For MACS3 CAN networking, the Centronics CAN-Adapter is recommended for the PC.

Technical Data CAN protocol 2.0 A, 2.0 B

CAN chip AN82527

CAN driver PCA82C250T

Centronics mode EPP, PS/2, SPP

CAN-Bus galvanic isolation: yes

Supply voltage for the version with wall power supply: 8 V ±10 %

for the 5 V version: 5 V ±5 %

Supply current max. 220 mA

Operation temperature 0 … 40 °C

Dimension l x w x h 97 x 50 x 16 mm (without connection cables)

Terminal Assignment

GND+UbCAN_GNDCAN_LCAN_HCAN_GNDCAN_LCAN_H

87654321

Pow

er

Err

or

CAN

-RX

CAN

-TX

Pin-No. Term Description Direction

1 CAN_H CAN bus high line input / output y

2 CAN_L CAN bus low line input / output g

3 CAN_GND CAN bus ground – w

4 CAN_H CAN bus high line input / output

5 CAN_L CAN bus low line input / output

6 CAN_GND CAN bus ground –

7 +Ub supply voltage input

8 GND supply ground –

zub machine control AG Manual MACS3 · Appendix

50 mm

ellow

reen

hite / brown

page 42

Index MACS3

Index

7-segment-display ...................................................8

Absolute encoder.................................................. 10

Amplifier ........................................................................ 19

connection.............................................................. 19

testing the connection .................................. 22

Analog input............................................................... 39

Analog signals........................................................... 12

APOSS 6.x.......................................................................6

APOSS commands.............................................. 31

Applications....................................................................5

Asynchronous Motors...........................................6

Axis controller........................................................... 38

BANDWIDTH (35)................................................. 34

Baud rate.............................................................26, 37

reset ............................................................................. 27

setting with APOSS......................................... 26

setting with HEX switch............................... 26

Before you start...................................................... 13

Brushed and brushless motors ........... 6, 19

Bus commands...........................................................5

Cabling

Amplifier ................................................................... 20

Frequency Converter..................................... 20

CAM functions .............................................................5

CAN adapter ............................................................. 25

Technical data...................................................... 41

CAN drives initialization.................................... 30

CAN networking..................................................... 25

CAN number ............................................................. 27

setting with APOSS......................................... 28

setting with HEX switch............................... 27

CAN objects............................................................... 28

CANINI ..................................................................10, 30

CANNR.......................................................................... 27

COM interface ......................................................... 37

Commands for networking........................... 31

Communication lines .......................................... 12

Communication Set-up (CAN).................... 25

Communication Set-up (serial)................... 15

Configuration data ................................................ 27

Connection

amplifier .................................................................... 19

frequency converter ....................................... 23

motor.................................................................11, 19

supply voltage...................................................... 14

Control

functions.......................................................................5

inputs .......................................................................... 38

outputs....................................................................... 39

Conventions ...................................................................7

Copyright ..........................................................................2

CPU................................................................................... 37

Current input electronics ................................. 37

Current supply.......................................................... 11

Derivative factor ..................................................... 34

Differential signal traces................................... 17

Digital status signals............................................. 12

Disclaimer ........................................................................2

Display and setting elements...........................8

Display elements.................................................... 40

DOS window............................................................ 36

Drives...................................................................................6

DRIVETYPE ................................................................ 31

EMC check ................................................................. 12

EMC-compatible installation........................ 11

Enabling wiring ........................................................ 19

Encoder

connection.............................................................. 17

for master and slave ...................................... 17

inputs .......................................................................... 38

signals ......................................................................... 12

testing......................................................................... 18

FFACC (37) ................................................................. 34

FFVEL (36).................................................................. 34

Firmware Download........................................... 36

Fixing tips .........................................................................8

Frequency converter

connection.............................................................. 23

testing:........................................................................ 24

Hardware installation.......................................... 13

Hardware reference............................................ 37

HEX switches...................................................... 9, 40

High frequency isolation .................................. 11

I/O extensions.......................................................... 33

I/O LEDs...........................................................................8

Imprint ................................................................................2

INAD................................................................................. 39

Incremental encoder........................................... 17

Initialize CAN drives............................................. 30

Inputs and outputs

check........................................................................... 33

Integration factor ................................................... 34

zub machine control AG Manual MACS3 · Appendix page 43

Index MACS3

LEDs.....................................................................................8

Limit switch setting .............................................. 16

MACS2, previous users ................................... 10

Master / Slave.......................................................... 17

Master bus .................................................................. 25

Master encoder ...................................................... 17

Mechanical dimensions .................................... 40

Messages

X255 Limit switch activated! ................... 16

Migrating configuration data (*.cnf)......... 32

Migrating MACS2 configuration data.... 10

Motor .............................................................................. 19

connection.....................................................11, 19

testing ......................................................................... 22

Number of the used objects........................ 29

Operation conditions.......................................... 40

PID filter......................................................................... 34

fine adjustment ................................................... 35

Positioning functions...............................................5

PRINT CON ...................................................................8

Program test.............................................................. 33

Programming ............................................................ 34

Proportional factor............................................... 34

Reading values......................................................... 39

Reference switch setting................................. 16

Safety instructions................................................. 13

Sample

Connection Amplifier V1 .............................. 21

Servo motors................................................................6

Setting the

baud rate ................................................................. 26

control parameters.......................................... 34

Slave encoder........................................................... 17

Status LEDs....................................................................8

Supply voltage.......................................................... 37

connection.............................................................. 14

Difference MACS3 - MACS2:............... 10

Synchronizing functions .......................................5

Terminal assignment..................................... 9, 41

Testing

amplifier connection....................................... 22

frequency converter ....................................... 24

motor.......................................................................... 22

Trademarks ....................................................................2

Unpacking ZIP-file................................................. 36

USB-to-RS232 converter .............................. 15

Used CAN objects ................................................ 28

Used objects.............................................................. 29

Vibration-free operation.................................. 35

Virtual master............................................................ 10

What to do, if …

a wrong position is reported?................ 18

encoder doesn't work?................................ 18

green power LED doesn’t light up?... 14

index pulse is not detected?.................... 18

motor is drifting? ............................................... 24

motor is running uncontrolled at full

speed?..........................................................22, 24

no communication between PC and

MACS? .........................................................15, 31

position error is reported? ...............22, 24

zub machine control AG Manual MACS3 · Appendix page 44

Documents

MACS3 - zub · The MACS3 is a freely programmable control system including ten digital and one analog input. Two CAN busses provide direct control of multiple axes or an easy extension