jvl

WWW.JVLMX.COM

2009

ABOUT US..The JVL Company ...integration in motion

Our Mission The mission of JVL Industri Elektro-nik A/S is exclusively to help our customers to build better, faster and more reliable machines.

Our Goals Our goal is to apply the latest tech-nology in order to develop and pro-duce the best, most user-friendly and most economical products of the hig-hest quality.

Our Vision It is our vision to be a preferred and compe-tent partner for lea-ding machine builders all over the world.

Product Program The up-to-date development, re-search and production facilities of JVL employ only the latest techno-logy for the development and pro-duction of electronic controls for step- and servo motors. More than 50% of the staff are engineers with a very high degree of experien-ce and competence in the field of motion control. They are all highly motivated and innovative, and we

can therefore offer a product pro-gramme today that includes all the necessary units and components to build up complete motor control systems. Our Mission The mission of JVL Industri Elektro-nik A/S is exclusively to help our customers to build better, faster and more reliable machines.

MarketingJVL products are marketed all over the world, in Europe, the USA and Asia, by independent re-presentatives who are, carefully selected by JVL to have the neces-sary knowledge and experience, in order to help our customers in the best possible way in their choice of motion control components.

JVL is represented in the following countries:In Germany and Great Britain/Ire-land by our own companies, JVL Deutschland and JVL UK respecti-vely. In USA and overseas we are represented through our company JVL International. Belgium PortugalChina SingaporeFrance SpainGermany SwedenIceland SwitzerlandIreland The NetherlandsItaly United KingdomKorea (KR) Norway We are constantly looking for sui-table representatives in all other markets, and are in the process of signing contracts with several re-cognized companies around the world.

70 to 80% of the equipment produ-ced by JVL is exported and a large part is in use outside Denmark, as an integral part of equipment ex-ported by JVL’s Danish customers.

11

WWW.JVLMX.COM

2009

The CustomersJVL´s customers are mainly machine builders, either independent companies or the process machinery departments of larger concerns. A proportion of customers are also found within the education sector and research laboratories.

Many customers also use JVL equipment as a part of their own production which is then sold globally. Among the customers are some of the biggest and internationally most acknowledged companies, including:

ABOUT US..The JVL Company ...integration in motion

automatic updating of firmware via the internet, and to extended use of Profibus, CANopen, Devicenet, Ethernet and wireless systems With a control system from JVL you are sure to be at the forefront of motion control technology. JVL awardsJVL has received several awards during the years. Among others from Dun & Bradstreet and Experian (KOB and RKI) for the highest credit rating on the triple-A scale and 5 stars scale. These ratings are awarded on the basis of an overall evaluation of a company´s payment history.

ProductionJVL’s production uses external su-ppliers to a large extent, so that the company can concentrate on inspection, final mounting and test. ISO 9000 requirements for quality assurance are widely followed and certification is planned as soon as all procedures have been docu-mented. Computer testing is widely used, and all new designs are tes-ted to ensure that they can withs-tand the environmental conditions in which they have to work in prac-tical use.

New DevelopmentsAt JVL we pay very high attention to, and use a very large part of the budget on, the continuing development and improvement of the product range we offer our customers for motion control.

We are constantly following the trends on the markets and listening to the wishes of our customers. Amongst other things, this attentive approach to the needs of the market has led to the development of unique set-up software with

22

MAC Integrated Motors

33

WWW.JVLMX.COM

2009

MAC050 - 141 - Integrated Servo Motors

MAC050 to MAC141- the complete solution for lower power ratings. Choose between 4 sizes of motor.From 50W to 141W.Also in IP67 versions.Choose Expansion module from the extensive selection for any applica-tion. Motor sizes are:

* MAC050 46W * MAC095 92W * MAC140 134W * MAC141 134W

Expansion module you can choose between:

* Basic Modules * Programmable Modules * Field Bus Modules * High Speed Multi-Axis Modules * Wireless Modules

Most of them available with either cable glands, DSUB connectors and

M12 connectors. See EXPANSION MODULES SELECTION CHART. See the ACCESSORIES, GEARS, POWER SUPPLIES and SPECIAL VER-SIONS for further possibilities.


Example Apllication:

Poul Johansen Maskiner A/S is now also using JVL´s integrated AC servo motors

Danish company Poul Johansen Maskiner A/S has long used a wide range of JVL´s step motor contro-llers and drivers for a variety of so-lutions. Recently the company also adopted the new integrated AC-servo motors from JVL - the MAC motors.Danish company Poul Johansen Maskiner A/S has long used a wide range of JVL´s step motor contro-llers and drivers for a variety of so-lutions. Recently the company also adopted the new integrated AC-servo motors from JVL - the MAC motors.

A total of 4 MAC motors in all are being used for a range of different purposes in one of the company’s large assembly machines.

44

WWW.JVLMX.COM

2009

MAC800 - Integrated Servo Motors

MAC800 - The complete solution for larger power ratings.All with built-in mains power su-pply. Choose between model with or wi-thout brake.Also in IP65 version.Choose Expansion module from the extensive selection for any applica-tion.

Motor size is:

* MAC800-D2 746W * MAC800-D5 (with built-in brake) 746W

Expansion module you can choose between:

* Basic Modules * Programmable Modules * Field Bus Modules * High Speed Multi-Axis Modules * Wireless Modules

Most of them available with either cable glands, DSUB connectors and M12 connectors. See EXPANSION MODULES SELECTION CHART.

See the ACCESSORIES, GEARS, and POWER SUPPLIES for further possi-bilities.

MAC800-D models with asso-ciated expansion

modules are UL recognized.


55

The MAC motor®. AC-servo motor with integrated driver MAC800

The MAC series of brushless servo motors with integrated electronics represents a major step forward. All the necessary electronics in a servo system are integrated in the motor itself.

In the past, a traditional motor system has typically been based on a central controller unit located remote from the motor. This configuration however has the negative effect that instal-lation costs are a major part of the total expense of building machinery.

The basic idea of the MAC mo-tors is to minimize these costs but also to make a component that is much better protected against electrical noise which can be a typical problem when using long cables between the controller and motor.

The servo motor, hall sensor, encoder and electronics are spe-cially developed by JVL so that together they form a closed unit in which the power driver and controller are mounted inside the motor in a closed section.

The advantages of this solution are:• De-central intelligence. • Simple installation. No cables between motor and driver. • EMC safe. Switching noise remains within motor. • Compact. Does not take space in cabinet. Typically a 3/5 core cable is used from PLC or similar to MAC motor.• ��5/230V AC for driver voltage.• 24VDC for control circuits.• Option for built-in brake.• Uses the same expansion modules as the MAC 50-�4� series.• Built-in mains supply filter.• CE approved/UL pending.• Low price.

Interface possibilities to the MAC motor: • From PC/PLC with drive- commands via RS232/RS485/ RS422 • Pulse/dir. or quadrature inputs. • �0 bit ±�0V input for speed or torque control. • A+B encoder output.• Register mode via 4 inputs or serial commands• Option for µPLC built-in.• Option for Fieldbus. Profibus- DP, CanOpen, Devicenet, High- speed serial bus etc.• IP55 and IP65

LD0048-16 GB Date: 21-8-08

66

The MAC motor can be con-trolled with ±�0V for speed or torque control with encoder feedback to one master motion controller.

Furthermore the MAC motor can replace an arbitrary step or ser-vo system, being based on pulse and direction signals. There is a built-in electronic gear so that the MAC motor can simulate all possible step resolutions.

The MAC motor can thus re-place all step- and servo-sys-tems without change in the PLC/PC/controller software.

Adaptation/replacement of existing step motor/servo sys-tems can therefore be achieved quickly.

Parameters are set up via the RS232 port from a Windows program.The supply voltage is 230VAC for the drive and 24VDC for the control circuit. The motor offers a power of 750W. Standard flange so that the MAC motor can replace other servo motors directly without mechanical changes.

System and feature overview

The connector can be chosen as DSUB, Phoenix connector, Military, M�2 plug or cable out. Backlash free and planetary gears in ratios of 3, 5, �2, 20, �00 can be delivered from stock.

77

Selection of register via serial command

Modes of Operation (Basic Motor)Gear ModeIn this mode the MAC motor functions as in a step motor system. The motor moves one step each time a voltage pulse is applied to the step-pulse input. Velocity, acceleration and deceleration are determined by the external frequency. Use of an encoder enables monitoring and adjustment during motor operation — a feature that is not possible with a standard step motor system. In addition, the MAC motor also provides a facility for electronic gearing at a keyed-in ratio with analogue speed offset.Positioning ModeIn this mode the MAC motor positions the motor via commands sent over the RS422 or serial interface. Various operating param-eters can be changed continuously while the motor is running. This mode of operation is used primarily in systems where the Control-ler is permanently connected to a PC/PLC via the interface. This mode is also well suited for setting up and testing systems.Serial Mode (FastMac)In this mode the MAC motor’s registers contain the parameter sets, positions, velocities, etc., required for the actual system. The registers can be selected and executed by a single byte sent via the serial interface. This mode provides maximum utilisation of the MAC motor’s features since the MAC motor itself takes care of the entire positioning sequence.Velocity / Torque ModeIn this mode the MAC motor controls the motor velocity/torque via the analogue input. This mode is typically used for simple tasks or for applications in which an overall unit, such as a PC-board or PLC, controls velocity and positioning. Encoder A and B signals can be connected to the overall controller to close the servo loop.

Pulse signal

PC/PLC with control-ler modules or pulse generator

Operating param-eters

via RS 2�2/485 Interface

analog ±10V

e.g. PC-board as overall controller

Direction signal

PC/PLC with e.g. LabWiew or MacTalk

PLC or similar

Gear mode

Positioning mode

Serial mode (FastMac)

Encoder signal

Analogue signal

To other MAC motors

Torque versus speed

TT2119GB

= Peak Torque

= Average Torque

Conditions:Supply voltage = Nominel 115 or 230VACAmbient temperature = 20°CTorque setting = 100%Load setting = 1.0

Operation above 3000 RPMcan be done, but losses inthe motor make it impossibleto operate in this area continously

Oz./InchNm

1000

7085.0

5664.0

4253.0

2832.0

1421.0

02000 3000 4000

RPM

MAC800 Torque versus speed

6.0

7.0

8.0

850

991

1133

Operation above 3000 RPMis not recommended.

Velocity/Torque mode

88

Software, MacTalk

Block diagram

Startup modeThe basic functionalityof the MAC motor issetup in this field.

Setup save/openThe complete setupcan be either savedor reloaded from afile using thesebuttons

System controlUse these buttons to save datapermanently, reset the motor etc.

Error HandlingUse these fields to define errorlimits for the position range etc.

Input/OutputsThe functionality of the I/O'sis specified here.

Motor statusThis field shows theactual motor load,position and speed etc.

ErrorsIf a fatal error occurs,information will be displayed here.Profile Data

All the main para-meters for control-ing the motor behaviourare setup in this field.

Zero SearchAll the parameters regardingthe position zero search canbe specified here.

Undervoltage handlingDetermine what must happening if the supplyvoltage gets too low..

MAC motor connectioninformation Always showsif the motor is on line or not.

InputsThis field shows theactual supply voltage,the speed at the pulseinput and the voltageat the analogue input.

TT2013GB

3-phasebrushlessmotor

Optionalbrake

3.35Nm

2000 pproptical

incrementalencoder

Hall elements

+24VDC

Ground

AINAnalogue

input ±10V

A+

A

B+

B

Output 1

Output 3

Input 2

Output 3

Input 1

TransmitGround

Receive+5VDC Out

SwitchmodePowerSupply

Power Dumpfor absorbingregenerative

energy

3-ph. Mos-Fetdriver

Current Sensing

High speedA/D converter

High speeddigital logic

array

Analogue inputLevel shifter

and filter

2 channeldifferentialTransceiver

2 channeldifferentialencoderoutput

3 Digital NPNoutputs showing

motor status32 Bit ARM

Microprocessor64MHz

A

HU

HV

B

W

V

U

HW

Po

wer

su

pp

lyco

nn

ecto

r

Use

r I/O

co

nn

ecto

r

Use

r I/O

co

nn

ecto

r

Ser

ial i

nte

rfac

eco

nn

ecto

r

Basic MAC motor block diagram including motor and feedback devices

TT2016G B

115/230VAC

AI-

AO-

AI+

AO+

BI-

BO-

BI+

BO+

2 channeldifferential

input

2 digitalPNP inputs

Asynchronousserial interface

99

Expansion modules

MAC00-FR4High Speed Multi-axis Module w. M�2 connec-tors: RS485 bus w/up to 255 axes.• Multiaxis operation• Compatible with SMCopen IEC 6��3�-3 auto- mation software• Advanced motion profiles for robot and xyz tables• 4I/4O for user purposes• Open hardware with PIC�8F6520 for own sw.• Dual supply support for MAC50-�4�

MAC00-CSLow cost module, connection directly to basic motor, serial communication not RS232.• Low cost module• Cable connected directly to basic motor connector• User I/O connection• �0 or 20 meter cable• NPN outputs

MAC00-B1General purpose module w/ Sub-D connectors: • Ideal for pulse/direction, ±�0V input or RS232/422/485 interface• Standard D- Sub conn.• Home switch input• LEDs to indicate status, Home switch status, Input power status• PNP outputs

MAC00-B2General purpose module w/Cable Glands: other-wise same as –B�.

MAC00-B4General purpose module w/M�2 connectors: otherwise same as –B�, but with USB interface.• Dual supply support for MAC50-�4�

MAC00-R1Nano-PLC Module w/Sub-D connectors: Stand-alone operation with 8 DI + 4 DO, RS232/485.• Ideal for stand-alone operation with sequential program execution• 8/4 Opto isolated in-/out. 5-30VDC• Outputs up to 200mA. �0-30VDC• LEDs to indicate output status Home+power status• RS232/RS485 interface

MAC00-R3Nano-PLC Module w/Cable Glands: otherwise same as –R�.

MAC00-R4Nano-PLC Module w/M�2 connectors: otherwise same as –R�.

MAC00-FS1High Speed Multi-axis Module w. D-Sub connectors and opto-isolated RS485.• 9.6 - 460.8kbit• Up to 255 axes (with repeaters)• Command broadcast• Pulse input or output• Dual supply support for MAC50-�4�MAC00-FS4As module FS� but with M�2 connectors.

MAC00-FP2Profibus Module w/ Cable Glands: Bus, 6 DI + 2 DO and RS232.• Control and setup through �2Mbit/s profibus-DP• Logic I/Os for High speed start/stop In position indication. Home switch• LEDs to indicate status• End limit inputs• Dual supply support for MAC50-�4�MAC00-FP4Profibus Module w/M�2 connectors: Bus, 4 DI/DO and RS232.• End limit inputs• Dual supply support for MAC50-�4�

MAC00-FC4CAN bus Module w/M�2 connectors: Bus, 4 DI/DO and RS232.• Control and setup• Logic I/O for high speed start/stop• CANbus/CANopen DS30�/DSP402• Optional with cable bushes (MAC00-FC2)• End limit inputs• Dual supply support for MAC50-�4�MAC00-FD4DeviceNet Module w/M�2 connectors: Bus, 4 DI/DO and RS232.• End limit inputs• Dual supply support for MAC50-�4�

MAC00-FB4Bluetooth Module w/M�2 connectors. Controlled from PC, PDA, Cellphone or PLC with Bluetooth• Standard Bluetooth SPP profile• Pulse input or output• External connector for antenna• Dual supply support for MAC50-�4�

Basic Modules Bus Modules

Programmable Modules

High Speed Multi-Axis Modules

Wireless Modules

The JVL Integrated motors utilizes the unique module concept. Plug in expansion modules adapt the motor to the application. You can choose connector type, D-Sub. (IP42), cable glands (IP67) or M�2 connectors (IP67) and you can choose freely between Profibus, DeviceNet, CANopen or nano PLC communication. A High Speed and wireless

module add to the possibilities. This means that you have possibilities as with no other motors on the market, and also important, you only pay for what you need. Moreover, if you do not find the feature you need, please contact us, and we will develop your own module. All modules can be delivered with or with cables of up to 20m length.

1010

Technical Data GENERALTechnology AC-servomotor with built-in 2000 PPR encoder, hall sensor and 3 phase servo amplifier/controller. Controller capacity MAC800-D2 and D3 MAC800-D5 and D6 w. brake

Rated output @ 3000RPM 750W 750WRated Torque RMS (Nm) 2.38Nm 2.38NmPeak Torque (Nm) 6.8Nm 6.8NmInertia (kgcm2) 0.9� �.�3Length (mm) �70 2�0Weight (kg) (without expansion module) 3.5 4.3

Speed range 0-3000RPM with full torque. Max 3500 RPM.Amplifier control system Sinusoidal wave PWM control. 20kHz switching.Filter 4th order filter with only one inertia load factor parameter to be adjusted.

Expert tuning also available for professionals.

Feedback Incremental A and B encoder 8000 CPR. (Physical 2000 PPR ) Input power supply ��5/230/240VAC for driver circuit. �2-32VDC for control circuit. Consumption at ��5-240VAC - see power supply section.

Control circuitry consumption: MAC800D2 and 3 (wo/brake) =0.25A @ 24VDC(6W).Control circuitry consumption: MAC800D5 and 6 (w/brake) =0.75A @ 24VDC(�8W).

Control mode * ±�0V Speed and Torque. A+B encoder outputs* Pulse/direction and 90° phase shifted A+B (Incremental).* RS422 or RS232 (5V) position and parameter commands* Gear mode with analog input speed offset + various options.* Sensor zero search or mechanical zero search.

Flange and shaft dimension Front: 80x80mm. Rear: 80x��3mm. Shaft Ø�9mmPOSITION (pulse inputs) Command input pulse Pulse/direction or 90° phase shifted A+B. RS422 Input frequency 0-8 MHz. 0-�MHz with input filterElectronic gear A/B: A= -�0000 to �0000, B=� to�0000. Simulation of all step resolutions.Follow error register 32 bit In position width 0-32767 pulsePosition range 32 bit. Infinity, Flip over at ±23� pulses.POSITION (serial communication )Communication facility From PLC, PC etc via RS422 or asynchronous serial port RS232 with special cable. MacTalk JVL commands, special commands with high security.

Communication baud rate �9200 bit/sec (�9.2kBaud)Position range ±67 000 000Speed range 0-3000 RPM. Digital resolution 0.3606 RPMAcceleration range 250 – 444675 RPM/secAddressing Point to point on RS422. Up to 32 units on the same serial RS232/RS485 interface with built-in expansion module. Address range �-254 Number of parameters. Standard 85. With MacRegIO software �56 (Only for experts) Speed variance Max ±4 RPM variance between command and actual speed. SPEED/ TORQUEAnalogue speed/torque input. �2bit ±�0V. �0kOhm input resistance. Voltage range max. -�0 to +32VDC. Offset typical ±50mV.

Sampling rate at analogue input 750 HzEncoder output signals A+, A-, B+, B-, RS422. Line driver 5V outputs (SN75�76). 90° Phase shifted.Analogue speed input +voltage -> CW rotation. Shaft viewZero speed determination. 0 - rated speed.Speed variance at rated speed Initial error @20°C: ±0,5% Power Supply: ±�0%: 0.0%

Load 0-300%: ±0.0% Ambient temperature 0-40°C: ±0,�%

Torque limit in speed mode 0-300% by parameterAnalogue torque input +voltage (positive torque) -> CW rotation. Shaft viewTorque control accuracy ±�0% @ 20°C (Reproducibility)VARIOUSFatal error brake Controlled deceleration by fatal error. Adjustable 250 – 444.675 RPM/sec.Regenerative Integrated power dump. External attachment is possibleProtective functions. Error trace back. Overload I2t, follow error, function error, regenerative overload (over voltage), software position limit. Abnormality in flash memory, under

voltage, over current, temperature too high.

LED functions Power (Green LED), Error (Red LED) Output signals 3 general purpose NPN 30V/25 mA outputs. Error and In position. Zero search �: Automatic zero search with sensor connected to input (2 formats)

2: Mechanical zero search without sensor. (Torque controlled)

Shaft load maximum Radial load: �8kg (20mm from flange). Axial load: ��kg.Optional brake (-D4 option) Controlled automatic or from input. 3.25Nm, inertia 0.22kgcm2, turn on time: 50ms, turn off time: �5msRated power rate. (motor) 62.8 kW/sMechanical time constant. (motor) 0.428±�0% msElectrical time constant. (motor) 4.�22±�0% msStandards CE approved/UL pending Protection IP55 and IP65Usage / Storage Temperature Ambient 0 to +40°C / -20 to +85°C. (Humidity < 90%)Basic motor connector:(Other functions available with expansion

modules)

RS232 serial inter-face (1)

IN/OUT: User I/O connector(2)

Power (3)

Power (control circuitry)

�: +5VDC out �: Ground 5: A+ MultifunctionI/O �:P+ L�:��5/230VAC PD: Power Dump2: Rx (5V) 2: Analog in 6: A- Multifunction I/O 2:P- N: ��5/230VAC BO: Bus output3: Tx (5V) 3: Out� (Error) 7: B+Multifunction I/O PE: Earth CM: Common

4: Ground 4: Out2 (In pos.) 8: B- Multifunction I/O PE: Earth

Basic motor connector: (J1B)(Not supported by expansion modules at present time)

�: GND 6: IN� ��: B+ �6: BO-2: AIN 7: A+ �2: AO- �7: BI-3: O� (Error) 8: IN2 �3: B- �8: AI+4: O2 (Input) 9: A- �4:BO+ �9: GND5: O3 �0: AO+ �5: BI- 20 AI�

1111

MAC motor selection chart

Planetary and cycloidal gearheads • Sealed Ball Bearings• High Reliability, High Efficiency Design• NEMA Mounting Standards• High Shaft Loading Capacity

• Low Backlash Design• Strong, Caged Roller Bearings• Precision Input Pinion with Balanced Clamp Collar

HTRG type gears:

HSPG type gears:

Power SupplyThe Integrated MAC800 motors have a complete 90-240VAC power supply built in and furthermore only requires an �8 to 30 VDC for the control cir-cuitry. Having 2 independant supply circuits offer the feature that the sup-ply voltage for the power circuitry (90-240VAC) can be removed for safety reasons while the control circuitry can keep operating and thereby keep the position counter updated and keep other vital functions.

Main power, internal busvoltage and powerdump is accessible through these springcontacts placed under the top lit.Main power must be 115 or 230VAC.

Control power (+18-30VDC) mustbe connected to the P+ and P- terminalat the expansion module.

MAC800 supply connectionsRemove the lit to access

the internal supply terminals

L1 N PE

(Ear

th)

PE

(Ear

th)

PD

BO

CM

TT2025GB

Model. Back-lash [arcmin]

Gear ratio

Effi-ciency [%]

Rated torque>�0000 Hours [Nm]

Emerg stopTorque [Nm]

Inertia at motor shaft [kg*cm2]

Noise[dB(A)]

Radialload @ mid length.�00rpm[N]

Axial load[N]

Weight [kg]

L� [mm]

D� [mm]

D2[mm]

(h7)

HTRG08N003MHP70��9MC �5 3 97 40 �80 0.74 <70 �300 �460 4.0 ��7.5 85 �9HTRG08N005MHP70��9MC �5 5 97 50 200 0.46 <70 �300 �460 4.0 ��7.5 85 �9HTRG08N0�2MHP70��9MC �5 �2 94 70 250 0.48 <70 �300 �460 4.6 �42 85 �9HTRG08N020MHP70��9MC �5 20 94 70 250 0.48 <70 �300 �460 4.6 �42 85 �9HSPG�40-33-SAA-N23 <� 33 >90 37 670 - ��500 �7000 6.4 �40 92HSPG�40-�39-SAA-N23 <� �39 >90 78 670 - ��500 �7000 6.4 �40 92

MAC50,95,140,141-A1

Unba

lanc

ed a

sync

.se

rial i

nter

face

For s

etup

/sen

ding

com

man

ds

Bala

nced

asy

nc.

seria

l int

erfa

ceFo

r set

up/s

endi

ng c

omm

ands

±10V

Ana

logu

e in

put

For c

ontr

ollin

g sp

eed/

torq

ueAl

so u

sed

for z

ero

sear

ch

Puls

e in

puts

Acce

pts

puls

e an

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rect

ion

orqu

adra

ture

enc

oder

sig

nal

Puls

e ou

tput

s90

deg

ree

phas

e sh

ifted

outp

uts

from

inte

rnal

enc

oder

Digi

tal u

ser

inpu

tsFo

r con

trol

of p

rogr

am fl

owor

mot

or s

tart

/sto

p

Digi

tal u

ser

outp

uts

For i

ndic

atin

g th

e m

otor

sta

tus

or a

s ou

tput

from

the

pro

gram

Ext.

conn

ecto

r ty

pe

Prot

ectio

n cl

ass

Inte

grat

ed b

rake

MAC50,95,140,141-A3

MAC800-D2/D5

MAC800-D3/D6

MAC00-CS

MAC00-B1

MAC00-B2

MAC00-B4

MAC00-R1

MAC00-FC4

MAC00-R3

MAC00-FD4

MAC00-FB4

MAC00-R4

MAC00-FS1

MAC00-FP2

MAC00-FP4

MAC00-FR4

Feature

Type

Basic MAC motors IP42


Basic MAC motors IP55 or IP65


Conn. module w/cable glandsNo electronic features added

Connector module w/DSUBconnectors

Connector module w/cableglands 2)

Nano PLC w/ DSUB connect.

CANopenw/M�2 connectors

Nano PLC w/cable glands2)

Bluetooth module

Nano PLC w/M�2 connectors

Profibus DP w/cable glands2)

Profibus DP w/M�2 connectors

High speed serial RS485Multiaxis. Interf. to IEC6��3�-�

High speed serial RS485Multiaxis

MAC Motors feature overview including expansion modules

5V TTL�9.2kbaudFull Duplex





RS232�9.2kbaudFull Duplex











No

RS422 �9.2kbaudFull Duplex

3) RS422 2.5Mhz or

�50kHz (LP)

3)RS422 4096 cpr

3)

RS422 4096 cpr

3)

RS422 8000 cpr

3)

RS422 8000 cpr

3)

RS422 3)

RS422 3)

RS422 3)

RS422 3)

RS422 3)

No

No

No

No

No

No

No

No

No

No

No

No

No

No

No

RS422 3)2.5MHz or

�50kHz

TT20�2GB

No

No4)

4)

4)

No

No

No

No

No

RS422 3)

No

No

No

6 InputsOpto isol.

5-30V

4 InputsOpto isol.5-30V 4)

6 InputsOpto isol.

5-30V


6 InputsOpto isol.

5-30V


6 InputsOpto isol.

5-30V

4 InputsOpto isol.

5-30V

4 InputsOpto isol.

5-30V

Motor stat.2 x NPN25mA





4 OutputsPNP �0-30V

300mA


25mA 4)


25mA 4)

4 OutputsPNP

300mA�0-30V

4 OutputsPNP

300mA�0-30V


25mA

Motor statusPNP �0-32V

25mA


25mA 4)

4 OutputsPNP

300mA�0-30V

Motor stat.PNP �0-32V

�00mA


�00mA


�00mA


�00mA

AMPMolex

JST

AMPMolex

JST

AMPMolex

JST

AMPMolex

JST

DSUB

CableGland

M�2

CableGland

CableGland

M�2

CableGland

M�2

M�2

M�2

M�2

M�2

DSUB

DSUB

IP42

IP42

IP67�)

IP67�)

IP42

IP67�)

IP55/65

IP55/65

IP67�)

IP67�)

IP67�)

IP67�)

IP67�)

IP67�)

IP67�)

IP67�)

IP67�)

IP42

RS422 2.5Mhz or

�50kHz (LP)

3)

RS422 2.5Mhz or

�50kHz (LP)

3)

RS422 2.5Mhz or

�50kHz (LP)

3)

RS422 3)2.5Mhz or

�50kHz (LP)

RS422 3)2.5Mhz or

�50kHz (LP)

RS422 3)2.5Mhz or

�50kHz (LP)

RS422 3)2.5Mhz or

�50kHz (LP)


3)


3)


3)

RS422 3)�9.2kbaudFull Duplex

RS422 3) �9.2k

Full Duplex

RS422 3) RS485 �9.2kFull Duplex


RS485�9.2kbaudHalf Duplex

RS485�9.2kbaudHalflDuplex


RS485460 kBaudOpto isol.

No

No

No

No

RS485230kbaudOpto isol.

Basic MAC motors

Expansion modules

�) IP67 protection class is only possible if the basic MAC motor also offers IP672) Can be ordered without cable (eg. MAC00-CS) or with cable in metre 2, �0 or 20 (eg. MAC-CS-�0).3) Either pulse input, pulse output or serial must be chosen. Not all of them at the same time.4) Only a total of 4 I/O terminals are available.

Connector module w/M�2 connectors


RS422 3)RS485 �9.2kFull Duplex

RS422 3)2.5MHz or

�50kHz (LP)

D1

TT2010GB

D2

59

∅48 ∅86

L1

51.5

42 6

All dimensions in mm

124xM6 holes

305.0

25.0

46 L1

34

80x80

TT2017GB

D1∅ 50 D2

r=32.5

1212

AC servo motors MAC800Ordering information

MAC800 - D2

Motor TypeAC-brushless

Rated Output 800: �50W

Housing2: IP55�: IP655: IP55 w. brake6: IP65 w. brake

D: Standard. �000 rpm.

AccessoriesRS232-9-� Cable for PCRS232-9-�-Mac Cable for PC with built in RS232 converterMacTalk Software for set-up of Mac motorMacRegIO Software for expertsMAC00-00 End cover IP42 without holesMAC00-0� End cover IP67 with 2 cable bushesMAC00-02 End cover IP67 with 4 cable bushesMacCommOCX OCX/ActiveX driver for WindowsMAC00-xx Expansion modules. See page 5PSU24-075 24VDC Power Supply for control circuit

Mechanical dimensions

Get started quickly!Starter Kit (MAC800-D1-KIT): Contains all neccessary parts to get startedThe kit consists of: Motor, Expansion Module, Software, PC Cable and Power SupplyMAC 800-D2MAC00-B�MacTalkRS232-9-�PSU24-060

3.56

112

84

63.64

d=90

63.64

∅70 +0/-0.03

80

TT2018GB

80

30

a

3

36

8

l

3

1

∅19 +0/-0.013

4x 5.5∅

All dimensions in millimeter

6

120

l a

MAC800 - D2

MAC800 - D5

174

202

13.8

20.2

49.8

54.8

210

23740

MAC800 - D3

MAC800 - D6

1313

The MAC motor®. AC-servo motors with integrated driv-er MAC400 and MAC800

LD0083-01 GB Date: 3-9-08

The MAC series of brushless servo motors with integrated electronics represents a major step forward. All the necessary electronics in a servo system are integrated in the motor itself.

In the past, a traditional motor system has typically been based on a central controller unit located remote from the motor. This configuration however has the negative effect that instal-lation costs are a major part of the total expense of building machinery.

The basic idea of the MAC mo-tors is to minimize these costs but also to make a component that is much better protected against electrical noise which can be a typical problem when

using long cables between the controller and motor.

The servo motor, hall sensor, encoder and electronics are spe-cially developed by JVL so that together they form a closed unit in which the power driver and controller are mounted inside the motor in a closed section.

The advantages of this solution are:• De-central intelligence. • Simple installation. No cables between motor and driver. • EMC safe. Switching noise remains within motor. • Compact. Does not take space in cabinet. Typically a 3/5 core cable is used from PLC or similar to MAC motor.• ��5/230V AC for driver

voltage.• 24VDC for control circuits.• Option for built-in brake.• Uses the same expansion modules as the MAC 50-�4� series.• Built-in mains supply filter.• CE approved/UL pending.• Low price.

Interface possibilities to the MAC motor: • From PC/PLC with drive- commands via RS232/RS485/ RS422 • Pulse/dir. or quadrature inputs. • �0 bit ±�0V input for speed or torque control. • A+B encoder output.• Register mode via 4 inputs or serial commands• Option for µPLC built-in.

1414

System and feature overview

• Option for Fieldbus. Profibus- DP, CanOpen, Devicenet, High- speed serial bus etc.• IP55 and IP65

The MAC motor can be con-trolled with ±�0V for speed or torque control with encoder feedback to one master motion controller.

Furthermore the MAC motor can replace an arbitrary step or ser-vo system, being based on pulse and direction signals. There is a built-in electronic gear so that the MAC motor can simulate all possible step resolutions.

The MAC motor can thus re-place all step- and servo-sys-tems without change in the PLC/PC/controller software.

Adaptation/replacement of existing step motor/servo sys-tems can therefore be achieved quickly.

Parameters are set up via the RS232 port from a Windows program.The supply voltage is ��5 or 230VAC for the drive and 24VDC for the control circuit. The mo-tors offer a power of 400 and 750W. Standard flange so that

the MAC motor can replace other servo motors directly without mechanical changes.

The connector can be chosen as DSUB, M�2 plug or cable glands. Backlash free and plan-etary gears in ratios of 3, 5, �2, 20, �00 can be delivered from stock.

1515

Selection of register via serial command

Modes of Operation (Basic Motor)Gear ModeIn this mode the MAC motor functions as in a step motor system. The motor moves one step each time a voltage pulse is applied to the step-pulse input. Velocity, acceleration and deceleration are determined by the external frequency. Use of an encoder enables monitoring and adjustment during motor operation — a feature that is not possible with a standard step motor system. In addition, the MAC motor also provides a facility for electronic gearing at a keyed-in ratio with analogue speed offset.Positioning ModeIn this mode the MAC motor positions the motor via commands sent over the RS422 or serial interface. Various operating param-eters can be changed continuously while the motor is running. This mode of operation is used primarily in systems where the Control-ler is permanently connected to a PC/PLC via the interface. This mode is also well suited for setting up and testing systems.Serial Mode (FastMac)In this mode the MAC motor’s registers contain the parameter sets, positions, velocities, etc., required for the actual system. The registers can be selected and executed by a single byte sent via the serial interface. This mode provides maximum utilisation of the MAC motor’s features since the MAC motor itself takes care of the entire positioning sequence.Velocity / Torque ModeIn this mode the MAC motor controls the motor velocity/torque via the analogue input. This mode is typically used for simple tasks or for applications in which an overall unit, such as a PC-board or PLC, controls velocity and positioning. Encoder A and B signals can be connected to the overall controller to close the servo loop.

Pulse signal

PC/PLC with control-ler modules or pulse generator

Operating param-eters

via RS �3�/485 Interface

analog ±10V

e.g. PC-board as overall controller

Direction signal

PC/PLC with e.g. LabWiew or MacTalk

PLC or similar

Gear mode

Positioning mode

Serial mode (FastMac)

Encoder signal

Analogue signal

To other MAC motors

Torque versus speed

Velocity/Torque mode

= Peak Torque

= Average Torque

Conditions:Supply voltage = Nominel 115 or 230VACAmbient temperature = 20°CTorque setting = 100%Load setting = 1.0

Operation above 3000 RPMcan be done, but losses inthe motor make it impossibleto operate in this area continously

TT2250GB

Oz./InchNm

1000

7085.0

5664.0

4253.0

2832.0

1421.0

02000 3000 4000

RPM

MAC800 Torque versus speedMAC400 Torque versus speed

6.0

7.0

8.0

850

991

1133


Oz./InchNm

1000

566

425

283

142

4.0

2.0

1.0

3.0

02000 3000 4000

RPM


1616

Software, MacTalk

Block diagram

Startup modeThe basic functionalityof the MAC motor issetup in this field.

Setup save/openThe complete setupcan be either savedor reloaded from afile using thesebuttons

System controlUse these buttons to save datapermanently, reset the motor etc.

Error HandlingUse these fields to define errorlimits for the position range etc.

Input/OutputsThe functionality of the I/O'sis specified here.

Motor statusThis field shows theactual motor load,position and speed etc.

ErrorsIf a fatal error occurs,information will be displayed here.Profile Data

All the main para-meters for control-ing the motor behaviourare setup in this field.

Zero SearchAll the parameters regardingthe position zero search canbe specified here.

Undervoltage handlingDetermine what must happening if the supplyvoltage gets too low..

MAC motor connectioninformation Always showsif the motor is on line or not.

InputsThis field shows theactual supply voltage,the speed at the pulseinput and the voltageat the analogue input.

TT2013GB

3-phasebrushlessmotor

Optionalbrake

3.35Nm

2000 pproptical

incrementalencoder

Hall elements

+24VDC

Ground

AINAnalogue

input ±10V

A+

A

B+

B

Output 1

Output 3

Input 2

Output 3

Input 1

TransmitGround

Receive+5VDC Out

SwitchmodePowerSupply

Power Dumpfor absorbingregenerative

energy

3-ph. Mos-Fetdriver

Current Sensing

High speedA/D converter

High speeddigital logic

array

Analogue inputLevel shifter

and filter

2 channeldifferentialTransceiver

2 channeldifferentialencoderoutput

3 Digital NPNoutputs showing

motor status32 Bit ARM

Microprocessor64MHz

A

HU

HV

B

W

V

U

HW

Po

wer

su

pp

lyco

nn

ecto

r

Use

r I/O

co

nn

ecto

r

Use

r I/O

co

nn

ecto

r

Ser

ial i

nte

rfac

eco

nn

ecto

r

Basic MAC motor block diagram including motor and feedback devices

TT2016G B

115/230VAC

AI-

AO-

AI+

AO+

BI-

BO-

BI+

BO+

2 channeldifferential

input

2 digitalPNP inputs

Asynchronousserial interface

1717

Expansion modules

MAC00-FR4High Speed Multi-axis Module w. M�2 connec-tors: RS485 bus w/up to 255 axes.• Multiaxis operation• Compatible with SMCopen IEC 6��3�-3 auto- mation software• Advanced motion profiles for robot and xyz tables• 4I/4O for user purposes• Open hardware with PIC�8F6520 for own sw.• Dual supply support for MAC50-�4�

MAC00-CSLow cost module, connection directly to basic motor, serial communication not RS232.• Low cost module• Cable connected directly to basic motor connector• User I/O connection• �0 or 20 meter cable• NPN outputs

MAC00-B1General purpose module w/ Sub-D connectors: • Ideal for pulse/direction, ±�0V input or RS232/422/485 interface• Standard D- Sub conn.• Home switch input• LEDs to indicate status, Home switch status, Input power status• PNP outputs

MAC00-B2General purpose module w/Cable Glands: other-wise same as –B�.

MAC00-B4General purpose module w/M�2 connectors: otherwise same as –B�, but with USB interface.• Dual supply support for MAC50-�4�

MAC00-R1Nano-PLC Module w/Sub-D connectors: Stand-alone operation with 8 DI + 4 DO, RS232/485.• Ideal for stand-alone operation with sequential program execution• 8/4 Opto isolated in-/out. 5-30VDC• Outputs up to 200mA. �0-30VDC• LEDs to indicate output status Home+power status• RS232/RS485 interface

MAC00-R3Nano-PLC Module w/Cable Glands: otherwise same as –R�.

MAC00-R4Nano-PLC Module w/M�2 connectors: otherwise same as –R�.

MAC00-FS1High Speed Multi-axis Module w. D-Sub connectors and opto-isolated RS485.• 9.6 - 460.8kbit• Up to 255 axes (with repeaters)• Command broadcast• Pulse input or output• Dual supply support for MAC50-�4�MAC00-FS4As module FS� but with M�2 connectors.

MAC00-FP2Profibus Module w/ Cable Glands: Bus, 6 DI + 2 DO and RS232.• Control and setup through �2Mbit/s profibus-DP• Logic I/Os for High speed start/stop In position indication. Home switch• LEDs to indicate status• End limit inputs• Dual supply support for MAC50-�4�

MAC00-FP4Profibus Module w/M�2 connectors: Bus, 4 DI/DO and RS232.• End limit inputs• Dual supply support for MAC50-�4�

MAC00-FC4CAN bus Module w/M�2 connectors: Bus, 4 DI/DO and RS232.• Control and setup• Logic I/O for high speed start/stop• CANbus/CANopen DS30�/DSP402• Optional with cable bushes (MAC00-FC2)• End limit inputs• Dual supply support for MAC50-�4�

MAC00-FD4DeviceNet Module w/M�2 connectors: Bus, 4 DI/DO and RS232.• End limit inputs• Dual supply support for MAC50-�4�

MAC00-FB4Bluetooth Module w/M�2 connectors. Controlled from PC, PDA, Cellphone or PLC with Bluetooth• Standard Bluetooth SPP profile• Pulse input or output• External connector for antenna• Dual supply support for MAC50-�4�

Basic Modules Bus Modules (continued)

Programmable Modules

High Speed Multi-Axis Modules

Wireless Modules

The JVL Integrated motors utilizes the unique module concept. Plug in expansion modules adapt the motor to the application. You can choose connector type, D-Sub. (IP42), cable glands (IP67) or M�2 connectors (IP67) and you can choose freely between Profibus, DeviceNet, CANopen or nano PLC communication. A High Speed and wireless

module add to the possibilities. This means that you have possibilities as with no other motors on the market, and also important, you only pay for what you need. Moreover, if you do not find the feature you need, please contact us, and we will develop your own module. All modules can be delivered with or with cables of up to 20m length.

Bus Modules

MAC00-EW4WLAN Module w/M�2 connectors. Controlled from PC, PDA, Cellphone or PLC with WLAN• Standard WLAN profile• Pulse input or output• External connector for antenna• Dual supply support for MAC50-�4�

1818

Technical Data GENERALTechnology AC-servomotor with built-in 2000 PPR encoder, hall sensor and 3 phase servo amplifier/controller. Controller Type MAC400-D2 and D3 MAC400-D5 and D6 w.

brakeMAC800-D2 and D3 MAC800-D5 and D6 w.

brakeCon-troller capac-ity

Rated output @ 3000RPM 400W (0.84hp) 400W (0.84hp) 750W (�.00hp) 750W (�.00hp)

Rated Torque RMS �.3Nm (�84oz-in) �.3Nm (�84 oz-in) 2.38Nm (337.04oz-in) 2.38Nm (337.04oz-in)Peak Torque 3.8Nm (538.�3oz-in) 3.8Nm (538.�3oz-in) 6.8Nm (962.96oz-in) 6.8Nm (962.96oz-in)Inertia (kgcm2)/(oz-in-s2) 0.34/0.0048�5 0.36/0.005098 0.9�/0.0�289 �.�3/0.0�6Length �9�mm (7.52”) 224.5mm (8.84”) �74mm (6.85”) 2�0mm (8.27”)Weight (without expansion module)

2.3kg (5.��lb) 2.8kg (6.�7lb) 3.5kg (7.7�6lb) 4.3kg (9.48lb)

Speed range 0-3000RPM with full torque. Max 3500 RPM.Amplifier control system Sinusoidal wave PWM control. 20kHz switching.Filter: 6th order filter with only one inertia load factor parameter to be adjusted. Expert tuning also available.Feedback: Standard incremental:Optional absolute multiturn encoder:

Incremental A and B encoder 8�92 CPR. (Physical 2048 PPR ) Encoder 65535 CPR and 4096 rev.

Input power supply ��5/230/240VAC for driver circuit. �2-32VDC for control circuit. Consumption at ��5-240VAC - see power supply section.Control circuitry consumption: MAC800D2 and 3 (wo/brake) =0.25A @ 24VDC(6W).Control circuitry consumption: MAC800D5 and 6 (w/brake) =0.75A @ 24VDC(�8W).

Control mode * ±�0V Speed and Torque. A+B encoder outputs* Pulse/direction and 90° phase shifted A+B (Incremental).* RS422 or RS232 (5V) position and parameter commands* Gear mode with analog input speed offset + various options.* Sensor zero search or mechanical zero search.

Flange and shaft dimension Front: 80x80mm. Rear: 80x��3mm. Shaft Ø�9mmPOSITION (pulse inputs) Command input pulse Pulse/direction or 90° phase shifted A+B. RS422 Input frequency 0-8 MHz. 0-�MHz with input filterElectronic gear A/B: A= -�0000 to �0000, B=� to�0000. Simulation of all step resolutions.Follow error register 32 bit In position width 0-32767 pulsePosition range 32 bit. Infinity, Flip over at ±23� pulses.POSITION (serial communication )Communication facility From PLC, PC etc via RS422 or asynchronous serial port RS232 with special cable. MacTalk JVL commands, special

commands with high security. Communication baud rate �9200 bit/sec (�9.2kBaud)Position range ±67 000 000Speed range 0-3000 RPM. Digital resolution 0.3606 RPMAcceleration range 250 – 444675 RPM/secAddressing Point to point on RS422. Up to 32 units on the same serial RS232/RS485 interface with built-in expansion mod-

ule. Address range �-254 Number of parameters. Standard 85. With MacRegIO software �56 (Only for experts) Speed variance Max ±4 RPM variance between command and actual speed. SPEED/ TORQUEAnalogue speed/torque input. �2bit ±�0V. �0kOhm input resistance. Voltage range max. -�0 to +32VDC. Offset typical ±50mV. Sampling rate at analogue input 750 HzEncoder output signals A+, A-, B+, B-, RS422. Line driver 5V outputs (SN75�76). 90° Phase shifted.Analogue speed input +voltage -> CW rotation. Shaft viewZero speed determination. 0 - rated speed.Speed variance at rated speed Initial error @20°C:

±0,5% Power Supply: ±�0%: 0.0%

Load 0-300%: ±0.0% Ambient temperature 0-40°C: ±0,�%Torque limit in speed mode 0-300% by parameterAnalogue torque input +voltage (positive torque) -> CW rotation. Shaft viewTorque control accuracy ±�0% @ 20°C (Reproducibility)VARIOUSFatal error brake Controlled deceleration by fatal error. Adjustable 250 – 444.675 RPM/sec.Regenerative Integrated power dump. External attachment is possibleProtective functions. Error trace back. Overload I2t, follow error, function error, regenerative overload (over voltage), software position

limit. Abnormality in flash memory, under voltage, over current, temperature too high.LED functions Power (Green LED), Error (Red LED) Output signals 3 general purpose NPN 30V/25 mA outputs. Error and In position. Zero search �: Automatic zero search with sensor connected to input (2 formats)

2: Mechanical zero search without sensor. (Torque controlled)Shaft load maximum Radial load: �8kg (20mm from flange). Axial load: ��kg.Optional brake (-D4 option) Controlled automatic or from input. 3.25Nm, inertia 0.22kgcm2, turn on time: 50ms, turn off time: �5msRated power rate. (motor) 62.8 kW/s

1919

Mechanical time constant. (motor) 0.428±�0% msElectrical time constant. (motor) 4.�22±�0% msStandards CE approved/UL pending Protection IP55 and IP65

Basic motor connector:(Other functions available with expan-sion modules)

RS232 serial interface (1)

IN/OUT: User I/O connector (2) Power (3)

Power (control circuitry)

�: +5VDC out �: Ground 5: A+ MultifunctionI/O �:P+ L�: ��5/230VAC PD: Power Dump2: Rx (5V) 2: Analog in 6: A- MultifunctionI/O 2:P- N: ��5/230 VAC BO: Bus output3: Tx (5V) 3: Out� (Error) 7: B+ MultifunctionI/O PE: Earth CM: Common4: Ground 4: Out2 (In pos.) 8: B- MultifunctionI/O PE: Earth

Basic motor connector: (J1B)(Not supported by expansion modules at present time)

�: GND 6: IN� ��: B+ �6: BO-2: AIN 7: A+ �2: Ao- �7: BI-3: O� (Error) 8: IN2 �3: B- �8: AI+4: O2 (Input) 9: A- �4: BO+ �9: GND5: O3 �0: A0+ �5: BI 20 AI�

Technical Data (continued)

Power SuppliesThe Integrated MAC400 and MAC800 motors have a complete 90-240VAC power supply built in and furthermore only requires an �8 to 30 VDC for the control circuitry. Having 2 independ-ant supply circuits offer the feature

External Power Supplies

For external low voltage supply JVL can deliver a wide variety of high quality switchmode powersupplies. Power Supply PSU24-075 is recom-mended for control power supply. For detailed information ask for separate

Main power, internal bus voltage and powerdump is accessible through these springcontacts placed under the top lid.Main power must be 115 or 230VAC.

Control power (+18-30VDC) mustbe connected to the P+ and P- terminalat the expansion module.

Power Input115/230VAC

Ext. Power dumpand Bus voltage

MAC800 supply connectionsRemove the lid to access

the internal supply terminals

MAC400 supply connections

L1 N PE

(Ear

th)

PE

(Ear

th)

PD

BO

CM

TT2249GB

that the supply voltage for the power circuitry (90-240VAC) can be removed for safety reasons while the control circuitry can keep operating and there-by keep the position counter updated and keep other vital functions.

2020

MAC motor selection chart

MAC50,95,140,141-A1

Unba

lanc

ed a

sync

.se

rial i

nter

face

For s

etup

/sen

ding

com

man

ds

Bala

nced

asy

nc.

seria

l int

erfa

ceFo

r set

up/s

endi

ng c

omm

ands

±10V

Ana

logu

e in

put

For c

ontr

ollin

g sp

eed/

torq

ueAl

so u

sed

for z

ero

sear

ch

Puls

e in

puts

Acce

pts

puls

e an

d di

rect

ion

orqu

adra

ture

enc

oder

sig

nal

Puls

e ou

tput

s90

deg

ree

phas

e sh

ifted

outp

uts

from

inte

rnal

enc

oder

Digi

tal u

ser

inpu

tsFo

r con

trol

of p

rogr

am fl

owor

mot

or s

tart

/sto

p

Digi

tal u

ser

outp

uts

For i

ndic

atin

g th

e m

otor

sta

tus

or a

s ou

tput

from

the

pro

gram

Ext.

conn

ecto

r ty

pe

Prot

ectio

n cl

ass

Inte

grat

ed b

rake

MAC50,95,140,141-A3

MAC400/800-D2/D5

MAC400/800-D3/D6

MAC00-CS

MAC00-B1

MAC00-B2

MAC00-B4

MAC00-R1

MAC00-FC4

MAC00-R3

MAC00-FD4

MAC00-FB4

MAC00-R4

MAC00-FS1

MAC00-FP2

MAC00-FP4

MAC00-FR4

Feature

Type





Conn. module w/cable glandsNo electronic features added

Connector module w/DSUBconnectors

Connector module w/cableglands 2)

Nano PLC w/ DSUB connect.

CANopenw/M�2 connectors

Nano PLC w/cable glands2)

Bluetooth module

Nano PLC w/M�2 connectors

Profibus DP w/cable glands2)

Profibus DP w/M�2 connectors

High speed serial RS485Multiaxis. Interf. to IEC6��3�-�

High speed serial RS485Multiaxis

MAC Motors feature overview including expansion modules

















No


3) RS422 2.5Mhz or

�50kHz (LP)

3)RS422 4096 cpr

3)

RS422 4096 cpr

3)

RS422 8�92/

8000 cpr

3)

RS422 8�92/

8000 cpr

3)

RS422 3)

RS422 3)

RS422 3)

RS422 3)

RS422 3)

No

No

No

No

No

No

No

No

No

No

No

No

No

No

No

RS422 3)2.5MHz or

�50kHz

TT20�2GB

No

No4)

4)

4)

No

No

No

No

No

RS422 3)

No

No

No

6 InputsOpto isol.

5-30V


6 InputsOpto isol.

5-30V


6 InputsOpto isol.

5-30V


6 InputsOpto isol.

5-30V

4 InputsOpto isol.

5-30V

4 InputsOpto isol.

5-30V







300mA


25mA 4)


25mA 4)

4 OutputsPNP

300mA�0-30V

4 OutputsPNP

300mA�0-30V


25mA


25mA


25mA 4)

4 OutputsPNP

300mA�0-30V


�00mA


�00mA


�00mA


�00mA

AMPMolex

JST

AMPMolex

JST

AMPMolex

JST

AMPMolex

JST

DSUB

CableGland

M�2

CableGland

CableGland

M�2

CableGland

M�2

M�2

M�2

M�2

M�2

DSUB

DSUB

IP42

IP42

IP67�)

IP67�)

IP42

IP67�)

IP55/65

IP55/65

IP67�)

IP67�)

IP67�)

IP67�)

IP67�)

IP67�)

IP67�)

IP67�)

IP67�)

IP42

RS422 2.5Mhz or

�50kHz (LP)

3)

RS422 2.5Mhz or

�50kHz (LP)

3)

RS422 2.5Mhz or

�50kHz (LP)

3)

RS422 3)2.5Mhz or

�50kHz (LP)

RS422 3)2.5Mhz or

�50kHz (LP)

RS422 3)2.5Mhz or

�50kHz (LP)

RS422 3)2.5Mhz or

�50kHz (LP)


3)


3)


3)

RS422 3)�9.2kbaudFull Duplex

RS422 3) �9.2k

Full Duplex



RS485�9.2kbaudHalf Duplex



RS485460 kBaudOpto isol.

No

No

No

No

RS485230kbaudOpto isol.

Basic MAC motors

Expansion modules

�) IP67 protection class is only possible if the basic MAC motor also offers IP672) Can be ordered without cable (eg. MAC00-CS) or with cable in metre 2, �0 or 20 (eg. MAC-CS-�0).3) Either pulse input, pulse output or serial must be chosen. Not all of them at the same time.4) Only a total of 4 I/O terminals are available.

Connector module w/M�2 connectors


RS422 3)RS485 �9.2kFull Duplex

RS422 3)2.5MHz or

�50kHz (LP)

2121

Planetary and cycloidal (robot) gearheads

• Sealed Ball Bearings• High Reliability, High Efficiency Design• NEMA Mounting Standards

• High Shaft Loading Capacity• Low Backlash Design• Strong, Caged Roller Bearings

HTRG type gears: HSPG type gears:

Model. Back-lash [arcmin]

Gear ratio

Effi-ciency [%]

Rated torque>�0000 Hours [Nm]

Emerg stopTorque [Nm]

Inertia at motor shaft [kg*cm2]

Noise[dB(A)]

Radialload @ mid length.�00rpm[N]

Axial load[N]

Weight [kg]

L� [mm] D� [mm]

D2[mm]

(h7)

HTRG08N003MHP70��9MC �5 3 97 40 �80 0.74 <70 �300 �460 4.0 ��7.5 85 �9HTRG08N005MHP70��9MC �5 5 97 50 200 0.46 <70 �300 �460 4.0 ��7.5 85 �9HTRG08N0�2MHP70��9MC �5 �2 94 70 250 0.48 <70 �300 �460 4.6 �42 85 �9HTRG08N020MHP70��9MC �5 20 94 70 250 0.48 <70 �300 �460 4.6 �42 85 �9HSPG�40-33-SAA-N23 <� 33 >90 37 670 - ��500 �7000 6.4 �40 92HSPG�40-�39-SAA-N23 <� �39 >90 78 670 - ��500 �7000 6.4 �40 92

D1

TT2010GB

D2

59

∅48 ∅86

L1

51.5

42 6

All dimensions in mm12

4xM6 holes

305.0

25.0

46 L1

34

80x80

TT2017GB

D1∅ 50 D2

r=32.5

• Precision Input Pinion with Balanced Clamp Collar

JVL offers a wide range of both planetary and cycloidal (robot) gears. They fit either directly or by means of

adaptors on the MAC400 and MAC800 motors. gear ratios can be from �:3 to �:�000. Se separate datasheets for

detailed information

2222

3.5[0.14]

6 [0.24]

112[4.41]

84[3.31]

63.64[2.51]

D=90 [3.94]

63.64 [2.51]

∅70 [2.96] +0/-0.03 [0.00118]

80 [3.15]

TT2018GB

80[3.15]

30 [1.18]

a

3 [0.118]

36 [1.42]

8 [0.32]

l

3 [0.118]

1 [0.039]

19 [0.75] +0/-0.013 [0.0005]

4x 5.5 [0.22]∅

All dimensions in millimeter [inches]

6 [0.24]

120[4.72]

l a

MAC800 - D2

MAC800 - D5

174 [6.85]

202 [7.95]

13.8 [0.54]

20.2 [0.80]

49.8 [1.96]

54.8 [2.16]

210 [8.27]

237 [9.33]40 [1.57]

MAC800 - D3

MAC800 - D6

Mechanical dimensions MAC400

Mechanical dimensions MAC800

186 [7.32]141.4 [5.57]152.5 [6.0]

224.5 [8.82]

107.9 [4.25]191 [7.52]

mm [Inch]BA

mm [Inch]mm [Inch]L

MAC400-D3 with BrakeMAC400-D2 without Brake

137.

5 [5

.41]

60 [2

.36]

60 [2.36]

114

[4.4

9]

70 [2

.76]

5.5

[0.2

2]

TT2247GB

A

Ø0.06 A

0.08 A

h9 5

[0.2

0]

h6 1

4[0.

55]

0.0160 [2

.3] +

2 [0

.08]

/-0

h7

[1.9

7]50

L 30 [1.18]

38.5 [1.51] B 3.15 [0.12]

83.1 [3.27] A 25 [0.98]

All dimensions in millimeter [inches]

2323

AC servo motors MAC400 and MAC800Ordering information

MAC400 - D�

Motor TypeAC-brushless

Rated Output 400: 400W 800: �50W

Housing�: IP553: IP�55: IP55 w. brake�: IP�5 w. brake

D: Standard. 3000 rpm.

AccessoriesRS232-9-� Cable for PCRS232-9-�-Mac Cable for PC with built in RS232 converterMacTalk Software for set-up of Mac motorMacRegIO Expert tool for programmersMacCommOCX OCX/ActiveX driver for WindowsMAC00-xx Expansion modules. See page 5PSU24-075 24VDC Power Supply for control circuit

Get started quickly!

Starter Kit (MAC800-D1-KIT): Contains all neccessary parts to get started

The kit consists of: Motor, Expansion Module, Software, PC Cable and Power SupplyMAC 400-D2MAC00-B�MacTalkRS232-9-�PSU24-060

Starter Kit (MAC400-D1-KIT): Contains all neccessary parts to get started

The kit consists of: Motor, Expansion Module, Software, PC Cable and Power SupplyMAC 800-D2MAC00-B�MacTalkRS232-9-�PSU24-060

2424

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