4.9 Expansion Module MAC00-R1/R3/R4
Contents
1. A MacTalk Noname File view Motor MACOO RxP Setup Updates Help Open Save Save inflash Reset position Clear errors Reset motor Main Registers Advanced Filter parameters Tests Sco MACOO Rx Programmable Select program type for new program With this mode it possible to use both Relative absolute absolute and relative positioning But the moving range will be limited Choose one of these program types This mode is only for relative movement Endless relative but there will be no limit on the move range Program Optionally upload the actual program Upload from module Use this to upload program previously downloaded to the module stored in the module last time TT0980GB After making one of these 3 choices above the program window will be opened JVL Industri Elektronik A S User Manual Integrated Servo Motors MACO050 800 215 4 9 4 9 5 216 Expansion Module MACOO RxP Main window MACOO R1 R3 R4 The main window for creating a new program or editing a program is shown below MAC00 RxP menu Main menu for creating a new program Verifying program size and other basic details for the MACO0 RxP module AY MacTalk Transfer amp Start Open program and start it Use Stop or Pause to stop it Stop Use this button if the program must be stopped Program lines line Setup m Settings I Enable input filter Skip initializati2. 4 When the cursor is placed on top of the command icon an edit menu can be called up with a right click 220 JVL Industri Elektronik A S User Manual Integrated Servo Motors MACO050 800 4 9 4 9 9 Expansion Module MACOO R1 R3 R4 Command toolbox description The toolbox used for programming comprises 6 different command types The idea is for the commands to give easy access to the most common functions in the motor Some functions may seem to be missing at first sight but the buttons Set register in the MAC motor or Wait for a register value before continuing give direct access to 50 registers down in the basic MAC motor such as the gear ratio or the actual torque register In total this provides a very powerful programming tool since gt 95 of atypical program can be built using the simple command icons and the remaining part is obtained by ac cessing the basic motor registers directly A short description of all 16 command icons is given below Use Initiates any motor movement relative or absolute Use Unconditional jump from one program line to another Use Inserts a delay in the program specified in milliseconds Use Write a value to almost any register in the basic MAC MIS motor Use Wait for a certain state at one or more of the digital inputs Use Initiates a zero search to a sensor or a torque no sensor Use Change mode and activate register using a single co
3. Outputs Output 1 Don t care Output 2 C Dont care Output 3 e Don t care Output 4 Don t care Output 5 Don t care Output 6 Don t care Output 7 Don t care i on oe on on ee oY Output 6 Don t care Function Sets one or more outputs on the RxP module When setting a single output you can specify the length in milliseconds of a pulse to send out on that output When setting multiple outputs you can specify whether to set each output high low or leave it in its current state 228 JVL Industri Elektronik A S User Manual Integrated Servo Motors MACO050 800 4 9 Expansion Module MACOO R1 R3 R4 4 9 10 10 Unconditional jump Icon Dialogue None After selecting this command the mouse cursor changes The next program line that you click on will become the destination for the jump Function Jumps to another line in the program 4 9 10 11 Conditional jump single input Icon Dialogue put yee Single Serres riers C Multiple Cancel Input Input condition Input f Low C Input 2 C High input 3 C Falling Edge M input 4 C Rising Edge r Tnput 5 C input 6 Input 7 nput 8 Motor Error In Position Function Tests for an input condition before either jumping to another line in the program or moving on to the next line in the program If the condition is met the command jumps to the specified program line If the condition is not met the program proc
4. Brown Green Yellow Signal name INS IN6 Description Digital input 5 Digital input 6 Digital input 7 Digital input 8 igital output 3 PNP output rey Digital output 4 PNP output ink Analogue input 10V 7 Blue 1 also used for zero search sensor Ground for AIN This ground is shared with pRed 4 the main ground Cable Screen Some standard cables with M12 connectors offer a screen around the cable This screen on some cables is fitted to the outer metal at the M12 connector When fitted to the MACOO0 R4 module this means that the screen will have contact with the complete motor housing and thereby also the power ground main ground Isolation groups The MACO0 R4 offers optical isolation at the digital inputs and outputs IN1 8 and 01 4 The table above shows a number for each pin This number refers to the isolation group to which the terminal is connected Isolation group 1 means that the terminal refers to the main ground Isolation group 2 means that the terminal refers to the I O ground IO Z Z co N OO U O 4 9 17 Dip switch for RS232 TxPD Transmit pull down Default factory setting are On Then SW1 is on TX and TX PD are wired together TT1129GB If the MAC motor is connected to the same RS232 line as other motors the terminal TX PD should only be connected on one of the motors JVL Industri Elektronik A S User Manual Integrated Servo Motors MACO050 800 247 4 9 Expans
5. ee Step 6 The MACOO RxP tab is NOW available among File View Motor MACOO RxP Setup Updates Help the other standard tabs e 5 al EN han K Proceed with the setup and or programming Open Se cetera et according to the description for each firmware Main Registers Fiter parameters Tests MADH P type MACOO Re Frogrammabl Select program type for new program With this mode it possible to use both TTI079GB Relative absolute absolute and relative positioning But the moving range will be limited 214 JVL Industri Elektronik A S User Manual Integrated Servo Motors MACO050 800 4 9 4 9 4 Expansion Module MACOO R1 R3 R4 Getting started with MACOO RxP When using the MACOO RI R3 or R4 module with MACOO RxP firmware almost any kind of program can be created using a set of user friendly icons To create a program first of all it must be determined whether the application requires that the motor always stays within the allowed position range which is 67 108 863 counts or if the application requires that the motor mostly moves in only one direction meaning that sooner or later it will pass the maximum limit of counts mentioned above Typical applications for the two program types are Relative Absolute XY tables Pick and place robots Valve actuators Endless relative Dispensers for film labels etc Dosing pumps Turntables Torque controlled screw machines Make the choice on the MACOO RxP tab
6. be specified as a non integer number of revolutions 4 9 10 19 Save position Dialogue Save position Position Register Register 3 Function Saves the current position from register no 10 P_IST to one of three locations in memory on the RxP module The saved position s can then be used wherever a position or distance is needed in a move command JVL Industri Elektronik A S User Manual Integrated Servo Motors MACO050 800 235 4 9 Expansion Module MACOO R1 R3 R4 4 9 10 20 Set position Icon Dialogue Register 1 Function Sets the current position held in register no 10 P_IST to one of three position values stored in memory on the RxP module This is the reverse of the Save position command 4 9 10 21 Send FastMac command change mode and activate register Icon Dialogue Mode Reaister Passive C Position C Velocity Velocity Position Acceleration Command Torque C Load In position window OnIOONS WR 4 switch into that mode Also one of the passive motor registers will be activated in the sense that its value will be written to the corresponding active motor register which actually controls motor behaviour In the example above the value in register no 65 V1 will be written to register no 5 V_SOLL Move operations will then take place at that velocity Function FastMAC commands are also sometimes referred to as FlexMAC com
7. converted into an internal dip switch The connector layout PWR Power input M12 5 pin male connector JVL Cable WI1000M12 Isolation Signal name Description F5A05N group Main supply 12 48VDC Connect with pin 2 Main supply 12 48VDC Connect with pin 1 i P e sd Main supply ground Connect with pin 5 Note P and P is each available at 2 terminals Make sure that both terminals are connected in order to split the supply current between 2 terminals and thereby avoid an overload of the connector JVL Cable WI1000M12 Isolation M5A05N group 1 RS232 Tx RS232 interface transmit terminal 4 Leave open if unused Important see note1 RS485 interface terminal Leave open if unused RS485 interface terminal Roan BE Leave open if unused Interface ground same as main ground Note See also Dip switch for RS232 TxPD Transmit pull down page 247 Continued next page JVL Industri Elektronik A S User Manual Integrated Servo Motors MACO050 800 4 9 Expansion Module MACOO R1 R3 R4 Continued from previous page 101 Basic I O s M12 8 pin male connector JVL Cable WI1000 M12 Isolation Signalname Description group IN N2 N3 N4 0 2 Output supply 8 32VDC Used for 01 4 Not used necessary for using IN1 8 I O ground Used for IN1 8 and 01 4 102 Extended I Os M12 8 pin female connector O O JVL Cable WI1000 M12 Isolation M8A05N group
8. in the module The program will be executed immidiately 1 Went uti moe Shag 2 Move Fel ast 10000 Com soc 1500 RPMN wet 1000 FEU J Wer 500 es 4 Semap t high ano et n gt i fia TT0984GB y Continued JVL Industri Elektronik A S User Manual Integrated Servo Motors MAC050 800 219 4 9 Now the program is running continuously The actual program line which is executed is shown by the small red arrow Expansion Module MACOO R1 R3 R4 K3 MacTalk Noname File View Motor MACOO RxP Setup Updates Help 1 i i B U 4 b amp amp G Open Save Save in flash Reset position Clear errors Reset motor Filter setup STOP Motor Main Registers Advanced Fiter parameters Tests Scope MACOOAsP gt MACO0 R Programmable z TaN Stail Stat Became I Single Step Module Checksum 3025 N a Status Paused e AAE 2 Move Rel dist 10000 Counts acc 1500 RPM s wel 2000 RPM By choosing the Pause button the A i viait 500 ms program is paused After it is paused Set output high it is possible to single step through a each program line which can be a bd useful feature to debug the program since the action in each line can be closely observed 5 Jump to 1 When the program is finished it can be saved on the harddisc or fl E ik 3 e saved on the harddisc or floppy E amp be fe 3 3 STOR Fi
9. is repeatedly bent If this is required use a special robot cable 2D or 3D cable See also Accessories page 289 248 JVL Industri Elektronik A S User Manual Integrated Servo Motors MACO050 800
10. match their test settings If set to Or only one input need to match its test setting Inputs that are set to Don t care are not tested The inputs are tested with 30 microsecond intervals JVL Industri Elektronik A S User Manual Integrated Servo Motors MACO050 800 233 4 9 Expansion Module MACOO R1 R3 R4 4 9 10 16 Sets a register in the MAC motor Icon Dialogue Set register Reg No 3 Requested position Value 0 f eve Function Sets a register in the motor to a specified value The register is selected from a list of Known user accessible registers The value can either be entered as native motor units or it can be entered as generic engineering units The dialogue shown provides an example register no 3 P_SOLL or requested position depending on your preference can either be set to an integer number of encoder counts or it can be set to a non integer number of revolutions 4 9 10 17 J ump according to a register in the MAC motor Icon Dialogue Register condition Reg No 10 Actual position Operator Equa amp Cancel Value f0 Revs i Function Tests a register in the motor against a specified value before either jumping to another line in the program or moving on to the next line in the program If the condition is met the command jumps to the specified program line If the condition is not met the program proceeds to execute the next line in t
11. must be connected to Connector main ground Cable Female 9pin DSUB ae At PC Male 9pin DSUB Remember to connect TX PD Red If JV s standard programming to TX Green in order to achieve cable type RS232 9 I or n is stable communication used between the shown connector and the PC the RX 4 and TX signal must be swapped MACO00 R3 internal Tx to pin 2 and Rx to pin 3 connector board TT0967GB v INTERFACE JVL Industri Elektronik A S User Manual Integrated Servo Motors MACO050 800 245 4 9 4 9 16 246 Expansion Module MACOO R1 R3 R4 Expansion module MAC00 R4 front plate 101 i Jm PWR Basic O s Power M12 8pin male A MI2 5pin male connector including ee connector including INI 4 and O1 2 im SS Sa P and P O and O 102 R i Interface RS232 and RS485 Extended O s h W P i M12 5pin female M12 8pin female connector including connector including SD TRAR RS232 RX and TX IN5 8 and 03 4 N Mogot RS485 A and B AIN and GND GND TT0986GB Expansion MACOO R4 hardware description The MACOO0 R4 offers IP67 on MACO50 141 protection and M12 connectors which make it ideal for automation applications where no additional protection is desired The M12 connectors offer solid mechanical protection and are easy to unplug compared to the R3 module which has cable glands All the available signals are the same as used in the other R modules except for TX PD which is
12. programming firmware MACOO RxP Simple user friendly commands can be built together forming a program with the desired function for the application The function of each input and output can be user defined A MacTalk Noname File View Motor MACOO RxP Setup Updates Help i a i Da Wp wh pr 3 a STOP Open Save Save in flash Reset position Clear errors Reset motor Filter setup STOP Motor Main Registers Advanced Filter parameters Tests Scope MACOO AxP ACOO Ax Frogrammable Stop Pause Single Stel ane Checksum 2413 Status Running 1 REM Demonstration program 2 REM This will move a relative distance of 10000 counts 3 REM wait 1000 ms and repeat the procedure 4 Move Rell dist 10000 Counts acc 200 RPMs vel 100 RPM Biat 1000 ms b Jump to 4 ni TT1078GB How to set up the desired firmware Use the following step by step instruction to set up the desired firmware continued next page JVL Industri Elektronik A S User Manual Integrated Servo Motors MAC050 800 213 4 9 Expansion Module MACOO R1 R3 R4 Step Determine which firmware you want to use Graphic programming MACOO RxP Step 2 i Fie view Motor Setup Updates Help Choose the Firmware update in the Updates menu rere A Update Firmware fe 3 is i E ate Mactalk Open Save ion Clear errors Reset moto Step 3 Make sure that the checkbox Show all files Select fir
13. 4 9 Expansion Module MACOO R1 R3 R4 MAC00 RI MAC00 R3 MAC00 R4 With DSUB connectors With cable glands With M12 connectors 4 9 1 Expansion modules MACOO R1 R3 and R4 overall description The expansion modules MACOO RI R3 and R4 can be mounted on standard MAC mo tors MAC50 MAC95 MAC140 MACI41 MAC400 and MAC800 These option modules are also called nanoPLC modules as they perform like a small programmable logic controller with a small number of digital I Os The module makes it possible to perform simple positioning speed and or torque con trol via 8 digital inputs which all are galvanically isolated and can be operated with 24V control signals from for example a PLC or external sensors Typical applications for these expansion modules are in stand alone systems where the MAC motor must be able to operate as a complete positioning system without the need for an external PLC or computer Please note that it is also possible to change or read parameters such as position speed etc during operation using the serial interface Applications typically include Replacement for pneumatic cylinders Dispenser systems Turntables Simple pick and place systems Machine adjustment setup All of the modules offer the same functions but with the following hardware differences class I O and interface Power supply LEDs at I O MACO0 R1 IP42 DSUB 9 pole 3 pole Phoenix MACO00 R3 IP67 IP65 Cable glands Cable glands No
14. ACOO R1 R3 R4 4 9 10 RxP Command Reference 4 9 10 1 Enter your own remarks Icon Dialogue Enter remark very important if other programmers have to review or work on the code or if the program is only worked on infrequently Function Inserts a remark comment in the source code The program line will not do anything but can make the source code easier to read This can be 4 9 10 2 Set operation mode Icon Dialogue Set mode Velocity Position Analogue velocity C Analogue velocity with deadband Velocity analogue torque Analogue position C Direct torque different parts of the program For a detailed description of the individual operating modes refer to section 1 2 1 Function Sets the operating mode for the motor When the program encounters a program line with this command the motors operating mode will be set to the specified mode This allow you to use different operating modes in 222 JVL Industri Elektronik A S User Manual Integrated Servo Motors MACO050 800 4 9 Expansion Module MACOO R1 R3 R4 4 9 10 3 Move operations Icon Each mode will be described in its own section The Move command is very flexible with five different operating modes 4 9 10 4 Move Relative Icon Dialogue Move type Relative C Relative velocity change at distance z l Cancel Relative set outputs C Absolute C Sensor General parameters Distance i
15. Absolute Move to the x position with reference to the zero search position Drm E iie Man hape Aivat Mike prse Tests a ALP HADID Fis Fesp amii j CI Es Ls a Di mm f a 2 Leta fet bees peer Demm bee ee oe mmp a THE fin ae LEA favor hin ad pe Boba 2 dew elo diet NOT Cet re A a va D a k w ht a ia Loe p ae oF ee fo aE Fe eet oie os ee are bl vole HEARSE ji De ye paa b c Turse b ei nl Wa Vigstery idana ian pee fot HEG Pa Porp maian t B EE eee N fee G a MACIE jesh jeinhii i 3 a wW a pran et Bi Aei pai Cee ptet Pemai Phi eg ime ama i f A F misr IF COM aa a B d oem eie ie TT E Leana an The relative move command just entered is converted into a program line Multiple program lines are entered by the user forming the last part of the program 1 ind unt mpa ebagi 4 beh a be 1 Cet ic 1 Pe ed 2 Pa r LETT TT ET a Mi EE ees a ees 28 eed fe Yow tte MODAS ptp piim tee 5 M nga Adonai as paman Tete Soe MADORA ore a oer M u M Tn gt ienn Beret pater a ven mes nos Demanem stn we J erent EAEE memes rar tends Vike Aseo tom Now the program is finished Press the Transfer amp Start button Now the program will be transfered and stored permanently
16. Counts Acceleration Velocity Wait for in position Enter 0 in velocity or acceleration to use the current velocity or acceleration Function Performs a movement relative to the current position The distance moved is measured in encoder counts and can either be entered direct ly or taken from three memory registers in the RxP module For further information on using these memory registers refer to the sections on the Save position and Set position commands Note that if you specify a velocity motor register no 5 V_SOLL will be over written with this velocity value Also if you specify an acceleration motor register no 6 A_SOLL will be overridden with the acceleration value you specified Register no 49 P1 is always over written by this command If the Wait for in position option is checked the program will wait until the motor has finished the movement before proceeding to the next program line If this option is not checked the program will start the movement then immediately start executing the next command The motor will finish the movement on its own unless it is given other instructions by the program JVL Industri Elektronik A S User Manual Integrated Servo Motors MACO050 800 223 4 9 Expansion Module MACOO R1 R3 R4 4 9 10 5 Move Relative velocity change at a distance Dialogue Move type C Relative ae Cancel C Relative set outputs C Absolute Sensor Gen
17. DO OOM seen Me Anpi Aduni Filter poma Teste Sage ODAS MADA Apama Laem te Haa Des 443 ge ee tamer Deva 22 soam S a J re heres aiuu Press the first button to create the first program line The Select command box will pop up ee or 3 w Ee aan A ma ete 2 a Choose the desired command TE bhsaid In this example it is desired to wait for an input to be activated before further program execution yrs pam oe r gt p 3 E3 a Deni fet peee Ceen ermi fees DOR Ola Fom pomami Toti Senge MACE DA t San fase maa Daia LI Nge tet eer J 3 yes hreg 2 Choose to wait until input 5 is high and press OK Me Er eee A a DUT ft ree e Crees iis lh x D Bee AA Je jiin jeb oa Las tpi iawn chem fee Fie fee Coe figs Depam kimoni Nie pete Tete Feces HCE Clie Fs 5 pry Pam Moke Chen am hal hapaa eed bademe ates er bas Esi uhladi pee tama Barry The command is inserted at the EE neste step previous selected program line zl e prre S TT0983GB n Continued 218 JVL Industri Elektronik A S User Manual Integrated Servo Motors MACO050 800 4 9 Expansion M odule gt ti ta MACOO R1 R3 R4 fi ee bkis Pa fe pete i i Press the second button to create the second program line Choose the movement type needed Relative Move x counts forward with reference to the actual position
18. arise anything that can be done with the RxP module can be done with a binary command If you find yourself with special needs that are not covered by the other commands contact JVL for assistance JVL Industri Elektronik A S User Manual Integrated Servo Motors MACO050 800 237 4 9 Expansion Module MACOO R1 R3 R4 4 9 10 24 Calculator basic Dialogue elocity Reg 5 elocity Reg 5 1 Basic Options Debug 69 velocity Reg 5 v 69 elocity Reg 5 v Function Performs a calculation using register values contants and the four basic arithmetic operations and The result is stored in a register Arithmetic operations take place in the order they are specified Operands arguments can be either integer constants or registers The caption of the dialogue box shows the resulting expression in traditional in fix format It is continuously updated as you type in the expression Note that if you write a value to a register using this command that value is always measured in native motor units Conversion from generic engi neering units is only supported for the commands Set a register in the MAC motor Jump according to a register in the MAC motor and Wait for a register value before continuing 238 JVL Industri Elektronik A S User Manual Integrated Servo Motors MACO050 800 4 9 Expansion Module MACOO R1 R3 R4 4 9 10 25 Calculator Options Dialogue elocity R
19. dition is met the command jumps to the specified program line If the condition is not met the program proceeds to execute the next line in the program Any two registers can be compared to each other but the command does not do anything beyond comparing the register numerical values as measured in native motor units To ensure comparisons are meaningful it is preferable to compare registers that hold the same type of information in the same binary format In the example above two position registers are compared Both hold position information both measure position in encoder counts Such a comparison will always yield meaningful predictable results For other types of registers consult section 5 6 240 JVL Industri Elektronik A S User Manual Integrated Servo Motors MACO050 800 4 9 Expansion Module MACOO R1 R3 R4 4 9 11 General hardware aspects All internal and external main connections are shown in the illustration below Basic MAC motor with MACO0O0O RI R3 or R4 module inserted Basic MAC motor MAC050 to 800 I Power supply P MAC50 141 12 48V A Power supply MAC400 800 24V P Analogue input o AIN or Zero search input Analogue input 10V nom or up to 32V P o Optocoupler Y N K Multifunction I O I I setup as serial data Digital inputs I Control and outputs I I I Voltagerange 5 32V core Optocoupler Driver lt T 2 channel differential T
20. eeds to execute the next line in the program When input type is set to single the command can test a single input for one of four possible conditions the input is low the input is high the input has transitioned to low Falling Edge or the input has transitioned to high Rising Edge If transitions are tested for the transition must have taken place during the last 30 microseconds After pressing the OK button the dialogue will disappear and the mouse cursor will change The next program line that you click on will then become the destination for the jump command JVL Industri Elektronik A S User Manual Integrated Servo Motors MACO050 800 229 4 9 Expansion Module MACOO R1 R3 R4 4 9 10 12 Conditional jump multiple input Dialogue Function Input type Operand amp C And Or Cancel Input 1 High C Low Don t care Input 2 High C Don t care Input 3 High C Low Don t care Input 4 High C Lo Don t care Input 5 High f I Don t care Input 6 High C Don t care Input 7 High C Low Don t care Input 8 High C Low Don t care Motor error High C Low Don t care In position High C Low Don t care Tests for an input condition before either jumping to another line in the program or moving on to the next line in the program If the condition is met the command jumps to the specified program line If the condition is not met the program proceeds to execute
21. eg 5 elocity Reg 5 1 Basic Options Debug Calculation precision Register listing and naming f Numbered list with long MacTalk names C Simple list with short firmware names Function The options tab contains various settings that affect the operation of the Calculator command Calculation precision is at the time of writing locked to 32 bit precision This is not an error and should not be reported Register listing and naming provides an alternative method of entering ata into the dialogue by selecting simple list with short firmware names Instead of selecting for example 3 Requested position to access register no 3 you can simply type P_SOLL If you wish to enter a constant you simply enter the digits the dialogue will not mistake the constant for a register number If you are in doubt about a register name look at the expression in the caption of the dialogue box A recognized register name will appear in the expression An unrecognized register name will appear as a zero You can switch between the two methods of data entry at any time JVL Industri Elektronik A S User Manual Integrated Servo Motors MACO050 800 239 4 9 Expansion Module MACOO R1 R3 R4 4 9 10 26 J ump according to a comparison Dialogue Cancel Function Compares two registers to each other before either jumping to another line in the program or moving on to the next line in the program If the con
22. eral parameters Change velocity parameters Distance 0 Counts Distance o Counts Acceleration 0 RPMs New velocity 0 RPM Velocity 0 RPM Enter 0 in velocity or acceleration to use the current velocity or acceleration Function Performs a relative movement and changes velocity a specified distance before reaching the new position The distance are measured in encoder counts and can either be entered directly or taken from three memory registers in the RxP module For further information on using these memory registers refer to the sections on the Save position and Set position commands Note that motor register no 5 V_SOLL will be over written with the value specified in the New velocity field Also if you specify an acceleration motor register no 6 A_SOLL will be over written with the acceleration value you specified Register no 49 P1 is always overridden by this command This command always wait until the movement is finished before proceeding to the next line in the program 224 JVL Industri Elektronik A S User Manual Integrated Servo Motors MACO050 800 4 9 Expansion Module MACOO R1 R3 R4 4 9 10 6 Move Relative set outputs Dialogue Move type C Relative C Relative velocity change at distance me Cancel fe Relative set outputs C Absolute C Sensor General parameters Output type Multipl Distance 0 Counts a Output No Output state Accelerati
23. f program lines used in the source program Mac Talk Mode Specify the program type actually used Enable input filter Enables an oversampling filter at the inputs INI to IN8 This feature can be used to remove noise from the inputs Skip initialization advanced Bypasses internal initialization routines after powerup Only for very special use Program Source Remarks Default Choosing this will transfer everything into the module memory This can be an advantage if remarks and source program must be uploaded to MacTalk later Program Source Same as above but without remarks Program only Only the compiled program is transfered Sizes Program Source Program Source REM Prograrn only General Information Checksum 2957 Lines S Program type Absolute and relative Setup Settings Enable input filter Skip initialization advanced Transfer settings Program Source Remarks Program Source Program only TT0982GB JVL Industri Elektronik A S User Manual Integrated Servo Motors MACO050 800 Cancel 217 4 9 Expansion Module MACOO R1 R3 R4 4 9 7 How to build a program When choosing New program in the MACO0 RxP menu or entering Mac Talk for the first time programming can be started Press the button at line and a tool box will pop up Gee eer bee Yee Se A B W p 0 amp amp w ye E teenth feet peter Cow ees e M
24. he program The value can either be entered as native motor units or it can be entered as generic engineering units The dialogue shown provides an example register no 10 P_IST or Actual position depending on your preference must be equal to 0 revolutions if the jump is to be made The position that the register is tested against can be specified as an integer number of encoder counts or it can be specified as a non integer number of revolutions After pressing the OK button the dialogue will disappear and the mouse cursor will change The next program line that you click on will then become the destination for the jump command 234 JVL Industri Elektronik A S User Manual Integrated Servo Motors MACO050 800 4 9 Expansion Module MACOO R1 R3 R4 4 9 10 18 Wait for a register value before continuing Icon Dialogue Register condition Value 0 Revs Y Function Tests a register in the motor against a specified value and waits until the specified condition is met The value can either be entered as native motor units or it can be entered as native motor units or it can be entered as generic engineering units The dialogue shown provides an example register no 10 P_IST or Actual position depending on your preference must be less than 0 revolutions before the program can continue The position that the register is tested against can be specified as an integer number of encoder counts or it can
25. ion Module MACOO R1 R3 R4 4 9 18 Cables for the MACOO R4 The following cables equipped with M12 connector can be supplied by JVL MAC00 R4 Connectors Description JVL Order no 101 13 102 COM PWR 8 pin 8 pi ae a Female Female Male RS232 Interface cable Connects directly from MACO0 R4 to PC Length 5m 197 inch Cable 5 5mm with M12 female 5 pin connector loose ends 0 35mm 22AWG and screen Length 5m 197 inch Pf Pf Same as above but 20m 787 inch WI1000 M12F5T20N Cable with M12 male 5 pin connec wi4900 M12M5TOSN X A ee ends 0 35mm cea ea eh and screen Length 5m 197 inch RS232 M12 1 5 5 Pf fx fp Same as above but 20m 787 inch WI1000 M12M5T20N WI1000 M12F5TO5N Cable with M12 female 8 pin connector loose wire ends 7 0 22mm 24AWG and screen W11000 M12F8T05N Length 5m 197 inch ax Same as above but 20m 787 inch WI1000 M12F8T20N Cable with M12 male 8 pin connector loose wire ends 2 0 22mm 24AWG and screen _ W 1000 M12M8TOSN Length 5m 197 inch Pf x fof Same as above but 20m 787 inch WI1000 M12M8T20N Protection caps Optional if connector is not used to protect from dust liquids IP67 protection cap for M12 WI1000 M12FCAP1 female connector IP67 protection cap for M12 WI1000 M12MCAP 1 male connector Important Please note that the cables are a standard type They are not recommended for use in ca ble chains or where the cable
26. le View Motor MACOO RxP Setup Updates Help disc Please be aware that when i ice Save Saveinflash Reset position Clear errors Reset motor Filter setup STOP Motor saving the program it is the complete Ae z Pis p Ra a ae T d j program including the overall setup Main Registers Advanced Filter parameters Tests Scope MACOO AxP of the motor such as servofilter I O MACOD As Programmable a Siap ene lenges Module Checksum 3025 setup etc Everything is stored in a file Lranster amp Start T Wait until input 5 high with the extension MAC Later it can be opened and restored in the motor Move Rel dist 10000 Counts acc 1500 RPMs vel 2000 RPM 3 Wait 500 ms d Set output 1 high 5 Jump to 1 TT0985GB 4 9 8 General programming hints When a program is built and saved the following hints may be useful to ensure that the program behaves as expected When transferring the program to the module it is saved permanently in the memory and the program will be executed each time the motor is switched on 2 Before making a program ensure that the basic parameters for controlling accelera tion torque safety limits etc are set to proper values When saving the program on the hard disk or floppy disk all of these basic parameters will be saved together with the program as a complete motor setup package 3 A program line can be edited by double clicking the command text
27. mands The advantage of these commands is avery low communications overhead FastMAC FlexMAC are described in detail in section 4 5 7 However a brief summary is in order If Mode is set to one of Passive Velocity or Position the motor will 236 JVL Industri Elektronik A S User Manual Integrated Servo Motors MACO050 800 4 9 Expansion Module MACOO R1 R3 R4 4 9 10 22 Send FastMac command macro command Icon Mode Command C Passive C Velocity NOP Reset error C Position P_SOLL 0 and IN_POS 0 Ni P_IST 0 Command P_FNC 0 and IN_POS 0 V V_SOLL 0 TOMIN If Mode is set to Command the motor does not necessarily change mode but it can be ordered to carry out a series of predetermined operations Describing all the FastMAC commands is beyond the scope of this section but as an example you can activate four different sets of registers but as an example you can activate four different sets of registers each controlling position velocity acceleration torque load factor and in position window all with a single command For further details refer to section 4 9 7 4 9 10 23 Binary command Icon Function Enter binary code Binary code MacTalk RxP module programs are sent to the motor in a compact binary format which is then interpreted by the RxP modules firmware The existing set of graphic commands covers most situations but when special needs
28. mmand JVL Industri Elektronik A S User Manual Use Inserts a remark Comment in the program source code Select command Enter your own remarks Move operations Unconditional jump gt Wait for x ms before continuing Set a register inthe MAC motor 4 Wait for a register value before continuing 8 Zero search Send FastMAC command L Calculator S555 BEE H Use Performs a calculation using register values and contants TTI103GB Use Set the motor in the desired mode such as position or velocity mode EJ 79 Set operation mode aa Set outputs Conditional jump gt Wait for an input combination before continuing 7 Jump according to a register in ym the MAC motor Save position Set position 3 Binary command Jump according to a comparison Basic lt lt Use Compares two registers to each other before jumping or moving in the program Use Set a certain state at one or multiple digital outputs Use Conditional jump from one program line to another Input dependent Use Wait for a certain state at one or multiple digital inputs Use Conditional jump from one program line to another Register dependent Use Save the actual motor position to an intermediate register Use Preset the position counter to a certain value Use Binary format instead of graphic commands Integrated Servo Motors MAC050 800 22 4 9 Expansion Module M
29. mware M Show all files is checked Name Version Hardware l Bight ac Firmware 1 6 MACE Select the desired firmware MACOO RxP Bigh ac Firmware 15 MACK BigMac Firmware 1 3 MACs Note that there may exist more than one MACOO Fix Firmware 20 MACOO Rs MMACOO FP Firmware 1 4 HMACOO FPx version Choose the newest version MACCICEFP Firmware 13 MACOO F Ps MACOO R F Firmware 1 5 MACOO F x MACOO Re F Firmware 1 1 MACOO F x Press Start to download the selected firmware TEE The progress counter will now rise from 0 Loading version MACOO As P Firmware Version 1 5 to 100 Status Transfering 25 View FRelase notes Abort Start Exit No new updates Step 4 Firmware Update When the download process is finished the status Select firmware M Show all files shows Done Ts i y Ema E Patata Also Current version has changed to the actual BigMac Firmware 16 MACH i Bigh ac Firmware 1 3 MAC downloaded version meaning that the firmware in MACOO Rx Firmware 20 MACOO Re s MACOO FP Firmware 1 3 MACOO FPx the module is now changed permanently MACOD R se Firrnare TE MACOO Re Current version 1 5 Loading version MACOO A F Firmware Version 1 5 Status Done View Relase notes Abart Step 5 The on line information shown in the lower right i corner of the MacTalk main window will now k show the complete type of firmware and version MAC140 Version 6 2 5M 26197 FRx Version 1 5 sees y e
30. nector J2 Signal name IN1 Digital input 1 Red black N Digital input 2 reen black N G D gt x OO N iolet N ioletiwhite N rey N rey black N ink black N lack white ight green hite Digital Outputs including analogue input Internal connector J4 Signal name Supply for outputs Must be connected to an ext supply Red white Output ground This ground is used together with 01 04 Green white iN O 00 N Z O Digital output 1 PNP output Yellow black Digital output 2 PNP output Blue white Q N Kjo 310 Digital output 4 PNP output Brown white Analogue input 10V also used for zero search sensor i GND I O ground This ground is shared with the input ground lack Interface Internal connector J1 Signal name TXPD Transmit pull down connect with TX if addressing is not used RS232 Transmit If not used do NOT connect re Remember to connect with TXPD if addressing is not used RS232 Receive If not used do NOT connect ellow Ground for RS232 and RS485 lue RS485 B RS485 If not used do NOT connect range RS485 A RS485 If not used do NOT connect rown Cable Screen The cable screen is internally connected to motor housing Externally it must be connected to earth Orange Black is not used internally It must be left unconnected The light green wire ICM can be difficult to distinguish from the green wire TX on some cables gt Z Digital ou
31. nput condition s Velocity 0 APM Enter 0 in velocity or acceleration to use the current velocity or acceleration Function Performs a movement in the direction specified until an input condition is satisfied The motor then moves the distance specified before stopping The motor will not move farther than the Safety distance specified regardless of whether the input condition is satisfied The distances are measured in encoder counts and can either be entered directly or can be taken from one of three memory register in the RxP module For further information on using these memory registers refer to the sections on the Save position and Set position commands Note that if you specify a velocity motor register no 5 V_SOLL will be over written with this velocity value Also if you specify an acceleration motor register no 6 A_SOLL will be over written with the acceleration value you specified Register no 49 P1 is always overridden by this command This command always wait until the movement is finished before proceeding to the next line in the program JVL Industri Elektronik A S User Manual Integrated Servo Motors MACO050 800 227 4 9 Expansion Module MACOO R1 R3 R4 4 9 10 9 Set outputs Icon Dialogue Multiple Output state Output 1 Low Output 2 C High Output 3 C Low pulse ms Output 4 C High pulse O Output 5 Output 6 Output 7 Output amp Output type C Single
32. on advanced M Transfer settings Program Source Remarks C Program Source C Program only Will transfer the complete js a Each button represents a program line By pushing the button a com mand can be entered at the program program line executed is temporarily paused MAC00 RxP Status texts The message Program not transferred means that there is a difference between the program seen on the screen and the actual program in the module This can happen if the program have been edited but not transferred Status Running or Stopped refers to the program in the module Noname File view Motor MACOO RxP Setup Updates Help d b amp amp i e Save Save in flash Reset position Clear errors Reset motor Eilkees tup STOP Motor YOMscan Main Registers Advanced Filter parameters Tests Scope MACOO Bs MACOO R Programmable Transfer amp Stat a Pause te Module Checksum 2648 Program not transferred _ Status Running mA O on oe we NY o Pause Use this button if the program must be paused Paused means that the actual When paused the single step feature can be used to debug the program Y MacTalk Noname File view Motor MACOO RxP Setup Updates He PN j Open Save Save in flash Reset po Resseresssssesssssosereeese m MACOO Ax Programmable Select program type for new program With this mode it possible Relative absolute absolute and relative p
33. on 0 RPM s mo Big utput 2 Ww Velocity 0 RPM C Output 2 High 7 C Output 3 C Low pulse mis Enter 0 in velocity or acceleration to use C Output 4 C High pulse ms the current velocity or acceleration a Output 5 C Output 6 C Qutput 7 Output 8 Function Performs a movement relative to the current position and sets one or more outputs on the RxP module when the operation is completed The distance moved is given in encoder counts and can either be entered directly or can be taken from one of three memory register in the RxP module For further information on using these memory registers refer to the sections on the Save position and Set position commands Note that if you specify a velocity motor register no 5 V_SOLL will be over written with this velocity value Also if you specify an acceleration motor register no 6 A_SOLL will be over written with the acceleration value you specified Register no 49 P1 is always over written by this command This command always wait until the movement is finished before proceeding to the next line in the program JVL Industri Elektronik A S User Manual Integrated Servo Motors MACO050 800 225 4 9 Expansion Module MACOO R1 R3 R4 4 9 10 7 Move Absolute Dialogue Move type C Relative C Relative velocity change at distance l Relative set outputs General parameters Position lo Counts Acceleration O RPMs Velocity 0 RPM Wait f
34. or in position lv Enter 0 in velocity or acceleration to use the current velocity or acceleration Function Moves to an absolute non relative position The position is given in encoder counts and can either be entered directly or can be taken from one three memory register in the RxP module For further information on using these memory registers refer to the sections on the Save position and Set position commands Note that if you specify a velocity motor register no 5 V_SOLL will be overwritten with this velocity value Also if you specify an acceleration motor register no 6 A_SOLL will be over written with the acceleration value you specified If the Wait for in position option is checked the program will wait until the motor has finished the movement before proceeding to the next program line If this option is not checked the program will start the movement then immediately start executing the next command The motor will finish the movement on its own unless it is given other instructions by the program 226 JVL Industri Elektronik A S User Manual Integrated Servo Motors MACO050 800 4 9 Expansion Module MACOO R1 R3 R4 4 9 10 8 Move Sensor Dialogue Move type C Relative C Relative velocity change at distance a Cancel C Relative set outputs C Absolute General parameters Sensor parameters Distance 0 Y Counts Safety distance 0 Y Counts Acceleration 0 RPM s I
35. osi moving range will be limite MACOO RxP Program information Sizes Program Source 80B Program Source REM 808 Program only 53B MGeneral Information Checksum 2957 Lines 5 Program type Absolute and relative New program Program setup Upload program Program information Stop 1 REM Demonstration 2 Set outputs 2 high a 3 Move Rel dist 40 4 Wait 500 ms 5 Set outputs 2 low an P c Jump to 2 TT0981GB JVL Industri Elektronik A S User Manual Integrated Servo Motors MACO050 800 4 9 4 9 6 Expansion Module MACOO R1 R3 R4 MACOO RxP menu The MACOO0 RxP menu found at the top of the main window gives access to following possibilities MACO00 RxP menu MACO0 RxP Mew program Program setup Upload program Program information Program Source Shows the memory usage if the program compiled source program and remarks is downloaded into the module Described elsewhere in this chapter Upload the program from the module to MacTalk Program information Program Source REM Same as above but without remarks Program only Same as above but without source program and remarks Checksum Shows the checksum of the complete program downloaded into the module The checksum is unique and can be used to verify whether the program in the module matches the original program or not Lines The number o
36. put 6 Input 7 C input 8 Motor Error In Position Function Waits for a specified input condition to occur The next line in the program will not be executed until the input condition has been met If Input type is set to Single the command will wait for one of four things to happen on the specified input that the input tests as high that the input tests as low that the input transitions from high to low Falling Edge The input is tested with 30 microsecond intervals 232 JVL Industri Elektronik A S User Manual Integrated Servo Motors MACO050 800 4 9 Expansion Module MACOO R1 R3 R4 4 9 10 15 Wait for an input combination before continuing multiple inputs Dialogue Cancel Input 1 C High C Low Don t care Input 2 C High w Don t care Input 3 Hit Low Don t care Input 4 Hi Don t care Input 5 High C Don t care Input 6 C Hi bi Don t care Input 7 High C Low amp Don t care Input 6 ig Low Don t care Motor error i Don t care In position High C Low f Don t care Function Waits for a specified input condition to occur The next line in the program will not be executed until the input condition has been met If Input type is set to Multiple multiple inputs can be tested for being either high or low The Operand setting determines whether one or all of the inputs must meet their test criterion If set to And all inputs must
37. r when used in position related modes Miniature connectors internal for all signal lines including RS232 485 interface and zero search switch Molex 3 96mm connector for power supply Full RS232 protocol support Note The basic MAC motor is only equipped with a low voltage serial interface that requires the use of the RS232 9 1 MAC option cable which has integrated electron ics to boost the voltage levels Full RS485 protocol support for multipoint communication up to 100m Sourcing PNP outputs for status signals OI and O2 instead of sinking NPN JVL Industri Elektronik A S User Manual Integrated Servo Motors MACO050 800 243 4 9 4 9 14 244 Expansion Module MACOO R1 R3 R4 MACOO R3 option with cables The MACO00 R3 type number only covers the basic module without any cables lf a number is added after the basic type number for example MACO0 R3 10 this suffix indicates that the module is fitted with 2x 10m of cable cable comprises the power sup ply and analogue input The other cable covers all the signal lines i e RS232 RS485 sta tus outputs and multifunction I O Power cable Cable JVL type no WG0302 2m or WG0320 20m Power Supply Description Positive supply terminal 12 to 48VDC Beo l Negative supply terminal ground Black or white Screen to minimize noise Screen connected internally to P Signal cable Cable 2 JVL type no WG0420 20m Digital Inputs Internal con
38. ransceiver iE z Interface Asynchronous TX Control interface GND MACO00 R4 offers a common I O ground lIO and ICM OCM are not present l Status outputs RS485 Interface Asynchronous serial interface RS232 Interface TT1011GB cial Opto couplers Opto coupler Reverse polarity Infineon type Infineon type protection Opto isolation SFH6943 SFH6943 O 5 6kOhm luF 4 7nF Ol l l O l l l l Q l BN l l 03 l Q O l l 04 Control Core 4 pcs PNP outputs 4 pes Max 500mA per output 10kKOhm output driver pull down VN340 ST EEE E EE E E ee E E q On the MACO0O0 RI a LED is connected between each of the outputs O1 4 to OCM On the MAC00 R4 module input ground ICM and output ground OCM are tied together internally to a common connector terminal IO TT1012GB Connections to the interface and basic motor JVL Industri Elektronik A S User Manual Integrated Servo Motors MACO050 800 24 4 9 Expansion Module MACOO R1 R3 R4 4 9 12 Expansion MACOO R1 hardware description The illustration below shows the I O connections on the MACOO0 RI expansion module MACOO R1 connector descriptions IN OUT User Inputs Common ground __ o User outputs The inputs must uo i ee PNP source type be supplied from a PNP 2 o 24V 300mA per output source output 5 24V Connector DSUB I5pin male High Density type RS232 Connections SETUP RS232 In
39. terface between MAC motor and a PC RS485 Connections pii RS232 Note MAC00 B1 The TX PD terminal must o be connected to Tx pin 3 1 if the MAC motor is not 5 O O 6 using addressing D naan Fas 7 es E E o RS232 TX lt 20 OG eles us lain mes O Terminator et COD A RS485 A gt O lt gt _ RS485 B Signal ground m tio 2 for RS232 and RS485 Use JVL programming cable type RS232 9 for connecting to PC All inputs have a common ground ICM and all the outputs uses OCM as ground O is the supply terminal for the output circuitry and must be supplied with a voltage from 6 32VDC The outputs are short circuit protected The input and output circuitry are optically isolated from each other and also from the other parts of the MACOO RI or R3 242 JVL Industri Elektronik A S User Manual Integrated Servo Motors MACO050 800 4 9 4 9 13 Expansion Module MACOO R1 R3 R4 Expansion MACOO R3 hardware description The illustration below shows the I O connections on the MACO0 R3 expansion module TT0938GB The MACO0 R3 expansion module is an industrial interface that mates with the standard MAC motor and offers a number of feature enhancements including Protection IP67 if mounted on basic MAC motor IP67 type MACO50 141 Direct cable connection through sealed compression cable glands Addition of a Zero switch input for locating a mechanical zero point of the actuato
40. the next line in the program When input type is set to Multiple Multiple inputs can be tested for being either high or low The Operand setting determines whether one or all of the inputs must meet their test criterion If set to And all inputs must match their test settings If set to Or only one input need to match its test setting Inputs that are set to Don t care are not tested After pressing the OK button the dialogue will disappear and the mouse cursor will change The next program line that you click on will then become the destination for the jump command 230 JVL Industri Elektronik A S User Manual Integrated Servo Motors MACO050 800 4 9 Expansion Module MACOO R1 R3 R4 4 9 10 13 Wait for x ms before continuing Dialogue Wait Time Function Causes the program to pause for a number of milliseconds before continuing The longest pause that can be specified is 65535 milli seconds The shortest pause that can be specified is 0 milliseconds Note that this command over writes Timer 1 in the RxP modules memory JVL Industri Elektronik A S User Manual Integrated Servo Motors MACO050 800 23 4 9 Expansion Module MACOO R1 R3 R4 4 9 10 14 Wait for an input combination before continuing single input Dialogue C Multiple Cancel Input Input condition f Input 1 f Low Input 2 C High Input 3 C Falling Edge C Tnput 4 C Rising Edge Input 5 C In
41. tput 3 PNP output Orange white 4 gt X lt Z U x lt O W Wi lt 1 D D Important Please note that the cables are a standard type They are not recommended for use in cable chains or where the cable is repeatedly bent If this is required use a spe cial robot cable 2D or 3D cable JVL Industri Elektronik A S User Manual Integrated Servo Motors MACO050 800 4 9 Expansion Module MACOO R1 R3 R4 4 9 15 Connecting the RS232 interface of the MACOO R3 module The illustration below shows how to connect the MACOO R3 directly toa PC COM port The drawing is based on standard cables from JVL types WG0402 WG0410 or WG0420 See also Accessories page 289 for a complete list of cables and connectors Please remember to connect the TX and TX PD wires from the MACO0 R3 together to achieve stable operation If the MAC motor is connected to the same RS232 line as other motors the terminal TX PD should only be connected on one of the motors If one of JVL s standard RS232 cables RS232 9 or n is used between the DSUB con nector shown and the PC com port the RX and TX pins must be swapped since they cross in these standard cables How to connect the RS232 interface of the MAC00 R3 JVL cable WG04xx Screen terminated PC RS232 to the GND terminal standard I O COM port cable 24 wire Interface connector If the RS232 lines are extended through another cable this cable must also be screened Screen
42. we Sere a S _ Note IP65 on MAC400 8 The MACO00 R3 module can also be delivered with cable in selected lengths Cables with M12 connectors can also be supplied for the MACO0 R4 module The first part of this section deals with the common features of both modules Please see the latter pages of the section for see specific information about each module for exam ple connection diagrams 212 JVL Industri Elektronik A S User Manual Integrated Servo Motors MACO050 800 4 9 4 9 2 4 9 3 Expansion Module MACOO R1 R3 R4 Important before use Please note that two different types of firmware setup are available Graphic programming setup Firmware MACOO0 RxP Fixed formats MACOO0 Rx See User Manual LB0047 18GB Until Q3 2004 the only firmware available was the fixed format type Since this date the fixed format firmware has not been updated and the Graphic Programming Setup is the preferred type i e all new modules by default contain this new type of firmware The graphic programming firmware offers 100 flexibility since almost any function in the motor can be controlled using simple user friendly commands that are built together as a sequential program The user interface of both types of firmware setup is shown below Note If MacTalk is used off line no motor connected all tabs can be seen by selecting Show hidden pages in the View menu Graphic programming The module setup with graphic
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