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1. OFF olol NI no ay AJOJN ON OFF eo ON OFF ON OFF ON ON ON ON ON ON ON ON OFF OFF OFF OFF ON ON ON ON OFF OFF OFF OFF ON ON ON ON JVL Industri Elektronik A S User Manual Integrated Servo Motors MACO50 3000 211 4 6 Expansion Module MACOO FD4 The Baud rate can be set according to the below table Dip Switch no SW1 See table above See table above See table above See table above X Not used For future purposes set in position off 212 JVL Industri Elektronik A S User Manual Integrated Servo Motors MACO50 3000 4 6 Expansion Module MACOO FD4 4 6 4 IO messages The JVL MACOO FD module offers 8 byte I O These bytes are organized in a standard frame specified by the ODVA organisation Depending on what kind of information that is needed different message types are used Message types are organized in the lower bit 0 4 in byte 2 and the different message types supported are Ox1 Target position 0x2 Target velocity 0x3 Acceleration 0x5 Torque 0x IB Position controller attribute OxIF Parameter register For setting a target position the Command Message type Ox is used Accessing registers directly in the motor message type 0x IF is used For a general motor register overview ple2. connector JVL Cable WI1000M12 Isolation Signal name Description i F5TO5N group P Main supply 12 48VDC Connect with pin 2 Brown Main supply 12 48VDC Connect with pin 1 White Main supply ground Connect with pin 5 Control voltage 12 48VDC Main supply ground Connect with pin 3 Note P and P is each available at 2 terminals Make sure that both terminals are connected in order to split the supply current in 2 terminals and thereby avoid an overload of the connector Cable user Isolation Signal name Description supplied group Drai Shield for the DeviceNet interface internally rain 2 connected to the motor housing DeviceNet supply Note that the MACO0 FP4 only senses at this terminal The MACO0 FP4 contains its own power supply DeviceNet ground DeviceNet interface Positive signal line DeviceNet interface Negative signal line Continued next page 226 JVL Industri Elektronik A S User Manual Integrated Servo Motors MACO50 3000 4 6 Expansion Module MACOO FD4 Cable user Isolation Signal name Description supplied group Shield for the DeviceNet interface internally con nected to the motor housing DeviceNet supply Note that the MACOO FP4 only senses atthis terminal The MACOO FP4 contains its own power supply DeviceNet ground Drain 2 DeviceNet interface Positive signal line DeviceNet interfac
3. default setting OFF 4 ON TTII26GB Switch description Sws Description Funcion Sgrainame RS232 interface transmit output ON Enable DIP2 ON and DIP3 OFF AIN Analogue input DIP2 OFF and DIP3 ON O2 output 2 DIP4 ON Output 1 DIP4 OFF Input 1 DIP5 ON O1 output DIP5 OFF PL positive limit input DIP6 ON O Output supply DIP6 OFF NL Negative limit input I O terminal A I O terminal A I O terminal B I O terminal C I O terminal D The factory default setting is Function RS232 interface Enable O2 output 2 Input 1 O1 output 0 output supply 230 JVL Industri Elektronik A S User Manual Integrated Servo Motors MACO50 3000 4 6 Expansion Module MACOO FD4 4 6 27 Cables for the MACOO FD4 The following cables equipped with M12 connector can be supplied by JVL MACOO FD4 Connectors Description JVL Order no BUS2 1 0 PWR 5 pin 8 pin 5 pin RS232 Interface cable Connects directly from MAC00 FD4 to PC RS232 M12 1 8 Length 5m 197 inch E Cable 5 5mm with M12 female Female Female Male 5 pin connector loose wire ends 0 35mm 22AWG and foil screen WI1000 M12FSTOSN Length 5m 197 inch S T i B coded B coded Same as above but 20m 787 inch WI1000 M12F5T20N Cable with M12 male 8 pin connector loose wire ends 0 22mm 24AWG
4. for instance 1 3 5 6 7 4 6 18 Object class Ox25 Position Controller This object class is the position controller object as defined in the DeviceNet standard The following attributes are supported for instance I 1 2 3 6 7 8 10 11 12 13 14 17 20 21 25 45 48 49 52 54 55 58 The range for attribute 25 Torque is 0 1023 The following additional manufacturer specific attributes are supported Attribute ID Access rule Data type Description Search mode This mode will be used next time the con 100 Get Set troller is enabled and the selected mode is position This value will be cleared after the enable 101 Get Set The Zero search offset in counts The velocity to use during Zero searchin encoder counts 102 Get Set pel second The torque limit to use during Zero search The range is 103 Get Set 1023 to 1023 A negative torque value means that the zero sensor is active low Use Index If this is enabled the zero point will be cor fastest rected with reference to the motors index mark JVL Industri Elektronik A S User Manual Integrated Servo Motors MACO50 3000 219 4 6 Expansion Module MACOO FD4 4 6 19 Examples Typical needed actions in a DeviceNet system A number of typical actions is often needed in a system with DeviceNet interface to per form the desired operation in the system This chapter have some important guidelines on how to handle these typical actions and is
5. the output is controlled by the default function The default function for OI is In position and for O2 Error Bit 7 6 5 4 3 2 1 0 Output Reserved 02 O1 JVL Industri Elektronik A S User Manual Integrated Servo Motors MACO50 3000 21 N 4 6 Expansion Module MACOO FD4 4 6 12 Instance 2 Attribute 3 Motor status With this object the status of the motor can be monitored T ies sf 4 ts feta Decele Accele In TE Discon ration ration position amor nected Bit 7 Unused reserved for future purposes Bit 6 Equals I if the velocity is decreasing Bit 5 Equals I if the velocity is increasing Bit 4 Equals I if the motor is in the commanded position Bit 3 Unused reserved for future purposes Bit 2 Equals if a limit switch has been activated Bit Equals if there is a communication error between the MACOO FDx and the mo tor This can occur if the motor was reset due to a voltage drop Bit 0 Equals if there is a fatal motor error Read subindex 4 for extended information 4 6 13 Instance 3 Attribute 3 Module setup bits This object is used for auxiliary setup of the module 7 6 Endless Error relative action Reserved Endless relative When this bit is the endless relative position mode is used for incre mental positioning When using this mode absolute positioning can no longer be used Error action Determines the action in the event of an error Bit6 s
6. 000 4 6 Expansion Module MACOO FD4 4 6 7 4 6 8 4 6 9 4 6 10 4 6 11 Instance 1 Attribute 3 Input status This object is used to read out the actual value of the inputs Bit 7 6 5 4 3 2 1 0 Input Reserved PL NL IN4 IN3 IN2 IN1 Instance 1 Attribute 4 Outputs With this object the outputs can be controlled The value written to this object is directly shown on the outputs if the output is not set to use its default function see attribute 7 Reserved Instance 1 Attribute 5 Input active level With this object the active level of the inputs can be selected When bit x 0 the input is active low and when bit x the input is active high The default setup for the output is active high Bit 7 6 5 4 3 2 1 0 Input Reserved PL NL INA IN3 IN2 IN1 Instance 1 Attribute 6 Input setup With this object the dedicated function of the inputs can be enabled When the corre sponding bit is 0 the input function is as a normal input When the corresponding bit is the dedicated function of the input will be enabled When the end limit inputs NL or PL are enabled and one of these is activated the error action will be executed The error action is defined in instance 3 attribute 3 Bit 7 6 5 4 3 2 1 0 Input Reserved PL NL Reserved Instance 1 Attribute 7 Output setup This object is used to control the function of the outputs When bit x 0 the output is controlled by attribute 4 When bit x
7. 1 x RPM Word 3 0000 9 From here we can either use the standard position controller and change the message type to Target position and maybe set the incremental bit if necessary Word 0 0381 Set the bits in the structure and get register 3 P_IST actual position Word 2121 Use target position message type Word 2 07D0 Value 2000 since we are running incremental the shaft position is moved by 2000 counts Word 3 0000 Please also consult the user documentation for the Omron PLC and for a general motor register overview please consult MacTalk communication page 357 224 JVL Industri Elektronik A S User Manual Integrated Servo Motors MACO50 3000 Expansion Module MACOO FD4 4 6 The schematic below shows the MACOO FD4 module mounted inside the basic MAC motor For further details regarding the external connectors please see Expansion in genera MACOO FD4 hardware description page 226 Hardware 4 6 21 8561I0LLL AS 92ej1e1ut snouoJupuAsy AZE 01 dn 10 wou AOLF indui youeas 0437 10 3ndui enSojeuy synd3no sn3eis 22ep jenas se dnaes O uoun 1epoo2ue pue 40sse oud A ddns 4e od jeueau d A ddns samog d 008 03 0SODVW 40 0W DYW seg ge uonejosi o3dg auod jq a 4032euuoo e eue4 ZIW J NBOSULI n a 3eN9 eg PNM CSN Jo433u0j o2ejo3u 92ej193u 39N 21 9q I snas gm JeAuQ J jdno203dO 9402 Jo 3u0j A ZE 8z s e
8. 4 6 Expansion Module MACOO FD4 MAC00 FD4 With M12 connectors TT1018GB 4 6 1 DeviceNet Introduction The MACOO FD4 module allows you to connect a JVL MacMotor to a DeviceNet net work Using this module all the registers in the MAC motor can be accessed over a DeviceNet network The module supports Baud rates of 125 250 and 500kbit The module includes galvanic isolation between the motor and the DeviceNet network The Baud rate and node id must be configured via the internal dip switch before the module is connected to the net work The module supports polled IO with 8 bytes in and 8 bytes out The specification of the IO is according to the position controller device type Important Please refer to the following sections of the DeviceNet specifications for additional infor mation Volume ll Section 3 12 Position Controller Q Volume ll Section 6 24 Position Controller Supervisor Object Volume Il Section 6 25 Position Controller Object Volume Il Section 6 14 Parameter Object Volume I Appendix H DeviceNet Error Codes Volume l Appendix J Data Type Specification The expansion module MACOO FD4 can be mounted in standard MAC motors MAC5O MAC95 MACI40 MACI41 MAC400 and MAC800 The connectors are grouped as follows Type Protection Connectors class I O and interface Power supply Bus interface MACOO FD4 IP67 IP65 M12 M12 M12 x2 Note IP65 on MAC400 800 Ca
9. Baud rate Switches l 6 select the node ID and switches 8 9 select the Baud rate The 2 way dip switch SW2 is used to enable termination When both switches are on the termination is en abled MAC00 FD4 Dip switch settings Rear side of the MACOO FD4 expansion module Mini dip switch OFF 4 ON Dip 1 6 Node id setting address range 0 63 Dip 7 Node id set by software Dip 8 9 Baud rate Baud rate setting 125k to 500k Dip switch 10 is not used Set in position ON SWI default settings DUDOD00000 all set in position ON G ps n gt ee Dip 1 2 Line termination Both set to ON 2m Term enabled SW2 Both set to OFF SW2 default settings Term disabled Both switches in position OFF Dip switch location on the MAC00 FD4 Expansion module MI2 external 5 connectors Kp S Basic MAC motor housing Internal circuit boards Dip Switches placed on the rear side of the TTIOI7GB module 210 JVL Industri Elektronik A S User Manual Integrated Servo Motors MACO50 3000 4 6 Expansion Module MACOO FD4 The node id can be set according to the below table Dip Switch no SW1 Node id Dip Switch no SW1 32 ON OFF OFF OFF OFF OFF Reserved illegal setting OFF OFF OFF OFF OFF OFF OFF ON OFF OFF OFF ON OFF OFF ON OFF OFF ON OFF OFF ON OFF ON ON
10. G function Often it is necessary to run the motor a certain distance in positive or negative direction in order to find a certain reference point or similar The MAC motor can be controlled in several different modes Typically used modes are Position mode for positioning purpose or Velocity mode which control the motor movement without taking any notice of the actual position If a JOG function is needed it is strongly recommended to use the velocity mode since the position mode or related modes involves a number of registers and is more complex compared to the velocity mode In velocity mode none of the position related registers are of particular interest but the actual position counter is still updated continuously 220 JVL Industri Elektronik A S User Manual Integrated Servo Motors MACO50 3000 4 6 Expansion Module MACOO FD4 Performing the JOG function in velocity only requires that the velocity register V SOLL register 5 is used A way of implementing JOG functionality is basically to change actual mode to Veloc ity and control the velocity and acceleration The following guideline can be used Set velocity 0 register 5 to avoid immediate movement when the mode is changed to velocity 2 Change the mode to Velocity mode register 2 now the mode is changed but the velocity is set to 0 so the motor stay stationary 3 According to the direction change the velocity to a positive value to run C
11. MACOO FD4 4 6 25 Necessary accessories to MAC FD4 On our web page www jvl dk you can under the downloads menu find the EDS file for the MACOO FD4 module in the menu Field bus Interface Specifications Files EDS means Electronic Data Sheet This file contains the information about the MACOO FD4 settings that may be required to configure the setup and program in the master The MACOO FD4A is a slave module on the DeviceNet bus line the master can be for ex ample a PLC or a PC If you are using a PLC as master then make sure that it is provided with a DeviceNet communications module and that the correct programming tools are available For getting support to the PLC master it is more rewarding to use the PLC vendor The MacTalk program can be used to monitor various operations and make the initial set up on the motor see also Using MacTalk to setup the motor page 14 MacTalk is not a free ware program Please contact your JVL representative for further information JVL Industri Elektronik A S User Manual Integrated Servo Motors MACO50 3000 229 4 6 Expansion Module MACOO FD4 4 6 26 Hardware I O setup The drawing below shows the SW3 Dip switch location The various settings of SW3 is shown on the previous page Dip switch location on the MAC00 FD4 Expansion module m Dip Switch SW3 24 placed on the rear side of the module MI2 Connectors Internal circuit boards TR Mini dip switch shown with
12. W or neg ative to run CCW Please remember that this value is scaled depending on the motor type used The value is written into the velocity register register 5 V SOLL MAC50 140 the scaling is RPM x 2 097 so 1000 RPM 2097 counts smpl MAC400 the scaling is RPM x 2 837 so 1000 RPM 2837 counts smpl MAC800 the scaling is RPM x 2 771 so 1000 RPM 2771 counts smpl 4 To stop the motor set the velocity to 0 This will force the motor to decelerate and stay stationary keeping the actual position obtained after running with a velocity gt 0 Optional If the motor needs to be switched into a position related mode the actual position coun ter and some other position related registers need to be modified or reset Otherwise the motor will return to the original motor position which was present before the JOG function was executed A simple way of doing this is to send the special command 247 to the Special command register register number 211 JVL Industri Elektronik A S User Manual Integrated Servo Motors MACO50 3000 221 4 6 Expansion Module MACOO FD4 Zero search how to activate In almost any system which is using some kind of position related mode it is necessary to find the mechanical zero point before normal operation of the motor can take place Following description gives a guide line on how to activate the build in Zero search func tion It is necessary to determine which kind of Zero se
13. and screen WI1000 M12M8TOSN Length 5m 197 inch Same as above but 20m 787 inch WI1000 M12M8T20N DeviceNet cable with M12 male 5 pin connector loose ends ij and screen WI1006 M12M5S05R Length 5m 197 inch Same as above but 15m 591 inch WI1006 M12M5S15R Devicenet cable with M12 female 5 pin connector loose T ends and screen WI1006 M12F5S05R Length 5m 197 inch X Same as above but 15m 591 inch WI1006 M12F5S15R E Loose DeviceNet male M12 termination resistor WI1008 M12MSSTR4 J Protection caps Optional if connector is not used to protect from dust liquids Termination resistor IP67 protection cap for M12 Y female connector WI1000 M12FCAP1 z IP67 protection cap for M12 male connector WI1000 M12MCAP1 Important Please note that the cables are a standard type They are not recommended for use in ca ble chains or where the cable is repeatedly bent If this is required use a special robot cable 2D or 3D cable See also Accessories page 394 where additional M12 connectors are shown JVL Industri Elektronik A S User Manual Integrated Servo Motors MACO50 3000 231
14. arch type that needs to be activated The MAC motors offers a number of various Zero search types Please consult the chap ter Mechanical Zero search page 32 which explain in details which Zero search functions that exist and how they perform the Zero search Please find the section specifying the object 0x25 that can be accessed explicitly for con figuration from the Devicenet network Another method for doing Zero search is to setup the motor for doing Zero search at startup selecting one of the Power up Zero search modes This can be done from the MacTalk configuration software and can be setup permanent in the motor without any further actions done through the DeviceNet interface Please consult the chapter Me chanical Zero search page 32 If this method is prefered the motor will automaticaly perform the Zero search every time the motor is powered up or the 24V control supply is cycled Reading and clearing error codes The register 35 is a combined error status register that represent the actual information about errors and the current motor status accelerating decelerating motor in position etc All this information is put into a single register that can be read all the time To clear the errors either write register 35 0 Another method is to execute the special command 225 This is done by writing to reg ister 211 which will clear any actual errors Please notice that some errors are regarded as fatal and needs 24V
15. ase consult MacTalk communication page 357 The outputs define a Command message covering the message types 0x1 0x2 0x3 0x5 with the following format Direction vel mode Enable Hard stop 0x1 Command message type Response message type Data value byte 0 Data Value byte 1 Data Value byte 2 Data Value byte 3 Corresponding response frame from the motor is formated in the following way The message frame for the types 0x1 0x2 0x3 0x5 7 5 3 Direction V Mode Enable Hard Stop 0x1 Load s 3 Reverse Forward Complete limit limit Response Message Type Data value byte 0 Data Value byte 1 Data Value byte 2 Data Value byte 3 JVL Industri Elektronik A S User Manual Integrated Servo Motors MACO50 3000 213 4 6 Expansion Module MACOO FD4 The message frame for the type 0x IF is formatted according to the following Smooth Direction stop vel mode Enable Hard stop Register number to get Command message type Register number to set Data value byte 0 Data Value byte 1 Data Value byte 2 Data Value byte 3 The procedure is to setup the frame with the correct values and then set the Load bit in byte 0 as the last operation This will load the frame into the motor and thereby set the register value desired In response the motor will return a Resp
16. bles with M12 connectors can be supplied for the MACOO FD4 module The first part of this section deals with the software features of the module Please see the later pages of this section for specific information about the hardware such as con nection schemes etc 208 JVL Industri Elektronik A S User Manual Integrated Servo Motors MACO50 3000 4 6 Expansion Module MACOO FD4 4 6 2 Terminology Symantics This chapter is ment to give an overall understanding of the fundamentals in terminology concerning the description of the MACOO FD4 module Numbering All values are specified in decimal unless other is noted 0x1234 or 1234 omron format specify a hexadecimal number General terms Command message A message sent from the master to the FD4 module describing a certain IO message An O message is a bundle of 8 bytes sent to the MACOO FD from the master in the system and visa versa Register A register is a physical memory location in the basic motor All variables to be written or read a available as a register For example the desired motor velocity can be set by writting to register 5 For a general motor register overview please consult Mac Talk communication page 357 JVL Industri Elektronik A S User Manual Integrated Servo Motors MACO50 3000 209 4 6 Expansion Module MACOO FD4 4 6 3 Node id Baud rate and Termination setup The 10 way dip switch SW1 is used to select the node ID and the
17. e Negative signal line 10 0 s JVL Cable WI1000 M12 Isolation Signal name Description Function M8TO5N group SW3 5 OFF PL input IOC 1 0 terminal C SW3 5 ON O7 output White RS232 interface transmit output Important DIP1 must be turned ON If addressing is used it must be turned ON at minimum one of the connected motors RS232 interface receive input RS232 Ground also used with analogue input SW3 2 ON and SW3 DIP3 OFF AIN Analogue input SW3 2 OFF and SWDIP 3 ON erminal A O2 output 2 AIN is the analogue input Remem AN use the GND terminal with SW3 4 OFF INT input 1 VO terminal B Sw3 4 ON Of output 1j I O ground to be used with IN1 NL PL O1 O2 SW3 6 OFF NL F negative limit input I O terminal D SW3 6 ON O output supply Cable Screen Some standard cables with M12 connector offer a screen around the cable This screen on some cables is fitted to the outer metal of the M12 connector When fitted to the MACOO FD4 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 MACO00 FD4 offers optical isolation at the digital inputs and outputs IN1 NL PL and 01 2 The table shows a number for each pin This number refers to the isolation group to which the pin is connected Isolation group 1 means that the
18. et to 0 will set the mo tor in passive mode in case of an error Bit6 set to will stop motor by setting velocity to 0 in the event of an error 4 6 14 Instance 3 Attribute 4 FastMac command When writing to this attribute a FastMac command is executed Please refer to the MACOO FPx section for a description of the FastMac commands 4 6 15 Instance 3 Attribute 5 Module command When writing to this attribute it is possible to execute some special commands on the MACOO FDx module The following commands are available Number Function No operation Reset limit error Reset communication error Reserved 218 JVL Industri Elektronik A S User Manual Integrated Servo Motors MACO50 3000 4 6 Expansion Module MACOO FD4 4 6 16 Object class OxF Parameter This object class is the parameter class defined by the DeviceNet standard The attributes that are mapped into this object are from object class 0x64 and 0x65 Instance 0 239 is mapped to the value attribute in object class 0x64 from the correspond ing instance Instance 240 255 is mapped to attributes from object class 0x65 Refer to the description of this object class for the mappings 4 6 17 Object class 0x24 Position Controller Supervisor This object class is the Position controller supervisor object as defined in the DeviceNet standard The following class attributes are supported 2 3 6 32 33 The following attributes are supported
19. locity 0 Word 0 0381 Set the bits in the structure and get register 3 P_IST actual position Word 053F Register 2 MODE use command message 31 32 Word 2 0000 Value 0 Word 3 0000 JVL Industri Elektronik A S User Manual Integrated Servo Motors MACO50 3000 223 4 6 Expansion Module MACOO FD4 6 Now the motor is stopped at a stationary position this position we want to set to 0 so we are using a special command Write to command register 21 The command is 247 Word 0 0381 Set the bits in the structure and get register 3 P_IST actual position Word D33F Register 211 Command use command message 3l 32 Word 2 00F7 Value 247 Word 3 0000 This will set the 2 registers P_IST P_NEW and P_SOLL P_NEW per default P NEW 0 so this will automatically set these registers to 0 P NEW has register number 163 7 Now return to standard position control We set the mode back to position remember velocity 0 Word 0 0381 Set the bits in the structure and get register 3 P_IST actual position Word 023F Register 2 Command use command message 3l 32 Word 2 0002 Value 2 position mode Word 3 0000 8 Next we must set the max velocity to use Word 0 0381 Set the bits in the structure and get register 3 P_IST actual position Word 053F Register 5 MODE use command message 31 32 Word 2 07D0 Value 2000 velocity mode appx 957 RPM scaling 2
20. mple uses the Register message type and accesses the registers rele vant for this operation That is P SOLL V SOLL and the mode register Word 0 0381 Set the bits in the structure and get register 3 P IST actual position Word 053F Register 5 V SOLL use command message 3l 32 Word 2 0000 Value 0 Word 3 0000 Value 0 2 Next step is to set the motor into velocity mode by writing register 2 Word 0 0381 Set the bits in the structure and get register 3 P_IST actual position Word 023F Register 2 MODE use command message 3l 32 Word 2 0001 Value l velocity mode Word 3 0000 Value 0 3 Now we set the velocity depending on which direction we want to use we set either positive or negative value we will set register 5 V SOLL for this purpose Word 0 0381 Set the bits in the structure and get register 3 P IST actual position Word 053F Register 5 MODE use command message 3l 32 Word 2 07D0 Value 2000 velocity mode appx 957 RPM scaling 2 1 x RPM Word 3 0000 4 Now the motor runs CW looking on the shaft If we want to go the other way we send Word 0 0381 Set the bits in the structure and get register 3 P IST actual position Word 053F Register 5 MODE use command message 3l 32 Word 2 F830 Value 2000 velocity mode appx 957 RPM scaling 2 1 x RPM Word 3 FFFF 5 If a motor stop is desired now there is several ways one way is to set ve
21. n the cable length and the wires cross section The table below have some recommendations for networks with less than 64 nodes Recommended bus cable cross section are according to CiA Bus Distance m Cross sec tion mm Terminator ohm Baud rate Kbit s 100 0 34 0 6 150 300 500 250 0 34 0 6 150 300 250 500 0 5 0 6 150 300 125 The bus wires may be routed in parallel twisted and or shielded depending on EMC re quirements The layout of the wirering should be as close as possible to a single line struc ture in order to minimize reflections The cable stubs for connection of the bus node shall be as short as possible especially at high bit rates The cable shielding in the house shall have a large contact area For a drop cable a wire cross section of 0 25 to 0 34 mm would be an appropriate choice in many cases In section 4 3 46 of this chapter there is an overview showing various JVL standard cables All the JVL cables are twisted and shielded For bus lenghts greater than 500m a bridge or repeater device is recommended Galvanic isolation between the bus nodes is optional In the MACOO FD4 modules the galvanic isolation is integrated to obtain best possible immunity against noise and differ ences in the voltage potential between the nodes 228 JVL Industri Elektronik A S User Manual Integrated Servo Motors MACO50 3000 4 6 Expansion Module
22. onse frame with the data from the register val ue that has been requested in the sent frame Semantics Load Data Transition from 0 gt initiates the data loading in the motor The frame is setup with all data and then this bit is set to make the motor load the data Direction When the motor is used in velocity mode this bit is used to control the di rection of the movement When velocity mode is used through Smooth stop Bring the motor to stop using standard configured deceleration deceleration ramp is the same as the acceleration ramp Hardstop Bring the motor to an immediate stop Enable Bring the motor into an active mode clearing this bit will bring the motor into Passive mode 214 JVL Industri Elektronik A S User Manual Integrated Servo Motors MACO50 3000 4 6 Expansion Module MACOO FD4 4 6 5 The response frame from the motor is formated as follows General On Target Profile in Enable fault position progress Register number to get Load Reverse Forward Complete limit limit Ox1F Data value byte 0 Data Value byte 1 Data Value byte 2 Data Value byte 3 Semantics Load complete Indicates that the motor has read the frame Reverse limit By using limit switches to limit the travel distance of the motor this bit indicates that the motor encountered the reverse limit switch at the in put Forward limit By using limit switches
23. power cycle to be cleared Please consult the chapter Error messages and error handling page 40 for further details about all the error types and what may have caused the error situation Resetting the position Sometimes it is necessary to reset the actual position counter When done manually it requires writing to multiple registers and special handling of the motor All this can be done by sending a the special command 247 to the command register 21 which will set the actual and requested position 0 The motor will stay stationary if it is set in a position related mode afterwards 222 JVL Industri Elektronik A S User Manual Integrated Servo Motors MACO50 3000 4 6 Expansion Module MACOO FD4 4 6 20 Example How to implement with a Omron PLC How to implement a JOG function using Omron PLC system This example sets the motor into velocity mode and sets a velocity depending on which direction to go and returns in Position mode when the joggin is finished Notice that Omron uses the syntax 234 indicating a hexadecimal number in contrast to elsewhere in this chapter where the syntax 0x 234 is used for indicating a hexadecimal number Start by setting the velocity to 0 to prevent the motor from moving anywhere when the mode is set to velocity Please observe that all values are 6bit and refers to the cyclic IO of 8 bytes each way Please find the section covering IO messages Basically this exa
24. sues Addressing registers in the motor using explicit messaging and I O messages Although the basic positioning handling is done using the standard Position controller spec ified from the ODVA organisation it is sometimes necessary to access the registers di rectly This section covers the various ways of doing this on top of a more thorough explanation on the different data formats For a general motor register overview please consult MacTalk communication page 357 Register addressing in the motor To access the registers in the motor there are 2 ways of doing this Either use explicit messages or the I O message approach Explicit register access To access the registers in the motor explicit not cyclic use the object 0x64 with the instance number as a reference to the register number and the attribute as the amount of bytes that needs to be handled Example The velocity of the motor needs to be set In order to do this the velocity register register 5 named V SOLL must be used To setup the explicit message setup the following parameters as follows Object 0x64 Instance 5 register 5 V SOLL register Attribute Data for write operation Attribute 2 Bytes write operation l O message access cyclic transmission To gain access to the motor registers directly using the O message approach simply use the command message type 0x IF Please see O messages page 213 in order to see deatails concerning the Ox IF message frame JO
25. terminal refers to the main ground P GND and the motor housing Isolation group 2 means that the terminal refers to the DeviceNet interface ground V Isolation group 3 means that the terminal refers to the I O ground IO Defaults Dipl 6 ON ON OFF OFF ON ON TXPD ON IOA AIN IOB INI OL O 4 6 23 General wirering considerations Due to the nature of Devicenet needing a handshake procedure at initialization it is NOT recom mended to power cycle 24V while the Devicenet bus system is running If MAC400 800 motor types are used keep the 24V control power on but cut the AC voltage for the motor In this way the DeviceNet connection is kept but the motor is held powerless and all motor movement is inhibited For the smaller series of MAC motors 50 141 there is a separate power connection for the mo tor driver P terminal which can be disabled while the control power the CV terminal is kept supplied with 24VDC without loss of communication JVL Industri Elektronik A S User Manual Integrated Servo Motors MACO50 3000 227 4 6 Expansion Module MACOO FD4 4 6 24 Connecting MACOO FD4 to the DeviceNet bus Before you connect the MAC00 FD4 to the DeviceNet bus make sure that the Baud rate the Node ID and the termination is setup to the desired values On the DeviceNet bus it is possible to have a transmission speed Baud rate of maxi mum 500 Kbit s and a minimum of 125 Kbit s The Baud rate depends o
26. to limit the travel distance of the motor this bit indicates that the motor encountered the forward limit switch at the in put Object class Ox64 Each instance has 2 attributes With this class all parameters in the motor can be written and read The instance number refers to the parameter number in the motor Attribute Value Attribute 2 Parameter size in bytes JVL Industri Elektronik A S User Manual Integrated Servo Motors MACO50 3000 215 4 6 Expansion Module MACOO FD4 4 6 6 Object class Ox65 Instance I O Setup Attribute ID Access rule Data type Description Parameter mapping The total number of supported attributes Reserved Get Show the input status IN1 4 NL PL 240 OxFO Get Set Set the output level 241 OxF1 Get Set Input active level 242 OxF2 Get Set Input setup 243 OxF3 Get Set Output setup 244 OxF4 Instance 2 Status Attribute ID Access rule Data type Description Parameter mapping The total number of supported attributes Reserved Motor status 245 OxF5 Instance 3 Commands Attribute ID Access rule Data type Description Parameter mapping The total number of supported attributes x Reserved Get Set Module setup 246 OxF6 Set Execute FastMac Command 247 OxF7 Set MACOO0 FDx command 248 OxF8 216 JVL Industri Elektronik A S User Manual Integrated Servo Motors MACO50 3
27. ue e3e3joA s3nd3no pue s3ndui je3isiq O L jnpow y 104 Ajddns 49 ogd A EX T i l A t d vc 008 007 VIN pue ABv Z L Lr 1 082 VIA KAjddns emod jnpow uoisuedxe q4 00D VW Md sinpour amp 3 005 VH uP ui pauUo JOU SI pe34esut ejnpoui q4 002 VIA U31 4030U NYP seg 225 JVL Industri Elektronik A S User Manual Integrated Servo Motors MACO50 3000 4 6 Expansion Module MACOO FD4 Expansion module MACOO FDA front plate BUS1 PWR Primary DeviceNet x Power connector N M12 5pin male M12 5pin male 1 d connector including connector including 5i n P P and secondary DeviceNet interface supply optional 7 JEN vO BUS2 S toil MI2 8pin female Second DeviceNet 5 72 UN connector including connector RS232 Interface MI2 5pin female x Selectable l O s such connector including as analogue input OI DeviceNet interface O2 INI NL PL TTIOI6GB 4 6 22 Expansion MACOO FD4 hardware description The MACOO FD4 offers IP67 protection on MAC050 141 and MI2 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 operate The I O sig nals available are restricted since only 4 I O terminals are available The I Os connected to these 4 terminals must be selected via a small dip switch The connector layout PWR Power input M12 5 pin male
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