讲义参考产品mac-presentation basic ver

1、TheMAC motorIntegrated Servo MotorVer. 1.10 Date 2011.01.13 3 General information 21 Software 24 MacTalk 31 MAC motor modes 45 MacTalk and Firmware Update 55 Tuning of MAC motors 77 Basic Functions of the MAC motor100 MacRegIO107 MAC motor - TechnicalMAC motorsMAC050MAC095MAC140MAC141(MAC200)MAC400M

2、AC800(MAC1500)(MAC3000)MAC050-141Physical data: MAC050-141Principle Diagram: MAC050-141Torque - VelocityMAC400Without brake:MAC400-D2-CAGMIncr.Enc. IP55MAC400-D3-CAGMIncr.Enc. IP65MAC400-D2-FAGMAbs.Enc. IP55MAC400-D3-FAGMAbs.Enc. IP65With brake:MAC400-D5-CAGMIncr.Enc. IP55MAC400-D6-CAGMIncr.Enc. IP6

3、5MAC400-D5-FAGMAbs.Enc. IP55MAC400-D6-FAGMAbs.Enc. IP65MAC400MAC400MAC-800MAC800 - TypesWithout brake:(MAC800-D1IP42)MAC800-D2IP55MAC800-D3IP65With brake:(MAC800-D4IP42)MAC800-D5IP55MAC800-D6IP65The ”Heart”: MAC800Physical data: MAC800Principle diagram: MAC800MEDriverPower dumpControl CoreOptoIsolat

4、ors+-MAC400 and MAC800 Supply diagramMainsFilterInrushlimiterDumpresistorPower dump outputIsolation barrierPDP+BOP-CML1NPEBus output (320VDC Nom.)Bus commonP+/- must be per-manently connectedif control circuitrymust be keept activewhile main power isdisconnected.NPEF1L1Single phase90 - 240VAC+ Earth

5、F1: Prefuse T10A230VAC or T20A115VACtype gG, Do or Dz in the phase line Rated for600V/150kATT0991GBEmergency relayEN954 catgory 4Overvolt.ProtectionSafetyFuse90-240VACPowerSupply18-30VDC+OptionalEMERGENCYSTOPAMAC800TT0992GB= Peak torque= Average torqueOperation above 3000 RPMcan be done, but the los

6、ses inthe motor makes it impossibleto operate in this area cycliclyConditions:Supply voltage = 115-240VACAmbient temperature = 20CTorque setting = 300%Load setting = 1.0Oz./InchNm100011338.09917.08506.07085.05664252831424.02.01.03.00200030004000RPMMAC800 Torque versus speedMAC50-141 and MAC400/800 D

7、ifferencesSample timeMAC50-141: 1,92ms (521Hz)MAC400/800 : 1,299ms (770Hz)Encoder resolutionMAC50-141: 4096 counts/revMAC400 Incr. Enc. : 8192(May be scaled to 8000) counts/revMAC800 Incr. Enc. : 8000 counts/revMAC400 Abs. Enc. : 8192(May be scaled to 8000) counts/revMAC800 Abs. Enc. : 8000(Forced f

8、rom 8192 to 8000) counts/rev ( +/-1024 rev. )PowerMAC50-141: 50 to 134W MAC400 : 400WMAC800: 750WNominal speed/TorqueMAC50-140: Up to 4000 RPM and 0.12/0.22/0.32Nm continuously MAC141: Up to 2500 RPM and 0.48Nm continuously MAC400: Up to 3000RPM / 1.2Nm continuouslyMAC800: Up to 3000RPM / 2.4Nm cont

9、inuouslyMAC400/800 : All registers are 32 bitMAC400/800 : Support S-curve acceleration/decelerationMAC50-141 and MAC400/800 Differences (continued)The filters are different due to changed motor layoutDual Supply is standard on MAC400/800Main Supply 115/230 VAC included (saves costs) on MAC400/800Mai

10、ns Filter Included on MAC400/800Build-in Output for External “Power Dump Resistor” on MAC400/800Optional build-in Brake with internal control on MAC400/800Almost Full Compatibility with all existing Expansion ModulesCE and MAC800 also UL approved MAC400 UL pending.SoftwareCommunication RS232 ( MacTa

11、lk / MacRegIO ) RS485 ( MacTalk / MacRegIO ) FlexMac/Fast ( MAC400/800 and MAC050-141 ) ModBus ( MAC400/800 and MAC050-141 ) FPx: Profibus ( Modbus ) FCx: CAN-Open ( Modbus ) FDx: DeviceNet ( Modbus ) Rx/RxP: Nano PLC FSx: RS485 highspeed FBx: BlueTooth EWx: Wireless LAN FZx: Zigbee ECx: EtherCAT (

12、Only Modbus ) EIx: EtherNet/IP ( Only Modbus ) - etc. ( ) Communication to Basic MotorMacTalkMacTalk Firmware Update MacTalk Update MacTalk Functions Tuning and TestMacTalkMacTalk andFirmware UpdateMacTalk MacTalk Update ver. 1.48 ( 1.49 ) Firmware UpdateMAC050-141 ver. 7.15 ( 8.04 )MAC400 ver. 1.35

13、MAC800 ver. 1.35FCx ver. 2.04FDx ver. 2.06FPx ver. 2.00FP-HS ver. 3.01FSx ver. 2.00Rx ver. 2.03RxP ver. 2.04 Tuning and TestMacTalk and Firmware update is very important !How to get newest firmware:Connect PC to InternetStart MacTalkGo to UpdatesChose Update FirmwareThe newest versions of firmware a

14、re now available in MacTalk directory on the PCUpdating firmware in motor and/or module:Connect the PC to the motor and/or moduleGo to UpdatesChose Update FirmwareSelect the newest version and start update( If an older version of the firmware is needed then contact JVL or look for older versions of

15、MacTalk in the MacTalk directory. )Firmware UpdateFirmware UpdateFirmware UpdateFirmware UpdateWhen communication to the motor/module can not be establishedTurn OFF control power to the motorStart MacTalk Firmware UpdateSelect the wanted Firmware version and press StartWhen MacTalk asks you to turn

16、OFF/ON the power you do so.Firmware update should now start. Yes - No - Check connection cable and connection between motor and module. If this doesnt change anything then Contact JVL.MacTalk UpdateMacTalk ( MAC140)MacTalk ( MAC140)MacTalk ( MAC400/800)MacTalk ( MAC400/800)MAC motor modesModesPassiv

17、eVelocityPositionGearGear(Follow)Analogue VelocityAnalogue Velocity ( with deadband )Analogue Velocity / GearVelocity/analogue TorqueAnalogue Torque ( direct )Analogue gear ( +/- 5% adjustment )CoilAnalogue to bi-positionAnalogue to positionModesPosition modeHome sensorEncoderGear mode + (Follow)Enc

18、oderHome sensorFast input filter: 2.5MHz / 150kHzPulse-Direction: Gives 2 counts for each pulseAnalogue velocity mode+/-10VEncoder+/-10V = +/- max velocitySampling rate:MAC050-141: 521 HzMAC800: 700 HzAnalogue velocity mode w. deadband+/-10VEncoder+/-10V = +/- max velocityDeadband: +/- 600 mVAnalogu

19、e velocity / gear mode+/-10VEncoder/PLC or Fast Input filter:Marked: Up to 2.5 MHzNot marked: Up to 150KHz Velocity/Analogue Torque mode+/-10VEncoder+/-10V = +/- TorqueAnalogue Torque ( direct ) mode+/-10VEncoderMAC800: Approx. 20kHzMAC050-141: Approx. 15.75 kHzAnalogue gear mode +/- 5% adjustment o

20、f ratio+/-10VEncoder/PLC or Coil modeV8 Testing of coil modeCoil modeCoil mode+/-10VEncoderAnalogue bi-position+/-10VEncoderAnalogue bi-positionAbs. 7.5 V High Pos. 7.5 V High Pos. 7.5 V High Pos. 5J_Load = LOAD * J_Motor:MacTalk: LOAD max. 5Ex.: J_Load = 70 * J_MotorLoad = 70 !1. Set ”Filter Setup”

21、 as wanted.2. Read KVFX1-4.3. Close MacTalk and use MacRegIO.4. Write KVFX1-4 = 100 * KVFX1-4( before ).5. Save in flash.6. Dont change filter parameters with Filter setup after this or go back to 1.7. Set Load = 0.700.8. Save in FlashWarning!Be carefull with this and talk to JVL before!In PositionP

22、osition errorTime+20-203 samples7 samplesMacTalk - TestFunction Descriptionof the Basic MAC motorUser I/OMAC050-141: 10 bit + signMAC800: 11 bit + signUser I/OUser I/OUser I/OUser I/O - Pulse InputThe pulse inputs are used in thefollowing modesThe pulse input can be set to Fast or Slow Bandwidthwhic

23、h means 2.5 MHz or 150 kHz. Direction of movement can be invertedThe input formatQuadrature or Pulse and Direction can be selected hereThe Multifunction I/Osare setup as inputsUser I/O - Pulse InputUser I/O - Pulse OutputThe pulse outputCan be useful inthese modesPulse output selected hereUser I/O -

24、 Pulse OutputUser I/O - Serial InterfaceSerial Data has to be selected when using EBx, FCx, FDx, FPx, FSx, EWx, ECx, EIx and RxP modules etc.Error handlingFunction error:Error caused by Max Torque LimitationPosition limitError accelerationFollow errorUnder voltageError handlingOverload Motor ( I2T )

25、Follow errorFunction errorRegenerative overload - (UIT)Position limit - SoftwareOhmic loses too highBraking loses too highHeat sink temperature too highPhase current too highSpeed of motor too highUnder voltage - on bus supplyEtc.Zero Search FunctionDisabledPower up: TorquePower up: Sensor type 1Pow

26、er up: Sensor type 2TorqueSensor type 1Sensor type 2Zero Search: TorqueZero Search: TorqueZero Search Pos.Running during 0.5 sec 160000,5 sec-800-160000-32000StartpositionTimeZero Search speedZero Search: Sensor type 1Zero Search: Sensor type 2Index PulsesMotorSensorMAC050-141: Index Pulses made by

27、Hall-sensorsMAC400/800: Index Pulses made by Encoder index pulseHoming Index PulsesMacTalk TestsMacTalk Tests MacRegIOMacRegIOUsed to read and write to all registers directly( No check of size of the values )Shows the data sent on the serial lineUsed for diagnostic when using a Field bus interface m

28、oduleUse R to read a registerUse W to write a new value to a registerUse E to write a new register into “BinTalk_alt”, “BigTalk_alt” or “SMC75_alt” - User list of parameters.MacRegIO - MAC050-141MacRegIO - MAC400/800MacRegIO - MAC400/800Writing a register:MacTalk ProtocolUsed by MacTalk and MacRegIO

29、Can be used by the user to control the motorReading a register:MAC motorTechnicalCurrent regulatorConverts the demanded torque to current in the windings1B-filter1.st order pTorqueIA_SOLLIB_SOLLIC_SOLL1F-filter2.nd orderConverter+-VF_OUTV_ELDEGELDEG_ISTPWM driver stage Phase A, B and CCurrent feedba

30、ck from motor phases IA_IST, IB_IST and IC_ISTFrom velocity and position filterCurrent LoopsMAC050-141: 15,75 kHzMAC800: 20 kHzMAC050-141: 15.75 kHzMAC400/800: 20 kHzVelocity and Position LoopsMacRegIO - RxProfile GeneratorSpeedTimeHas to decide next position:Too late with actual accelerationActual

31、runningFunction error-100%+100%-20%+20%Torque: 300%Torque: 20%Planned FeaturesPresent hardware supports:Extra pulse in- or outputExtra analogue input 11 bit + sign.Extra digital outputDigital inputs addedThese features will be available when the software and expansion modules make it possibleAbsolut

32、e encoder with high resolutionNew MAC800/400 connectorSpecial functions forMAC050-141New MAC050-141 functionSecurity together with modules Firmware version 7.13 ?Reg. 171 Monitor compare registerReg. 172 Monitor Reg1Reg. 173 Monitor Reg2Reg. 174 Monitor Action registerReg. 175 Monitor Source registe

33、rReg. 176 Monitor Destination registerReg. 177 Monitor Save registerNew MAC050-141 functionReg. 171 Monitor compare register0 : Monitoring disabled1 : Reg1 Reg2 ( 16 bit compare )2 : Reg1 Reg2 ( 32 bit compare )3 : Reg1 = Reg2 ( 16 bit compare )4 : Reg1 = Reg2 ( 32 bit compare )5 : Reg1 = Reg2 ( 16

34、bit compare )6 : Reg1 = Reg2 ( 32 bit compare )7 : Reg1 = Reg2 ( 16 bit compare )8 : Reg1 = Reg2 ( 32 bit compare )9 : Reg1 Reg2 ( 16 bit compare )10 : Reg1 Reg2 ( 32 bit compare )11 : Reg1 AND Reg2 bitwise is non-zero ( 16 bit compare )12 : Reg1 AND Reg2 bitwise is non-zero ( 32 bit compare )13 : R

35、eg1 XOR Reg2 bitwise is non-zero ( 16 bit compare )14 : Reg1 XOR Reg2 bitwise is non-zero ( 32 bit compare )New MAC050-141 functionReg. 174 Monitor Action register:Bit 1 ( 2 ) Copy all 16 bits from Src to Dst reg. Bit 2 ( 4 ) Copy all 32 bits from Src to Dst reg. Bit 3 ( 8 ) OR 16 bit from Src to Ds

36、t reg. Bit 4 ( 16 ) OR 32 bit from Src to Dst reg. Bit 5 ( 32 ) AND 16 bit from Src to Dst reg. Bit 6 ( 64 ) AND 32 bit from Src to Dst reg. New MAC050-141 functionExample: We will use the following Monitor register values:Reg65, V1: 10(Data value to test against)Reg66, V2: 500(The better/safe(r) da

37、ta value to write)Reg67, V3: -(Will receive wrong data no initialization)Reg172, Monitor Reg1: 5(Register to monitor is V_SOLL)Reg173, Monitor Reg2: 65(Register value to compare against is V1)Reg174, Monitor Action: 3(Save wrong value and write better value)Reg175, Monitor Source:66(The V2 register

38、holds the better data value to write)Reg176, Monitor Destination:5(Destination register is V_SOLL)Reg177, Monitor Save:67(Save first wrong value detected into register V3)Reg171, Monitor Compare: 7(Logical trigger condition is less than)When situation occures - Reg171, Monitor Compare: 0For new activation - Reg171, Monitor Compare: 7(Logical trigger condition is less than)New MAC050-141 functionExample 2: We will use the following Monitor register