JVL MIS17 Series, MIS23 Series, MIS43 Series, MIS34 Series, MIS171 User Manual

Integrated Step Motors,

QuickStep,

MIS17x, MIS23x (Generation 2),

MIS34x and MIS43x

Including Step Motor Controller

SMC66, SMC85

User Manual

JVL Industri Elektronik A/S

LB0058-13GB 28th. January 2019

Important

The MIS and SMC series of products are used to control electrical
and mechanical components of motion control systems.
You should test your motion system for safety under all potential
conditions. Failure to do so can result in damage to equipment
and/or serious injury to personnel.

!

!

Warning

User Information

Please contact your nearest JVL representative for technical assistance. Your
nearest contact can be found on our web site www.jvl.dk



Copyright 1998-2019, JVL Industri Elektronik A/S. All rights reserved.
This user manual must not be reproduced in any form without prior written
permission of JVL Industri Elektronik A/S.
JVL Industri Elektronik A/S reserves the right to make changes to informa­tion contained in this manual without prior notice.
Furthermore JVL Industri Elektronik A/S assumes no liability for printing er­rors or other omissions or discrepancies in this user manual.

MacTalk and MotoWare are registered trademarks

JVL Industri Elektronik A/S

Bregnerødvej 127

DK-3460 Birkerød

Denmark

Tlf. [phone]

Fax. [phone]

e-mail: [e-mail]

Internet: http://www.jvl.dk

Contents

1 Introduction .................................................................................................................... 5

1.1 Feature overview ................................................................................................................................................ 6

1.2 General description ............................................................................................................................................ 9

2 Hardware ...................................................................................................................... 11

2.1 Power Supply .................................................................................................................................................... 12

2.2 User Inputs ....................................................................................................................................................... 21

2.3 Analogue Inputs ................................................................................................................................................ 25

2.4 User Outputs .................................................................................................................................................... 31

2.5 Serial interfaces overview ................................................................................................................................. 33

2.6 RS485 Interface .................................................................................................................................................34

2.7 EMC considerations ..........................................................................................................................................35

2.8 How to connect a MIS motor ........................................................................................................................... 37

2.9 LED indicators basic motor .............................................................................................................................. 53

2.10 LED indicators using CANopen ........................................................................................................................ 54

2.11 LED indicators using Ethernet .......................................................................................................................... 55

3 Functional Safety .......................................................................................................... 57

3.1 STO - Safe Torque Off .....................................................................................................................................58

3.2 Safety ................................................................................................................................................................60

3.3 Installation .........................................................................................................................................................63

3.4 Commissioning .................................................................................................................................................65

3.5 Specifications and Certifications .......................................................................................................................75

4 Using MacTalk ............................................................................................................... 77

4.1 Using the MacTalk software ............................................................................................................................. 78

4.2 How to update MacTalk ................................................................................................................................... 86

4.3 How to update the motor firmware ................................................................................................................. 87

4.4 How to update the encoder FW ......................................................................................................................88

4.5 How to get SW/HW motor info ....................................................................................................................... 89

5 Description of functions ................................................................................................ 91

5.1 Setting up the motor current ............................................................................................................................ 92

5.2 Auto Correction ............................................................................................................................................... 94

5.3 Closed loop operation ...................................................................................................................................... 98

5.4 Absolute position back-up ............................................................................................................................. 108

5.5 Multifunction I/O setup ................................................................................................................................... 112

5.6 Dedicated outputs .......................................................................................................................................... 115

5.7 SSI encoder/sensor interface ........................................................................................................................... 117

5.8 Absolute Multi-turn Encoder .......................................................................................................................... 122

5.9 Position Limits ................................................................................................................................................. 128

5.10 Under voltage Handling .................................................................................................................................. 133

5.11 Electro Mechanical brake ................................................................................................................................ 136

5.12 Turn Table Mode ............................................................................................................................................ 139

6 Modes ..........................................................................................................................145

6.1 Passive Mode .................................................................................................................................................. 146

6.2 Velocity Mode ................................................................................................................................................. 147

6.3 Positioning Mode ............................................................................................................................................ 148

6.4 Gear Mode ...................................................................................................................................................... 149

6.5 Zero search modes ......................................................................................................................................... 157

7 Error Handling ............................................................................................................ 165

7.1 Setup error limits ............................................................................................................................................ 166

7.2 Error messages ............................................................................................................................................... 167

8 Registers ......................................................................................................................177

8.1 Introduction to registers ................................................................................................................................. 178

8.2 Internal registers .............................................................................................................................................179

JVL Industri Elektronik A/S - User Manual - Integrated Stepper Motors MIS17x, 23x, 34x, 43x 3

9 Building Sequential Programs .................................................................................... 235

9.1 Getting started with programming ..................................................................................................................236

9.2 Programming Main window ............................................................................................................................237

9.3 Programming menu .........................................................................................................................................238

9.4 How to build a program ..................................................................................................................................239

9.5 General programming hints .............................................................................................................................242

9.6 Command toolbox description ........................................................................................................................243

9.7 Graphic programming command reference ....................................................................................................244

9.8 Command timing .............................................................................................................................................263

9.9 More about program timing ............................................................................................................................264

10 Ethernet protocols (optional) ..................................................................................... 265

11 CANopen (optional) ................................................................................................... 267

11.1 General information about CANopen .............................................................................................................268

11.2 Connection and setup of the CAN bus ...........................................................................................................272

11.3 Using CANopenExplorer ................................................................................................................................275

11.4 Objects in the DS301 standard ........................................................................................................................280

11.5 Objects used in the DSP-402 standard ............................................................................................................290

11.6 Flexible Register setup .....................................................................................................................................297

11.7 More details of CANopen Theory ..................................................................................................................298

12 Modbus interface ........................................................................................................ 309

12.1 Modbus ............................................................................................................................................................310

13 Stand alone electronics .............................................................................................. 313

13.1 Step motor controllers (SMCxx) .....................................................................................................................314

14 Non-intelligent products ............................................................................................ 317

15 Technical Data ............................................................................................................ 319

15.1 MIS17x Technical Data ....................................................................................................................................320

15.2 MIS23x Technical Data ....................................................................................................................................321

15.3 MIS34x Technical Data ....................................................................................................................................322

15.4 MIS43x Technical Data ....................................................................................................................................323

15.5 Torque Curves ................................................................................................................................................324

15.6 Physical Dimensions ........................................................................................................................................333

15.7 Life time ...........................................................................................................................................................337

15.8 Trouble-shooting guide ...................................................................................................................................338

16 Accessories .................................................................................................................. 339

16.1 Cables ..............................................................................................................................................................340

16.2 Power Supplies ................................................................................................................................................341

16.3 Brakes and shaft reinforcement .......................................................................................................................342

16.4 Gear and brake mounting instruction ..............................................................................................................343

17 Appendix ..................................................................................................................... 345

17.1 Motor Connections .........................................................................................................................................346

17.2 Serial communication ......................................................................................................................................348

17.3 Ordering information ......................................................................................................................................353

17.4 Encoder calibration ..........................................................................................................................................354

18 Declarations ................................................................................................................ 355

18.1 CE Declaration of Conformity ........................................................................................................................356

18.2 Vibrationtest certificates ..................................................................................................................................358

18.3 UL certificate - MIS34x ....................................................................................................................................360

18.4 TÜV certificate ................................................................................................................................................362

4 JVL Industri Elektronik A/S - User Manual - Integrated Stepper Motors MIS17x, 23x, 34x, 43x

1 Introduction

This user manual describes the set-up and usage of the following products:

Complete motors with build-in controller or driver

• Types MIS171, MIS172 and MIS176 (NEMA17 sizes)

• Types MIS231, MIS232 and MIS234 (NEMA23 sizes)

• Types MIS340, MIS341 and MIS342 (NEMA34 sizes)

• Types MIS43x (NEMA43 sizes) - only limited supported in this manual.

Important:

Please notice that only the latest generation of MIS17x and MIS23x is supported
by this user manual. The extension after MIS23x must be: S, Q, T or R.

Stand-alone electronics without motor

• Types SMC66 and SMC85 controller PCB with intelligence (fully programmable)

All the Quickstep motors are available as a fully programmable product with a wide range
of features also covering a simple pulse and direction interface or Ethernet options.

Examples of motors and stand alone electronics.

JVL Industri Elektronik A/S - User Manual - Integrated Stepper Motors MIS17x, 23x, 34x, 43x 5

1.1 Feature overview

The compact MIS motors are designed for
easy installation and high performance use.
A large number of features are available and
also multiple options available as listed below.

• Serial RS485 or 5V serial position control­ler.

• Build-in mini PLC with graphic program­ming.

• Option for CANbus, CANopen DS-301.
Fully ISO 11898-2:2016 compliant/(DSP­402 in development).

• Options for EthernetIP, Profinet, Power­link, ModbusTCP, SercosIII and EtherCAT.

• A dual supply facility is available so that
position and parameters are maintained at
emergency stop.

• Electronic Gear mode.

• MACmotor protocol so MAC servomo­tors and MIS stepper motors can be con­nected on the same RS485 bus.

• Command for easy PLC/PC setup and
communication.

• Power supply 7-72 VDC.

• Extremely high torque vs speed - up to
3000 RPM with good performance.

• Fixed 409600 steps per revolution

• Built-in 32Bit μprocessor with 8 In/Out
that can be configured as inputs, PNP out
puts or analogue inputs. 5V serial and
RS485 interface for set up and program
ming.

•MODBUS interface.

• 9.6kbit/sec. to 1Mb/sec. communication.

-

Benefits when using the MIS motors:

• De-central intelligence.

• Simple installation. No cables between
motor and controller/driver.

• EMC safe. Switching noise remains
within motor.

• Compact. Does not take space in the
control cabinet.

• Low-cost alternative traditional systems
where motor and controller is sepa
rated.

• Option: Closed loop feature by means
of magnetic encoder with resolution of
up to 4096 pulses/rev. (H2 or H4
option)

• Option: Absolute multi turn encoder
for keeping the position permanent also
during power down. (H3 or H4).

• Vibration tested at 4G in 3 axis and
shock tested at 15G in 3 axis according
to IEC60068.

• Interface possibilities:

• From PC/PLC with serial commands via
5V serial or RS485.

• Pulse/direction input. Encoder output.

• CANopen.

• 8 I/O, 7-28VDC that can be configured

­as Inputs, Outputs or analogue inputs.

• Wireless options: WiFi, Bluetooth and
Zigbee.

-

6 JVL Industri Elektronik A/S - User Manual - Integrated Stepper Motors MIS17x, 23x, 34x, 43x

1.1 Feature overview

The MIS motors are also available with alternative options.

• Protection class IP42 and higher.

• Hollow shaft.

• Integrated ball screw or spindle for linear movement.

• Custom made design for special applications

JVL Industri Elektronik A/S - User Manual - Integrated Stepper Motors MIS17x, 23x, 34x, 43x 7

1.1 Feature overview

1.1.1 Block diagram, Positioning/Speed Control

8 JVL Industri Elektronik A/S - User Manual - Integrated Stepper Motors MIS17x, 23x, 34x, 43x

TT2551-01GB

Motor family torque overview

Low speed
Torque (Nm)

0.5

1.0

0,1

10.0

20.0

30.0

5.0

MIS17x

MIS23x

MIS34x

Flange size

NEMA17 NEMA23 NEMA34 NEMA43

Low speed

Torque (Oz-In)

1416

141.6

70.81

708.1

4248

2832

14.16

MIS43x

1.2 General description

The QuickStep motors are currently available in 4 different family sizes which have a NE­MA17, 23, 34 and 43 flange.
Under each flange size additional versions exist with different motor torques.

JVL Industri Elektronik A/S - User Manual - Integrated Stepper Motors MIS17x, 23x, 34x, 43x 9

1.2 General description

Below are more detailed specification of the individual motors in each motor size.

1.2.1 MIS17x - NEMA17 flange

Motor type: MIS171S/Q MIS173S/Q MIS176S/Q
Holding torque Nm [Oz-In] 0.36 [50.9] 0.56 [79.3] 0.80 [113.3]
Inertia kgcm² [Oz-In-Sec²] 0.020 /

Weight - kg [lb] 0.54 [1.19] 0.68 [1.5] 0.9 [1.99]
Max. axial shaft force N - - ­Max. radial shaft force (N)

(applied 20 mm from flange)

[0.000283]

- - -

1.2.2 MIS23x - NEMA23 flange

Motor type: MIS231S/Q MIS231T/R MIS232S/Q MIS232T/R MIS234S/Q
Holding torque Nm [Oz-In] 0.97 [137.4] 1.16 [164.3] 1.97 [279.0] 2.53 [358.3] 3.08 [436.2]
Inertia kgcm² [Oz-In-Sec²] 0.3 [0.00423] 0.3 [0.00423] 0.48 [0.00677] 0.48 [0.00677] 0.65 [0.0092]
Weight - kg [lb] 1.1 [2.43] 1.1 [2.43] 1.4 [3.09] 1.4 [3.09] 2.0 [4.41]
Max. axial shaft force N 15 15 15 15 15
Max. radial shaft force (N)

(applied 20 mm from flange)

75 75 75 75 75

1.2.3 MIS34x - NEMA34 flange

Motor type: MIS340 MIS341 MIS342 MIS343

Holding torque - Nm [Oz-In] 2.0 [282] 4 [575] 6.0 [849] 8.0 [1151]
Low speed torque - 1 RPM

- Nm [Oz-In] 3.0 [424] 6.1 [863] 9.0 [1274] 12.0 [1727]
Inertia - kgcm² [Oz-In-Sec²] 1.4 [0.0198] 2.7 [0.0381] 4.0 [0.0564] 4.0 [0.0564]
Weight - kg [lb] 2.05 [4.52] 3.13 [6.9] 4.2 [9.26] 4.5 [10.71]
Max. axial shaft force 115N
Max. radial shaft force 180N applied 12.5mm from shaft end

0.054 /
[0.000793]

0.102 /
[0.00144]

1.2.4 MIS43x - NEMA43 flange

Motor type: MIS430 MIS432

Holding torque - Nm [Oz-In] 6.7 [944] 16.7 [2360]
Low speed torque - 1 RPM

Nm [Oz-In] 10.0 [1416] 25.0 [3540]
Inertia - kgcm² [Oz-In-Sec²] 5.5 [0.0779] 16.2 [0.229]
Weight - kg [lb] 5.5 [12.13] 12.2 [26.9]
Max. axial shaft force 80 N
Max. radial shaft force At 5mm max 640N, At 10mm max 425 N, At 15mm max 320N, At 20mm max 240N

Concerning info for the MILxxx (linear) motors please consult your nearest JVL repre­sentative.

1.2.5 Basic modes/functions in the QuickStep motor

The QuickStep motor offers the following functions:

Mode Description

Passive

Velocity

Position

Gear

CSP Mode Cyclic Synchronous Position mode (Ethernet only)

The motor will be in a completely passive state but communication is active and internal
registers can be setup. Motor shaft can be turned by hand.

The motor velocity can be controlled using MacTalk software or by setting register 5
(V_SOLL) using serial or program commands.

The motor position can be controlled using MacTalk or by setting register 3 (P_SOLL) using
serial or program commands.

The motor position and velocity can be controlled by pulse and direction or encoder signals
at the inputs “IN1” and “IN2”.The gear ratio can be set to a large ratio by using register 14
(GEAR1) and register 15 (GEAR2).

10 JVL Industri Elektronik A/S - User Manual - Integrated Stepper Motors MIS17x, 23x, 34x, 43x

2Hardware

The following pages explains how the I/O, Power supply, Interface etc. can be connected
and used.

JVL Industri Elektronik A/S - User Manual - Integrated Stepper Motors MIS17x, 23x, 34x, 43x 11

2.1 Power Supply

Main Power Supply
7-72VDC

MISxxx Motor

Control Voltage
7-28 VDC (typ. 24VDC)

+

+

MISxxx Power Supply

TT2506-02GB

P-

(GND)

CVI

(Control Voltage Input)

P+

(Main supply)

NB: Remember to connect CVI

2.1.1 General Aspects of Power Supply

Powering of the motor is relatively simple. The supply input of the MIS motor family is
equal for all family members.The supply consist of 2 inputs:

CVI The control voltage input is supplying all the internal control circuits including the

microprocessor, encoder and user I/O circuitry. The voltage needed must be in
the range 7-28 VDC which also support battery driven applications. Supply cur
rent is below 200 mA (voltage dependant and no user outputs activated).

P+ The main power for driving the motor is supplied on this terminal and must be in

the range 7-72 VDC. The voltage at this terminal will also influence torque at
higher velocities. A voltage of 72 VDC will give much higher torque than using for
example 24 VDC. The supply current can get as high as 6 ARMS.
See also Torque Curves, page 324 which shows the relation between supply volt­age and the torque.

If the motor needs to be stopped it can be done by removing P+ but keeping CVI con­nected. This will keep the complete motor alive including I/O’s and encoder circuit (if
present) except that the motor driver and motor is power less and will not rotate.
Supplying both terminals from the same power supply can be done, but then 28VDC is
the absolute maximum voltage allowed (=maximum limit of CVI).

-

NB: for actual connections, see drawing How to connect a MIS motor, page 37

2.1.2 Supplying only the control core

Important: CVI and P+ are not in any way connected together internally. There is no
diode or resistor from CVI to P+ or from P+ to CVI. With 24VDC present at CVI
P+ disconnected, due to a minor leakage current, the voltage at the P+ will increase to
typical 0.95V. This voltage increase at P+ is far from enough to make the motor able to
turn - but if you need full safety please use the optional STO function which is available
for all MIS and MIL motors. See also

12 JVL Industri Elektronik A/S - User Manual - Integrated Stepper Motors MIS17x, 23x, 34x, 43x

!

The main supply at the terminal P+ can be removed while keeping CVI
supplied. This will keep all internal functions alive including all communi­cation channels such as Ethernet (Option), position counters etc.
When P+ later is re-applied the motor is fully operational and can con­tinue the movement and operation it was doing just before the P+ supply
was removed.

and

STO - Safe Torque Off, page 58.

2.1 Power Supply

Earth

A capacitor in the power supply or
after the output is recommended.
Minimum 2200uF* and rated for 100V.
Prefered is a type with an low
ESR value.

+

TT2538-02GB

This path must in total

be less than 10 meters

otherwise the peak
performance and the
lifetime of the motor
is reduced.

= < 10meters

Power
Supply
7-72VDC

MISxxx Motor

+

P-

(GND)

CVI

(Control circuit supply)

P+

(Main supply)

Fuse

(See text)

* Cap. size : See also table in following chapter

Do not place any components
in this path such as filter inductors,
diodes or resistors. Place any
components before the capacitor.

!

NB: Remember to connect CVI

2.1.3 Power Supply - Requirements and Precautions

For optimum performance and lifetime of the MIS motor, it is recommended that a ca­pacitance of minimum 2200μF is connected to the power supply that supply the P+ ter­minal. It should be mounted as close as possible to the motor.
Also, it is recommended that minimum 0.75 mm² / AWG22 cable or 2 x 0.5 mm² is used
to connect the power supply to the motor. If the supply voltage drops below 7V, the in
ternal reset circuitry will reset the driver and an under voltage error is generated. Provi­sion should therefore be made to ensure that the supply voltage is always maintained at
a minimum of 7V, even in the event of a mains voltage drop.

-

JVL Industri Elektronik A/S - User Manual - Integrated Stepper Motors MIS17x, 23x, 34x, 43x 13

CVI supply Precautions.
The CVI supply is not critical since the supply current is quite small (<200 mA). Only
make sure that the voltage stay at 24 VDC nominal and do not exceed 30 VDC.
A CVI voltage down to 7 VDC is also possible but a software setup is needed to allow
this. See also

Setup position backup using MacTalk, page 108

Warning: A supply voltage at CVI or P+ higher than 100VDC will cause permanent

damages. A voltage over 30V at the CVI will activate a protection circuit
which shuts down the supply input. In this case CVI need to be disconnected
to reset the protection state.

Fuse dimensioning :

See Dimensioning power supply and pre-fuse - MIS23x/MIL23x motors, page 17 or
Dimensioning power supply and pre-fuse - MIS34x/MIL34x motors, page 18

2.1 Power Supply

2.1.4 Power Supply Grounding and Earthing

It is mandatory that the motor flange is connected to earth. Also it is mandatory that the
earth is connected to GND/Common at a central point near the power supply.

The P- (GND/Common) is internally connected to the motor chassis/housing. Also the
outside body at all M12 connectors is connected to the chassis/housing and thereby to
the P- (GND/Common).

The illustration below shows how to make a good power and earth connection of the
MIS motor.

14 JVL Industri Elektronik A/S - User Manual - Integrated Stepper Motors MIS17x, 23x, 34x, 43x

2.1 Power Supply

2.1.5 Control Voltage (CVI terminal)

The control voltage should be in the range 7-28VDC and is used to supply the micropro­cessor circuit, internal functions in general and the user output driver (O1-8).
To ensure that position and parameters are maintained after an emergency stop, the
control voltage should be maintained under a stop situation where the P+ (main power)
is disconnected.

Warning: a voltage at the CVI terminal higher than 30VDC can damage the controller
or cause malfunction. A protection circuit will protect from damages. If this protection
circuit get triggered the CVI power need to by cycled in order to reset the protection.

A CVI voltage down to 7 VDC is also possible but a software setup is needed to allow
this. See also

The figure below shows the typical relation between supply current and supply voltage
at the CVI input. As shown the current is very dependant at which options is installed in
the motor. Worst case is if the motor is equipped with Ethernet and H4 encoder and best
case is the basic motor such without Ethernet and encoder.

Setup position backup using MacTalk, page 108

Please notice that the user I/O’s are supplied from the CVI termi­nal. The curves shown above do NOT include any load current at
the user outputs. Add the load current(s) to the current shown

!

JVL Industri Elektronik A/S - User Manual - Integrated Stepper Motors MIS17x, 23x, 34x, 43x 15

above. If the motor is equipped with an internal electromechani
cal brake this must also be added to the current consumption.

-

2.1 Power Supply

2.1.6 Dimensioning power supply and pre-fuse - MIS17x motors

Note that this manual only covers MIS17x generation 2 motors.
The power supply must be dimensioned according to the actual motor size.
The size of the pre-fuse also depends on the actual model of the MIS motor.
Use the following table to select the power supply size and fuse ratings.

Supply
voltage

-

12VDC 35W * T4A 40W * T4A 40W * T4A

24VDC 70W * T3.15A 70W * T4A 70W * T4A

48VDC 90W * T3.15A 125W * T4A 150W * T4A

72VDC 110W * T2A 165W * T3.15A 220W * T4A

Recommended
power supplies

* = Worst case scenario at higher velocities. Less may also do. Consult the torque/power curves in the

appendix to get more precise info.

** =Not recommended for new designs.

Supply
rating

PSU24-075 (24V/75W)
PSU24-240 (24V/240W)
PSU48-240 (48V/240W)
PSU80-4 (80V/400W) **

MIS171

(All types)

Fuse size Supply

rating

PSU24-240 (24V/240W)
PSU48-240 (48V/240W)
PSU80-4 (80V/400W) **

MIS173

(All types)

Fuse size Supply

MIS176

(All types)

Fuse size

rating

PSU24-240 (24V/240W)
PSU48-240 (48V/240W)
PSU80-4 (80V/400W) **

See also the appendix Power Supplies, page 341 which shows the standard power sup­plies that JVL offers.

16 JVL Industri Elektronik A/S - User Manual - Integrated Stepper Motors MIS17x, 23x, 34x, 43x

2.1 Power Supply

2.1.7 Dimensioning power supply and pre-fuse - MIS23x/MIL23x motors

Note that this manual only covers MIS23x generation 2 motors.
The power supply must be dimensioned according to the actual motor size.
The size of the pre-fuse also depends on the actual model of the MIS motor.
Use the following table to select the power supply size and fuse ratings.

Supply
voltage

-

12VDC 80W * T4A 70W * T6.3A 60W * T5A

24VDC 130W * T6.3A 110W * T6.3A 100W * T5A

48VDC 240W * T6.3A 240W * T6.3A 200W * T5A

72VDC 370W * T6.3A 350W * T6.3A 300W * T5A

Recommended
power supplies

Supply
voltage

-

12VDC 110W * T6.3A 100W * T6.3A

24VDC 160W * T8A 150W * T8A

48VDC 300W * T8A 320W * T8A

72VDC 390W * T8A 450W * T8A

Recommended
power supplies

MIS231S

/MIL231

Supply
rating

PSU24-075 **
PSU48-240 **
PSU72-1000 **
PSU80-4 **

MIS231T

(High torque)

Supply
rating

PSU24-075
PSU48-240
PSU72-1000
PSU80-4 **

Fuse size Supply

rating

PSU24-240 **
PSU48-240 **
PSU72-1000 **
PSU80-4 **

Fuse size Supply

rating

PSU24-240
PSU48-240
PSU72-1000
PSU80-4 **

MIS232S

/MIL232

Fuse size Supply

MIS232T

(High torque)

Fuse size

MIS234S

/MIL234

Fuse size

rating

PSU24-240 **
PSU48-240 **
PSU72-1000 **
PSU80-4 **

* = Worst case scenario at higher velocities. Less may also do. Consult the torque/power curves in the

appendix to get more precise info.

** =Not recommended for new designs.

See also the appendix Power Supplies, page 341 which shows the standard power sup­plies that JVL offers.

JVL Industri Elektronik A/S - User Manual - Integrated Stepper Motors MIS17x, 23x, 34x, 43x 17

2.1 Power Supply

2.1.8 Dimensioning power supply and pre-fuse - MIS34x/MIL34x motors

The power supply must be dimensioned according to the actual motor size.
The size of the pre-fuse also depends on the actual model of the MIS motor.
Use the following table to select the power supply size and fuse ratings.

Supply
voltage

-

24VDC 120W * T6.3A 125W * T6.3A 130W * T6.3A 140W * T6.3A

48VDC 240W * T6.3A 250W * T6.3A 260W * T10A 240W * T10A

72VDC 450W * T6.3A 460W * T6.3A 470W * T10A 400W * T10A

Recommended
power supply

MIS340/

MIL340

Supply
rating

PSU24-240
PSU48-240
PSU72-1000-10
PSU80-4 **

Fuse
size

MIS341/

MIL341

Supply
rating

PSU24-240
PSU48-240
PSU72-1000-10
PSU80-4 **

Fuse
size

MIS342/

MIL342

Supply
rating

PSU24-240
PSU48-240
PSU72-1000-10
PSU80-4 **

Fuse
size

Supply
rating

PSU24-240
PSU48-240
PSU72-1000-10
PSU80-4 **

* = Worst case scenario at higher velocities. Less may also do. Consult the torque/power curves in the

appendix to get more precise info.

** =Not recommended for new designs.

See also the appendix Power Supplies, page 341 which shows the standard power sup­plies that JVL offers.

2.1.9 Dimensioning power supply and pre-fuse - MIS43x motors

The power supply must be dimensioned according to the actual motor size.
The size of the pre-fuse also depends on the actual model of the MIS motor.
Use the following table to select the power supply size and fuse ratings.

MIS343

Fuse
size

Supply

MIS430 MIS431 MIS432

voltage

-

24VDC 110W * T6.3A 100W * T6.3A 100W * T6.3A

48VDC 210W * T6.3A 200W * T6.3A 200W * T6.3A

72VDC 300W * T6.3A 305W * T6.3A 330W * T6.3A

Recommended
power supply

Supply
rating

PSU24-240
PSU48-240
PSU72-1000-10
PSU80-4 **

* = Worst case scenario at higher velocities. Less may also do. Consult the torque/power curves in the

appendix to get more precise info.

** =Not recommended for new designs.

Fuse
size

Supply
rating

PSU24-240
PSU48-240
PSU72-1000-10
PSU80-4 **

Fuse
size

Supply
rating

PSU24-240
PSU48-240
PSU72-1000-10
PSU80-4 **

Fuse
size

See also the appendix Power Supplies, page 341 which shows the standard power sup­plies that JVL offers.

18 JVL Industri Elektronik A/S - User Manual - Integrated Stepper Motors MIS17x, 23x, 34x, 43x

2.1 Power Supply

2.1.10 UL applications

If the motor is used in an application which is to be UL approved following must be fol­lowed.

1. Supply voltage (P+): Do not use a supply voltage higher than 60VDC

2. Place a UL approved fuse in the P+ wire.

3. Make sure the motor is properly connected to a solid protective earth.

4. The surounding ambient temperature must maximum be 40’C.

Notice that only the MIS34x family is UL recognized under UL file no: E254947

JVL Industri Elektronik A/S - User Manual - Integrated Stepper Motors MIS17x, 23x, 34x, 43x 19

2.1 Power Supply

2.1.11 Select Your Power Supply

We recommend the use the highest possible voltage to supply the motor.
In general the motor torque from a MIS/MIL is not affected by the supply voltage at
speeds below 100RPM but at higher velocities the torque will be very influenced by the
supply voltage (P+ terminal).
Additionally, higher voltage gives better current and filter regulation and thereby better
performance. If there is a tendency for motor resonance, a lower supply voltage can be
a solution to the problem.

Below an example showing the torque curve for the MIS232S

As seen the torque and power stay high up to much higher speeds when using 72VDC
supply compared with 24 or 48VDC.

20 JVL Industri Elektronik A/S - User Manual - Integrated Stepper Motors MIS17x, 23x, 34x, 43x

2.2 User Inputs

2.2.1 User Inputs

The MIS motors has 8 inputs/outputs (IO’s) that each can be set individually to input, out­put or analogue input 0-5VDC via MacTalk or software commands.
This makes it for example possible to have 4 inputs, 3 outputs and one analogue input.

Please notice: The number of available I/O terminals available may differ de-

!

Input/output functional diagram:

pending at which motor type and connector configuration you are using.
Please consult the chapter Connector overview for the MIS motors, page 37

2.2.2 General Input features

• Inputs are TTL to 28VDC compliant. Trigger levels LTL=1.2 V and UTL 2.8 V.

• Over-current protection and thermal shut-down.

• 10 kOhm input resistance.

• No galvanic isolation but very robust against noise and spikes/surges.

• Zero search input can be selected to any input 1 to 8.

• Digital filter can be enabled for each input selectable from 0 to 100ms. If disabled (de-

fault), the response time is 100μs.

• Limit switch inputs

JVL Industri Elektronik A/S - User Manual - Integrated Stepper Motors MIS17x, 23x, 34x, 43x 21

2.2 User Inputs

Power Supply
+7-28VDC

+

Inductive

sensor

or similar

NPN Output

Power Supply
+7-28VDC

+

Inductive

sensor

or similar

PNP Output

+24VDC Nom.

Max 750 mA

From CVO (option al)

To one of IO1 to IO8

To G ND

Ground

Input current
< 1mA @24V

This diagram is used if an NPN output is connected

Note that IO1-8 share a
common ground (GND).
This ground is wired internally
to the P- supply ground

Select external
or internal power
supply to sensors
or similar

MISxxx User inputs

TT2508-02GB

GND

(Derived from P-)

IO3

(Input/output 3)

IO2

(Input/output 2)

IO1

(Input/output 1)

IO4

(Input/output 4)

IO5

(Input/output 5)

IO6

(Input/output 6)

IO7

(Input/output 7)

IO8

(Input/output 8)

CVO

(Derived from CVI)

MISxxx Motor

R

2.2.3 General

The Controller is equipped with a total of 8 digital inputs. Each input can be used for a
variety of purposes depending on the actual application. Each of the inputs can be detect
ed from the actual program that has been downloaded to the Controller or via serial
commands.
The Inputs are not optically isolated from other Controller circuitry. All of the Inputs
have a common ground terminal, denoted GND. Each Input can operate with voltages
in the range 5 (TTL) to 28VDC. Note that the Inputs should normally be connected to a
PNP output since a positive current must be applied for an input to be activated.
Note that CVO (control voltage output) is internally connected to the CVI supply termi­nal in the PWR connector. This provides the facility that local sensors can be supplied di­rectly from the controller. CVO is internally fused to a maximum allowable current of
750 mA

2.2.4 Connection of NPN Output

If an Input is connected to an NPN output, a Pull-Up resistor must be connected be­tween the Input and the + supply. See the illustration above.
The value of the resistance used depends on the supply voltage. The following resistances
are recommended:

Supply Voltage Recommended Resistance R

5-12VDC 1kOhm / 0.25W
12-18VDC 2.2kOhm / 0.25W
18-24VDC 3.3kOhm / 0.25W
24-28VDC 4.7kOhm / 0.25W



-

22 JVL Industri Elektronik A/S - User Manual - Integrated Stepper Motors MIS17x, 23x, 34x, 43x

2.2 User Inputs

2.2.5 Digital inputs - Usage.

All of the eight I/O signals can be used as digital inputs. The sampled and possibly filtered
value of each input is stored in the Input’s register (reg. 18). Unlike the analogue inputs,
there is only one value for each digital input, so it must be configured to be either unfil
tered or filtered.
Unfiltered (high-speed) digital inputs are sampled every 100 μS (micro-seconds).
Filtered digital inputs are sampled every milli-second, and the filter value can be set in the
range 1 to100 mS, so the filtered input must be sampled to have the same logical value
for that number of samples in a row. Once an input has changed state after passing the
filtering, it will again take the same number of samples of the opposite logical level to
change it back. For example, if the filter is set to 5 mS and the start value is 0 (zero), the
input will remain at zero until three samples in succession have been read as 1 (one). If
the signal immediately drops down to 0 again, it will take three samples of zero in suc
cession before the register bit gets set to zero.

Note that enabling filtering of the digital inputs does load the micro-controller, so if fil­tering of the digital inputs is not needed, ALL the inputs can be selected as high-speed to
optimise the available resources from the micro controller.

2.2.6 Digital input filter setup with MacTalk:

By default, the digital input filters are disabled and therefore the inputs are sampled every
100 μs.
If “IOx Digital Filter enabled” is set, the specific input will use the digital filter according
to the “Input filter time”. The remaining digital inputs will still be updating every 100 μs.

-

-

JVL Industri Elektronik A/S - User Manual - Integrated Stepper Motors MIS17x, 23x, 34x, 43x 23

2.2 User Inputs

2.2.7 Digital input filter setup without MacTalk:

If MacTalk is not used for setting up parameters/registers related to the digital filters it
must be done as follows.
The motor contains a number of registers which can be accessed from various protocols
depending at which options the motor has.
Protocols available are for example Ethernet (EthernetIP, ProfiNet etc.) and CANopen,
Modbus or the MacTalk protocol.
Each field in MacTalk described earlier in this chapter is accessing a register in the motor.
The registers that are relevant for digital filters setup are:

R135 INPUT_FILTER_ MASK This register controls filtering of each of the eight I/O

pins that are used as digital inputs. If the bit corre
sponding to the input number is set in this register,
the filter will be enabled.
See also: Input_Filter_Mask, page 216

R136 INPUT_FILTER_ CNT The filtering of all of the eight digital inputs is con-

trolled by the value in this register together with reg­ister 135. The input must be sampled at the same
value for the specified number of milliseconds in this
register to be accepted as the new filtered usable val
ue. See also Digital inputs - Usage., page 23
See also: Input_Filter_Cnt, page 216

-

-

24 JVL Industri Elektronik A/S - User Manual - Integrated Stepper Motors MIS17x, 23x, 34x, 43x

2.3 Analogue Inputs

2.3.1 General

The 0-5V Analogue Inputs are used for example when the Controller is operated as a
stand-alone unit. In this kind of application it can be an advantage to use a potentiometer,
joystick or other device for adjusting speed, position, acceleration, etc.

In these modes of operation, the motor is controlled to produce a velocity or position,
etc., which is determined by, and proportional to, the voltage applied to the Analogue
Input.
The Analogue Inputs share a common internal supply with the GND and P- terminal and
are not optically isolated from all other inputs and outputs. The Analogue Inputs are pro
tected against voltage overload up to 30V peak and have a built-in filter which removes
input signal noise. See
Always use shielded cable to connect the source used to control an Analogue Input since
the motor, etc., can easily interfere with the analogue signal and cause instability.
The Controller is equipped with 8 analogue-to-digital converters (ADC) which convert
the detected analogue signal level. The ADCs have a resolution of 12bit.
In order to use the Analogue Inputs as 0-20 mA inputs, a 250 , 1% resistor must be
connected between IO 1-8 and GND.

Analogue input filters, page 26.

-

Please notice: The number of available I/O terminals available may differ de­pending at which motor type and connector configuration you are using. Please

!

consult the chapter Connector overview for the MIS motors, page 37

JVL Industri Elektronik A/S - User Manual - Integrated Stepper Motors MIS17x, 23x, 34x, 43x 25

2.3 Analogue Inputs

2.3.2 Analogue input filters

An analogue signal is not always fully stable and may fluctuate a bit. Also general noise and
sudden spikes from other equipment can be a problem.
To help filtering an analogue input signal the MIS have an advanced input filter function.
This can be setup as follows.

2.3.3 Analog filter setup with MacTalk:

It is strongly recommended to setup the analog input filtering using MacTalk. The setup
dialog is found in the menu Motor -> Filter setup, or the “Filter setup” button on the
toolbar.

Write the settings for each Input and click ‘OK’. The parameters can afterwards be
“Saved in motor”.

26 JVL Industri Elektronik A/S - User Manual - Integrated Stepper Motors MIS17x, 23x, 34x, 43x

2.3 Analogue Inputs

2.3.4 Analog filter setup without MacTalk:

If MacTalk is not used for setting up parameters/registers related to the analog filters it
must be done as follows.
The motor contains a number of registers which can be accessed from various protocols
depending at which options the motor has.
Protocols available are for example Ethernet (EthernetIP, ProfiNet etc.) and CANopen,
Modbus or the MacTalk protocol.
Each field in MacTalk described earlier in this chapter is accessing a register in the motor.

The registers that are relevant for analog filters setup are:

R100 Afzup_WriteBits

When changing values for the analogue input filter parameters, this register is used in
combination with registers 102-106. First, all of the registers 102-106 must be loaded
with the values to be used for one or more analogue input filters. Then the lower eight
bits in this register are set to select which inputs the parameters in registers 102-106
should control. The firmware will detect this and copy the parameter values from regis
ters 102-106 to internal storage. Once this has been completed, the firmware sets bit 15
in this register to show that registers 102-106 are free to receive new values for pro
gramming the remaining inputs with other filter parameters. To use the same filtering for
all analogue inputs, this register can be loaded with 255 (hex FF).

-

-

R101 Afzup_ReadIndex

This register makes it possible to read back the analogue input filter parameters for 1 an­alogue input at a time. To select a new input, write a value of 1 to 8 to this register and
wait for bit 15 to be set high. When bit 15 has been set by the firmware, the registers
102-106 have been loaded with the filter parameters currently used by that analogue in
put.

These registers acts as setup registers for the analogue filters, but also as the read-out of
the actual settings. The setup and read-out procedures are described above.

R102 Afzup_ConfMin Confidence minimum.
R103 Afzup_ConfMax Confidence maximum.
R104 Afzup_MaxSlope Max slope.
R105 Afzup_Filter Filter.

The result of the filtered analog inputs can be read in the following registers. They are
not visible in MacTalk, but can be used in an RxP program or monitored through other
interfaces (Ethernet, CANopen, Modbus etc.)

R81-88 Analog_Filtered

The voltage on inputs 1 to 8 after being filtered in firmware. See the Afzup_Filter, page
208 for filter parameters. 5.00V is equal to a value of 4095.

R89-96 Analog Input

The unfiltered voltage on inputs 1 to 8. 5.00V is equal to a value of 4095.

-

JVL Industri Elektronik A/S - User Manual - Integrated Stepper Motors MIS17x, 23x, 34x, 43x 27

2.3 Analogue Inputs

2.3.5 Detailed description of the analog filter function

The MIS motors have 8 general-purpose I/Os, that can be used as both digital inputs, dig­ital outputs and analogue inputs. When an I/O is configured to be an input, it simultane­ously has both a digital value (high or low) and an analogue value in the range 0.00 to 5.00
Volts. Input voltages higher than 5.0 Volts will be internally limited and read as 5.00 Volts.

The inputs use a resolution of 12 bits, which means that in the raw motor units a value
of 5.00 Volts reads out as the value 4095.
This gives a resolution of 5.00/4095 = 1.221 mV per count.

The eight values from the analogue inputs are maintained by the MIS firmware in the reg­isters 89...96 as raw, unfiltered values with the fastest possible update frequency, and ad­ditionally in the registers 81...88 as filtered values. The firmware does not use any of the
values for dedicated functions. It is always up to the program in the motor to read and
use the values.

The analogue filtered values are typically used to suppress general noise or to define how
quickly the input value is allowed to change, or in some cases to limit the input voltage
range. A typical example is an analogue input that is connected to a manually controlled
potentiometer, so an operator can regulate the speed of the machine by turning a knob.
In many environments, this setup is subject to noise, which could make the motor run
unevenly, and cause too sharp accelerations or decelerations when the knob is turned.

The filter functions supported in the MIS firmware always use three different steps.

Confidence check

First the raw input value is compared to two Confidence limits: Confidence Min and
Confidence Max. If the new value is either smaller than the Confidence Min limit or larger
then the Confidence Max limit, it is simply discarded (not used at all), and the value in its
associated register is unchanged. This is done to eliminate noise spikes. Confidence limits
can only be used if not all of the measurement range is used. Values of 0 for Confidence
Min and 4095 for Confidence Max will effectively disable the confidence limits.

Slope limitation

After a new sample has passed the Confidence limit checks, its value is compared with
the last filtered value in its associated register. If the difference between the old and the
new value is larger than the Max Slope Limit, the new value is modified to be exactly the
old value plus or minus the Max Slope Limit. This limits the speed of change on the signal.
Since the samples come at fixed intervals of 10 mS, it is easy to determine the number of
Volts per millisecond. A value of 4095 will effectively disable slope limitation.

Filtering

After a new sample has both passed the confidence limits checks and has been validated
with respect to the slope limitation, it is combined with the last filtered value by taking a
part of the new sample and a part of the old filtered value, adding them together and
writing the result back to the final destination register – one of the registers 81...88. For
instance a filter value of 14 would take 14/64 of the new sample plus 50/64 of the old
value. A filter of 64 would simply copy the new sample to the rule, thus disabling the fil
tering. This completes the filtering of the analogue inputs.

-

28 JVL Industri Elektronik A/S - User Manual - Integrated Stepper Motors MIS17x, 23x, 34x, 43x

2.3 Analogue Inputs

Confidence alarms

If either of the Confidence Min or Confidence Max limits is used, it may be possible that
no new samples are accepted, which means that the filtered value will never change even
though there is a change in the input voltage. For instance, if the Confidence Min limit is
set to 2.0 V, and the actual input voltage is 1.50 V, the filtered value may continue to read
out 0.00 V (or the last value it had before exceeding the confidence limits).
To help troubleshooting in cases like this, each input has a status bit that is set if at least
half of the new samples during the last second lie outside either confidence limit. It is not
possible to see which of the confidence limits is violated. The status bits are updated once
per second.

Slope alarms

If the Max Slope limit is used (by setting its value lower than 4095), it may be possible
that many samples have their value limited. This is not necessarily an error in itself, but
can be a sign of a fault causing a noisy signal, or it can be a sign that the Max Slope limit is
set too low, which can have implications if the analogue voltage is used to control the mo
tor speed, torque, etc.
To help troubleshooting in cases like this, each input has a status bit that is set if at least
half of the new samples during the last second were limited by the Max Slope setting. The
status bits are updated once per second.

Example of analogue input filter operation:

Note that even though the examples use units rather than Volts, decimal values are used,
since the motor uses a much higher resolution internally to store the units.
Also note that as long as the slope limitation is in effect, the result will keep a constant
slope even when using a filter. When the slope limitation is no longer in effect, the filter
will cause the value to approach the final result more slowly as it approaches the result.

-

Confidence Min = 0, Confidence Max = 500, Max Slope = 10, Filter = 8, Old filtered
value = 0.

Sample 1 = 100 Confidence OK, slope limit to 0 + 10 = 10,

result = 10*(8/64)+0*(56/64) = 1.25 units.

Sample 2 = 100 Confidence OK, slope limit to 1.25 + 10 = 11.25,

result = 11.25*(8/64)+1.25*(56/64) = 2.5 units.

Sample 3 = 100 Confidence OK, slope limit to 2.5 + 10 = 12.5,

result = 12.5*(8/64)+2.5*(56/64) = 3.75 units.

Sample 4 = 800 Confidence error, keep old value, result = 3.75 units.

…and so on until the result gets ~= 95.0 units…

Sample 78 = 100 Confidence OK, no slope limitation needed,

result = 100*(8/64)+95*(56/64) = 95.625 units.

Sample 79 = 100 Confidence OK, no slope limitation needed,

result = 100*(8/64)+95.625*(56/64) ~= 96.171875 units.

Sample 80 = 100 Confidence OK, no slope limitation needed,

result = 100*(8/64)+96.171875*(56/64) ~= 96.65 units.

Sample 81 = 100 Confidence OK, no slope limitation needed,

result = 100*(8/64)+96.65*(56/64) ~= 97.07 units.

JVL Industri Elektronik A/S - User Manual - Integrated Stepper Motors MIS17x, 23x, 34x, 43x 29

2.3 Analogue Inputs

Sample 82 = 100 Confidence OK, no slope limitation needed,

result = 100*(8/64)+97.07*(56/64) ~= 97.44 units.

Sample 83 = 100 Confidence OK, no slope limitation needed,

result = 100*(8/64)+97.44*(56/64) ~= 97.76 units.

... The following samples produce the following results ending up with the input value
(100.0).

98.04, 98.28, 98.49, 98.68, 98.85, 99.00, 99.12, 99.23, 99.33, 99.41, 99.48, 99.55, 99.60,

99.65, 99.70, 99.74, 99.77, 99.80, 99.82, 99.84, 99.86, 99.88, 99.90, 99.91, 99.92, 99.93,

99.94, 99.95, 99.95, 99.96, 99.96, 99.97, 99.97, 99.98, 99.98, 99.98, 99.98, 99.99, 99.99,

99.99, …….100.0

30 JVL Industri Elektronik A/S - User Manual - Integrated Stepper Motors MIS17x, 23x, 34x, 43x

2.4 User Outputs

TT2423-02GB

Internal µ-Processor

Digital input

CVI

(only input)

CVO

(only output)

(max 700mA)

10kOhm

Power
MosFet
Tran sisto r

100pF

GND

GND GND

4k7

+5V

IO1 to IO8

(Only one I/O shown)

Over current and
temperature protection

Over voltage

protection

Polyfuse
750mA

Analog input

Digital output

2.4.1 User outputs

The MIS motors has 8 inputs/outputs (IO’s) that each can be set individually to input, out­put or analogue input 0-5V via MacTalk or software commands.This means that it for ex­ample is possible to have 4 inputs, 3 outputs and one analogue input.

Please notice: The number of available I/O terminals available may differ de­pending at which motor type and connector configuration you are using. Please

!

consult the chapter Connector overview for the MIS motors, page 37

Input/output functional diagram (only one I/O shown)

• The Outputs are Source outputs and 7-28VDC compliant

• No galvanic isolation

• Short-circuit to ground protected that shuts down all outputs and sets Error bit in
software.

•Optional “In Position” and “Error” signals can be selected to be on any outputs 1 to 8

• Optional Encoder outputs

• 350 mA output current per channel even with all channels fully loaded at the same
time.

• Internal ground clamp diodes to protect when inductive load is driven.

JVL Industri Elektronik A/S - User Manual - Integrated Stepper Motors MIS17x, 23x, 34x, 43x 31

2.4 User Outputs

TT2510-02GB

Note ! : screen only
connected to signal source.

Screen

MISxxx User Outputs

GND

(Derived from P-)

IO3

(Input/output 3)

IO2

(Input/output 2)

IO1

(Input/output 1)

IO4

(Input/output 4)

IO5

(Input/output 5)

IO6

(Input/output 6)

IO7

(Input/output 7)

IO8

(Input/output 8)

CVO

(Derived from CVI)

MISxxx Motor

+24VDC Nom.

For optional supply
of external sensor
or similar max. 700 mA

Ground

Max. 350 mA

2.4.2 General

The Controller is equipped with a total of 8 digital outputs. Each output can be used for
a variety of purposes depending on the Controller’s basic mode of operation. The Out
puts are not galvanically isolated from other circuitry in the motor.
The output circuitry is powered from the control voltage supply terminal CVI.
See also Control Voltage (CVI terminal), page 15.
The output circuitry operates with voltages in the range 7-28VDC.
Each output can supply a continuous current up to 350mA (max).
The outputs are all source drivers, i.e. if a given output is activated, contact is made be­tween the control voltage (CVI) and the respective output terminal. See above illustra­tion.

-

2.4.3 Overload of User Outputs

All of the outputs are short-circuit protected, which means that the program and the mo­tor is stopped and the output is automatically disconnected in the event of a short circuit.
The output will first function normally again when the short-circuit has been removed.

Note: Do not connect a voltage greater than 30VDC to the CVI terminal as the output
circuitry may be seriously damaged and the unit will require factory repair.

If one or more outputs are short circuited, MacTalk will show Error “Output Driver” and
Bit 2 will be set in Err_Bits.
See also Err_Bits, page 201.

32 JVL Industri Elektronik A/S - User Manual - Integrated Stepper Motors MIS17x, 23x, 34x, 43x

2.5 Serial interfaces overview

2.5.1 Serial interfaces

The Controller has 2 serial interfaces:

• RS485 (Dual channel A and B) balanced for up to 32 units in multi-axis applications and
Modbus communication. (Standard)

• CANbus -CANopen DS-301. Fully ISO 11898-2:2016 compliant

• CANbus - CANopen DSP-402 is in development but not available now.

CANbus and RS485 can be used at the same time.

Please notice: The number of available I/O terminals available may differ de­pending at which motor type and connector configuration you are using. Please

!

consult the chapter Connector overview for the MIS motors, page 37

JVL Industri Elektronik A/S - User Manual - Integrated Stepper Motors MIS17x, 23x, 34x, 43x 33

2.6 RS485 Interface

Central

Controller

(for example a PC)

QuickStep motor or

SMC75 Controller

mounted with MAC00-B1, B2 or B4 modules.

MAC50-141

Motor

MAC800

Motor

Power supply

A

A

A

A

P+

P+

P+

B

B

B

B

P-

P-

P-

RS485
Interface

Screen connected
to GND in each end

Opto isolation *

**

**

** The last unit in each end of the line must be terminated. The MAC00-B1, B2
and B4 contain this feature. See the individual module descriptions.
The QuickStep motor does not have a resistor built-in, the resistor
has to be mounted externally, for instance in the M12 connector.

Make sure that all
involved units are
connected to the same
potential

RS485
Interface

RS485
Interface

Up to 32
Motors

TT2181-02GB

Power
Supply

Power
Supply

Power
Supply

Mains 230VAC

Control voltage

CVI

Control voltage
Only MAC50-141 with
B2 or B4 (Optional)

GND

GND

+7-28VDC

(control voltage)

+12-48VDC

(Bus voltage)

GND

GND

GND

O+

Main supply

ScreenScreen Screen

Max. 32VDC !

* Opto isolation is recommended.

*** Each unit connected must be setup with an address via The MacTalk program.
If only one unit is connected no address is needed.

*** Address=1

*** Address=2

*** Address=3

2.6.1 RS485 - General description when using a QuickStep motor

The RS485 interface offers
more noise immune commu
nication compared to a USB
or RS232 interface
motors can be connected to
the same interface bus.

When connecting the RS485
interface to a central control
ler, the following rules must
be followed:

1 Use twisted pair cable.

2 Use shielded cable.

3 Make sure that the GND is

34 JVL Industri Elektronik A/S - User Manual - Integrated Stepper Motors MIS17x, 23x, 34x, 43x

4 Ensure that all units have a

5 The last unit in each end of

6 Ensure that the supply lines

7Central Controller RS485

The default configuration:
Data bits = 8
Baud rate = 19200
Stop bit = 1
Parity = None

. Up to 32

also connected.

proper connection to safety
ground (earth) in order to
refer to the same potential.

the network must be termi
nated with a 120 Ohm re­sistor between A and B.

are made individually in or
der to reduce the voltage
drop between the motors.

interface:
If available, it is strongly rec­ommended a type with op­tical isolation is used.

-

-

-

-

2.7 EMC considerations

2.7.1 EMC considerations

The MIS family of motors eliminates the traditional problems with noise from long motor
cables that emit noise and feedback cables that are sensitive to noise from external
sources.
However, it is still necessary to be aware of noise problems with communications cables
and the 8 general-purpose inputs and outputs.
Whenever a digital signal changes level quickly, a noise spike is generated, and is trans­ferred to the other wires in the same cable, and to a lesser degree to wires in other ca­bles located close to the cable with the switching signal. A typical example is when a
digital output from the MIS motor changes from low to high to drive a relay. If this digital
output signal is transmitted in a multi-wire cable together with the RS-485 signals, there
is a high risk that the RS-485 signal will be affected to the extent that the communication
will fail, and require software retries.
If communication is used during operation, and operation includes either digital input sig­nals or digital output signals, some precautions must be taken to avoid noise problems.
The following sections describe a number of measures which can be taken to solve noise
problems. In most installations, no special measures will be required, but if noise prob
lems are experienced – and/or must be avoided – it is highly recommended the instruc­tions below are followed.

2.7.2 Use short cables

The shorter a cable is, the less noise problems it will induce. Be sure to keep the cables
as short as possible. Instead of curling up the cables, cut them off at the minimum re
quired length.

-

-

2.7.3 Use separate cables

Avoid running digital signals in the same multi-wire cables as RS-485 communication sig­nals.
On some models of the MIS motors, the same connector contains both RS-485 signals
and I/O signals – typically the I/Os 1-4.
In many applications, far from all inputs and outputs are used. If only up to four I/Os are
required, consider using only I/Os 5-8 which are typically available via another connector
on the motor.

2.7.4 Use filters

If more than 4 I/Os are needed, consider using I/Os 1-4 for inputs and I/Os 5-8 for out­puts. It is normally possible to install a hardware filter on the digital input signals before
they enter the cable. With such a (good) filter, noise on the RS-485 signals will not be a
problem.
It is also possible to use filters on the outputs, but it is more difficult. It can be done by
using short cables from the motor to the filters, and then using longer cables from the
filters to the output targets. It may be easier to use a short cable from the motor to a
splitter box, and then split the I/Os in one cable and the RS-485 signals in another cable.

2.7.5 Use termination (resistors) on the RS-485 signals

RS-485 is typically used to connect a single master PC or PLC to one or more motors in
a chain. Both ends of the chain must have a 120 Ohms termination resistor connected
between the A- and B+ signals. There is typically a terminating resistor in the master PC
or PLC, but there is no termination inside the motors. Therefore an external resistor
must be connected at the end of the cable out of the last motor in the chain. If the last
motor has no connection cable, a connector with a resistor soldered between the A- and
B+ pins should be used.

JVL Industri Elektronik A/S - User Manual - Integrated Stepper Motors MIS17x, 23x, 34x, 43x 35

2.7 EMC considerations

As an alternative, a connector with a short cable can be used with the resistor soldered
between the two wires carrying A- and B+.
Use individually shielded cables.

In some installations, it will be necessary to have RS-485 signals in the same multi-wire
cables as fast-switching digital signals. In addition to keeping cable lengths to a minimum
and using termination resistors, high-quality cables, where each wire is shielded from the
other wires in the cable, should be used. This is typically done using a metal foil wrapped
around each wire. These types of cables are more expensive, but the overall cost and
noise immunity requirements may justify the solution instead of splitting cables.

2.7.6 Use simple shielding

Using cables with only a single shield shared by all the signal wires will also improve noise
problems to some degree, but will not guarantee completely stable operation for mixed
signal cables. If a cable carries only RS-485 or only digital I/O, this simple and inexpensive
form of shielding is recommended.

36 JVL Industri Elektronik A/S - User Manual - Integrated Stepper Motors MIS17x, 23x, 34x, 43x

2.8 How to connect a MIS motor

8 pin Female

PWR (CN1)

CN2

CN3

CN4

17 pin Female

12 pin Female

8 pin Male

5 pin Male

4 pin Female

TT2323-01GB

5 pin Female

11111

222222211

5

3

333799777

8

10

10

16

11

12

8

8

17

8

5

3

4

4

4

4

5

6

6

11

13

5

4

4

4

6

12

15

5

5

14

6

3

3

2.8.1 Connector overview for the MIS motors

QUICKSTEP
Connector
Overview

Connector ID

MISxxxnyyQ5zz85
(8IOA) Preferred type

MISxxxnyyP6zz85
(CAN-open)

MISxxxnyyQ9zz85
(SSI input)

MISxxxnyyExzz85
(Ethernet)

MISxxxnyyFBzz85
(Bluetooth)

MISxxxnyyFPzz85
(Profibus)

M12 Pin1
M12 Pin2
M12 Pin3
M12 Pin4
M12 Pin5
M12 Pin6
M12 Pin7
M12 Pin8
M12 Pin9
M12 Pin10
M12 Pin11
M12 Pin12
M12 Pin13
M12 Pin14
M12 Pin15
M12 Pin16
M12 Pin17
M12 Connector

solder terminals

M12 Cables 5m

Power
Male
5 Pin

PWR (CN1) CN4 CN2 CN3 CN2 CN2 & CN3 CN3 CN2 & CN3 CN2 & CN3

P+ (12-72VDC) IO1 B0- (RS485) IO1 IO1 CAN_SHLD IO5 Zero Set 5VDC TX0_P

P+ (12-72VDC) GND A0+ (RS485) IO2 IO2 Unused IO6 CNTDIR A- RX0_P

P- (GND) IO2 B0- (RS485) IO3 IO3 CAN_GND A+ (Clock+) DGND TX0_N

CVI (12-28VDC) IO3 A0+ (RS485) GND GND CAN_H GND B+ RX0_N

P- (GND) B1- (RS422) GND B0-(RS485) B0-(RS485) CAN_L B- (Data In-) SHIELD -

- IO4 - A0+(RS485) A0+(RS485) - B+ (Data In+) - -

- A1- (RS422) - IO4 IO4 - A- (Clock -) - -

- B1+ (RS422) - CVO (out) CVO (out) - CVO (out) - -

- CVO (out) - - - - - - -

- A1+ (RS422) - - - - - - -

- IO5 - - - - - - -

- IO6 - - - - - - -

- IO7 - - - - - - -

- IO8 - - - - - - -

- B0- (RS485) - - - - - - -

- GND - - - - - - -

- A0+ (RS485) - - - - - - -

WI1008­M12F5SS1

WI1000­M12F5T05N

IO1-8,
RS485,MFIO
Female 17
Pin

x x x x

x x x

x x x x

x x x

x x x x

x x x

(not available) WI1008-

WI1009­M12M17T05N

RS485
Female
5 Pin

M12M5SS1

WI1005­M12M8V
M5V03N

RS485 +
IO1-4
Female
8 Pin

WI1008­M12M8SS1

WI1000­M12M8T05N

RS485 +
IO1-4
Female
8 Pin

WI1008­M12M8SS1

WI1000­M12M8T05N

CANopen
Female
5 Pin

WI1008­M12M5SS1

WI1006­M12F5
TM5T05N

SSI Encoder
Male 8 Pin

WI1008­M12F8SS1

WI1000­M12F8T05N

Profibus
Male 5 Pin

WI1028­M12F5SS1

WI1026­M12-F5S0R

Ethernet
Female
4 Pin

(not available)

WI1046­M12M4S05R

Connector layout - The shown motor is a MIS34x motor but the connector locations are
the same at other MIS family members with radial standard connectors.

JVL Industri Elektronik A/S - User Manual - Integrated Stepper Motors MIS17x, 23x, 34x, 43x 37

2.8 How to connect a MIS motor

TT2332-01GB.cdr

PWR (CN1)

Power input

CN2

RS485 IN/OUT

CN3

RS485 + I/O

CN4

RS485 + I/O + Backup(optional)

2.8.2 MISxxxxxxQ5xxxx connector description.

The MIS motors offers robust M12 connectors which makes it ideal for automation ap­plications. The M12 connectors offer solid mechanical protection and are easy operate.
Following scheme gives the relevant information about each connector and the pins, wire
colours and a short description of the signals available.

The connector layout:

“PWR” (CN1) - Power input. M12 - 5pin male connector

JVL Cable
WI1000-

Signal name Description Pin no.

P+ Main supply +7-72VDC. Connect with pin 2 * 1 Brown 1

P+ Main supply +7-72VDC. Connect with pin 1 * 2 White 1

P- Main supply ground. Connect with pin 5 * 3 Blue 1

CVI

P- Main supply ground. Connect with pin 3 * 5 Grey 1

* Note: P+ and P- are 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.

(Continued next page)

Control and user output supply +7-28VDC.

DO NOT connect >30V to this terminal!

4 Black 1

M12F5TxxN

Isolation
group

38 JVL Industri Elektronik A/S - User Manual - Integrated Stepper Motors MIS17x, 23x, 34x, 43x

2.8 How to connect a MIS motor

“CN2” - RS485 IN/OUT. M12 - 5pin female connector.

JVL Cable

Signal name Description Pin no.

RS485: B0- RS485 interface. Leave open if unused 1 Brown 1

RS485: A0+ RS485 interface. Leave open if unused 2 White 1

RS485: B0- RS485 interface. Leave open if unused 3 Blue 1

RS485: A0+ RS485 interface. Leave open if unused 4 Black 1

GND Ground intended to be used together with the

other signals in this connector

5 Grey 1

“CN3” - RS485 + I/O connector - M12 - 8pin female connector.

Signal name Description Pin no.

IO1 I/O channel 1. Can be used as input or output 1 White 1

IO2 I/O channel 2. Can be used as input or output 2 Brown 1

IO3 I/O channel 3. Can be used as input or output 3 Green 1

GND

Ground intended to be used together with the
other signals in this connector

4 Yellow 1

RS485: B0- RS485 interface. Leave open if unused 5 Grey 1

RS485: A0+ RS485 interface. Leave open if unused 6 Pink 1

IO4 I/O channel 4. Can be used as input or output 7 Blue 1

CVO Supply output. Connected internally to the CVI

terminal in the PWR connector. Max 700 mA.

DO NOT connect >30V to this terminal!

8 Red 1

USB interface. Supply input 5VDC nominal

“CN4” - RS485 + I/O + Backup (option) connector - M12 - 17pin female connector

Signal name Description Pin no.

IO1 I/O channel 1. Can be used as input or output 1 Brown 1

GND

IO2 I/O channel 2. Can be used as input or output 3 White 1

IO3 I/O channel 3. Can be used as input or output 4 Green 1

B1- RS422 I/O terminal B- 5 Pink 1

IO4 I/O channel 4. Can be used as input or output 6 Yellow 1

A1- RS422 I/O terminal A- 7 Black 1

B1+ RS422 I/O terminal B+ 8 Grey 1

CVO Supply output. Connected internally to the CVI termi-

A1+ RS422 I/O terminal A+ 10 Violet 1

IO5 I/O channel 5. Can be used as input or output 11 Grey/pink 1

IO6 I/O channel 6. Can be used as input or output 12 Red/blue 1

IO7 I/O channel 7. Can be used as input or output 13 White/Green 1

IO8 I/O channel 8. Can be used as input or output 14 Brown/Green 1

RS485: B0- RS485 interface. Leave open if unused 15 White/Yellow 1

EXTBACKUP Only for motors with the -H3 or -H4 option (abs. mul-

RS485: A0+ RS485 interface. Leave open if unused 17 White/grey 1

* Note: Isolation group indicate which terminals/circuits that a galvanic connected to each other. In other
words group 1, 2, 3 and 4 are all fully independently isolated from each other. Group 1 correspond to the
housing of the motor which may also be connected to earth via the DC or AC input supply.

Ground intended to be used together with the other
signals in this connector

nal in the PWR connector.

DO NOT connect >30V to this terminal!

titurn encoder). This terminal can be connected to an
external supply.

Connect to ground (GND) if not used.

2 Blue 1

9 Red 1

16 Yellow/brown 1

WI1000-M12
M5TxxN

JVL Cable
WI1000-M12
M8TxxN

JVL Cable
WI1009M12
M17TxxN

Isolation
group
(See note)

Isolation
group
(See note)

Isolation
group
(see note)

JVL Industri Elektronik A/S - User Manual - Integrated Stepper Motors MIS17x, 23x, 34x, 43x 39

2.8 How to connect a MIS motor

TT2333-01GB

36.0mm

[1.42 inch]

54.0mm

[2.126 inch]

0

5.0mm
[0.197inch]

= Mounting holes

77.0mm
[3.031inch]

112.0mm
[4.409inch]

2 x
Ø4/8mm

[Ø0.16/0.32inch]

2 x
Ø4x8mm

[Ø0.16x0.32inch]

118.0mm
[4.646inch]

TT3088-01GB

2.8.3 Cables for the MISxxxxxxQ5xxxx

The following cables equipped with M12 connector can be supplied by JVL.

MISxxx Connectors Description JVL Order no. Picture

“PWR”

5pin
Male

“CN2”

5pin
Female

“CN3”

8pin
Female

“CN4”

17pin
Female

X

X

Not relevant. The RS485-USB­ATC-820 connect to CN2 through
cable type RS485-M12-1-5-8

X

X

X

X

RS485 Interface cable. Connects
directly from the MIS motor to a
RS485 comport.
Length: 5m (197 inch)

RS485 Interface cable. Connects
directly from the MIS motor to a
RS485 comport.
Length: 5m (197 inch)

USB to RS485 Converter. To be
used if no RS485 COM port is avail
able.

Cable (Ø5.5mm) with M12 male
5-pin connector loose wire ends

0.35mm² (22AWG) and foil screen.
Length: 5m (197 inch)

Same as above but 20m (787 inch)

Cable with M12 male 8-pin connec­tor loose wire ends 0.35mm²
(22AWG) and screen.

Same as above but 20m (787 inch)

RS485-M12-1-5-5

RS485-M12-1-5-8

-

RS485-USB-ATC-820

WI1000-M12M5T05N

WI1000-M12M5T20N

WI1000-M12M8T05N

WI1000-M12M8T20N

Cable with M12 male 17-pin
connector loose wire ends

X

0.22mm² (24AWG) and screen.
Length: 5m (197 inch)

Same as above but 20m (787 inch)

X

Junction box for splitting the 17 pin I/
O connector into 4 independent con
nectors. Include also 9 LED’s for

X

monitoring the I/O status and com­munication.
Cable length: 0,5m (20 inch)

WI1009-M12M17S05N

WI1009-M12M17S20N

PA0190

-

Protection caps. Optional if connector is not used to protect from dust / liquids.

X X X

X

IP67 protection cap for M12
female connector.

IP67 protection cap for M12

male connector.

WI1000-M12FCAP1

WI1000-M12MCAP1

40 JVL Industri Elektronik A/S - User Manual - Integrated Stepper Motors MIS17x, 23x, 34x, 43x

2.8 How to connect a MIS motor

TT2348-01GB

CN3
RS485 (SSI etc.) + I/O

CN4
RS485 + I/O +
Backup(optional)

2.8.4 MISxxxxxxQ9xxxx connector description.

The MIS motors offers robust M12 connectors which makes it ideal for automation ap­plications. The M12 connectors offer solid mechanical protection and are easy to oper­ate.
The following scheme gives the relevant information about each connector and the pins,
wire colours and a short description of the signals available.

The connector layout:

“PWR” (CN1) - Power input. M12 - 5pin male connector

JVL Cable
WI1000-

Signal name Description Pin no.

P+ Main supply +7-72VDC. Connect with pin 2 * 1 Brown 1

P+ Main supply +7-72VDC. Connect with pin 1 * 2 White 1

P- Main supply ground. Connect with pin 5 * 3 Blue 1

CVI

P- Main supply ground. Connect with pin 3 * 5 Grey 1

* Note: P+ and P- are 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.

(Continued next page)

Control and user output supply +7-28VDC.

DO NOT connect >30V to this terminal!

4 Black 1

M12F5TxxN

Isolation
group

JVL Industri Elektronik A/S - User Manual - Integrated Stepper Motors MIS17x, 23x, 34x, 43x 41

2.8 How to connect a MIS motor

“CN2” - RS485 + I/O connector - M12 - 8pin female connector.

Signal name Description Pin no.

IO1 I/O channel 1. Can be used as input or output 1 White 1

IO2 I/O channel 2. Can be used as input or output 2 Brown 1

IO3 I/O channel 3. Can be used as input or output 3 Green 1

GND Ground intended to be used together with the

other signals in this connector

RS485: B0- RS485 interface. Leave open if unused 5 Grey 1

RS485: A0+ RS485 interface. Leave open if unused 6 Pink 1

IO4 I/O channel 4. Can be used as input or output 7 Blue 1

CVO Supply output. Connected internally to the CVI

terminal in the PWR connector. Max 700 mA

“CN3” - RS485 (SSI etc.) + I/O. M12 - 8pin Male connector.

Signal name Description Pin no.

IO5 Used for zero set. Leave open if unused 1 White 1

IO6 Counting direction. Leave open if unused 2 Brown 1

RS422: A1+ SSI Clock +. Leave open if unused 3 Green 1

GND Signal ground. Leave open if unused 4 Yellow 1

RS42: B1- SSI Data in -. Leave open if unused 5 Grey 1

RS422: B1+ SSI Data in +. Leave open if unused 6 Pink 1

RS422: A1- SSI Clock -. Leave open if unused 7 Blue 1

CVO Supply output. Connected internally to the CVI

terminal in the PWR connector. Max 700 mA

“CN4” - RS485 + I/O + Backup(option) connector - M12 - 17pin female connector

Signal name Description Pin no.

IO1 I/O channel 1. Can be used as input or output 1 Brown 1

GND

IO2 I/O channel 2. Can be used as input or output 3 White 1

IO3 I/O channel 3. Can be used as input or output 4 Green 1

B1- RS422 I/O terminal B- 5 Pink 1

IO4 I/O channel 4. Can be used as input or output 6 Yellow 1

A1- RS422 I/O terminal A- 7 Black 1

B1+ RS422 I/O terminal B+ 8 Grey 1

CVO Supply output. Connected internally to the CVI termi-

A1+ RS422 I/O terminal A+ 10 Violet 1

IO5 I/O channel 5. Can be used as input or output 11 Grey/pink 1

IO6 I/O channel 6. Can be used as input or output 12 Red/blue 1

IO7 I/O channel 7. Can be used as input or output 13 White/Green 1

IO8 I/O channel 8. Can be used as input or output 14 Brown/Green 1

RS485: B0- RS485 interface. Leave open if unused 15 White/Yellow 1

EXTBACKUP Only for motors with the -H3 or -H4 option (abs. mul-

RS485: A0+ RS485 interface. Leave open if unused 17 White/grey 1

* Note: Isolation group indicate which terminals/circuits that a galvanic connected to each other. In other
words group 1, 2, 3 and 4 are all fully independently isolated from each other. Group 1 correspond to the
housing of the motor which may also be connected to earth via the DC or AC input supply.

Ground intended to be used together with the other
signals in this connector

nal in the PWR connector. Max 700 mA

titurn encoder). This terminal can be connected to an
external supply.

Connect to ground (GND) if not used.

4 Yellow 1

8 Red 1

8 Red 1

2 Blue 1

9 Red 1

16 Yellow/brown 1

JVL Cable
WI1000-M12
M8TxxN

JVL Cable
WI1000-M12
F8TxxN

JVL Cable
WI1009M12
M17TxxN

Isolation
group
(See note)

Isolation
group
(See note)

Isolation
group
(see note)

42 JVL Industri Elektronik A/S - User Manual - Integrated Stepper Motors MIS17x, 23x, 34x, 43x

2.8 How to connect a MIS motor

TT2333-01GB

36.0mm

[1.42 inch]

54.0mm

[2.126 inch]

0

5.0mm
[0.197inch]

= Mounting holes

77.0mm
[3.031inch]

112.0mm
[4.409inch]

2 x
Ø4/8mm

[Ø0.16/0.32inch]

2 x
Ø4x8mm

[Ø0.16x0.32inch]

118.0mm
[4.646inch]

TT3088-01GB

2.8.5 Cables for the MISxxxxxxQ9xxxx

The following cables equipped with M12 connector can be supplied by JVL.

MISxxx Connectors Description JVL Order no. Picture

“PWR”

5pin
Male

“CN2”

8pin
Female

“CN3”

8pin
Male

“CN4”

17pin
Female

X

X

Not relevant. The RS485-USB­ATC-820 connect to CN2 through
cable type RS485-M12-1-5-8

X

X

X

X

Cable (Ø5.5mm) with M12 female
5-pin connector loose wire ends

0.35mm² (22AWG) and foil screen.
Length: 5m (197 inch)

RS485 Interface cable. Connects
directly from the MIS motor to a
RS485 comport.
Length: 5m (197 inch)

USB to RS485 Converter. To be
used if no RS485 COM port is avail
able. Use also RS485-M12-1-5-8

Cable (Ø5.5mm) with M12 male
8-pin connector loose wire ends

0.35mm² (22AWG) and foil screen.
Length: 5m (197 inch)

Same as above but 20m (787 inch)

Cable with M12 female 8-pin
connector loose wire ends

0.22mm² (24AWG) and screen.
Length: 5m (197 inch)

Same as above but 20m (787 inch)

WI1000-M12F5T05N

RS485-M12-1-5-8

-

RS485-USB-ATC-820

WI1000-M12M8T05N

WI1000-M12M8T20N

WI1000-M12F8T05N

WI1000-M12F8T20N

Cable with M12 male 17-pin
connector loose wire ends

X

0.22mm² (24AWG) and screen.
Length: 5m (197 inch)

Same as above but 20m (787 inch)

X

Junction box for splitting the 17 pin I/
O connector into 4 independent con­nectors. Include also 9 LED’s for

X

monitoring the I/O status and com
munication.
Cable length: 0,5m (20 inch)

WI1009-M12M17S05N

WI1009-M12M17S20N

PA0190

-

Protection caps. Optional if connector is not used to protect from dust / liquids.

X X

X X

IP67 protection cap for M12
female connector.

IP67 protection cap for M12

male connector.

WI1000-M12FCAP1

WI1000-M12MCAP1

JVL Industri Elektronik A/S - User Manual - Integrated Stepper Motors MIS17x, 23x, 34x, 43x 43

2.8 How to connect a MIS motor

TT2335-01GB.cdr

PWR (CN1)

Power input

CN2

Ethernet In

CN3

Ethernet Out

CN4

RS485 + I/O + Backup(optional)

2.8.6 MISxxxxxxExxxxx connector description.

Hardware wise all the MIS motors with the Ethernet option are equal and offer the con­nectivity shown in the table below.
The following Ethernet protocols are supported in this moment:

MISxxxxxxEPxxxx : ProfiNet
MISxxxxxxEIxxxx : EtherNetIP
MISxxxxxxECxxxx : EtherCAT
MISxxxxxxELxxxx : Ethernet POWERLINK
MISxxxxxxEMxxxx : Modbus TCP
MISxxxxxxESxxxx : Sercos III

he MIS motors offers robust M12 connectors which makes it ideal for automation appli­cations. The M12 connectors offer solid mechanical protection and are easy operate.
Following scheme gives the relevant information about each connector and the pins, wire
colours and a short description of the signals available.

The connector layout:

“PWR” (CN1) - Power input. M12 - 5pin male connector

JVL Cable
WI1000-

Signal name Description Pin no.

P+ Main supply +7-72VDC. Connect with pin 2 * 1 Brown 1

P+ Main supply +7-72VDC. Connect with pin 1 * 2 White 1

P- Main supply ground. Connect with pin 5 * 3 Blue 1

CVI

P- Main supply ground. Connect with pin 3 * 5 Grey 1

* Note: P+ and P- are 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.

Control and user output supply +7-28VDC.

DO NOT connect >30V to this terminal !

4 Black 1

M12F5TxxN

Isolation
group

(Continued next page)

44 JVL Industri Elektronik A/S - User Manual - Integrated Stepper Motors MIS17x, 23x, 34x, 43x

2.8 How to connect a MIS motor

“CN2” - Ethernet In port connector - M12 - 4pin female connector “D” coded

Signal
name Description Pin no.

Tx0_P Ethernet Transmit channel 0 - positive terminal 1 - 2

Rx0_P Ethernet Receive channel 0 - positive terminal 2 - 2

Tx0_N Ethernet Transmit channel 0 - negative terminal 3 - 2

Rx0_N Ethernet Receive channel 0 - negative terminal 4 - 2

“CN3” - Ethernet Out port connector. M12 - 4 pin female connector “D” coded

Signal
name Description Pin no.

Tx1_P Ethernet Transmit channel 1 - positive terminal 1 - 3

Rx1_P Ethernet Receive channel 1 - positive terminal 2 - 3

Tx1_N Ethernet Transmit channel 1 - negative terminal 3 - 3

Rx1_N Ethernet Receive channel 1 - negative terminal 4 - 3

“CN4” - RS485 + I/O + Backup (option) connector - M12 - 17pin female connector

Signal
name Description Pin no.

IO1 I/O channel 1. Can be used as input or output 1 Brown 1

GND

IO2 I/O channel 2. Can be used as input or output 3 White 1

IO3 I/O channel 3. Can be used as input or output 4 Green 1

B1- RS422 I/O terminal B- 5 Pink 1

IO4 I/O channel 4. Can be used as input or output 6 Yellow 1

A1- RS422 I/O terminal A- 7 Black 1

B1+ RS422 I/O terminal B+ 8 Grey 1

CVO Supply output. Connected internally to the CVI

A1+ RS422 I/O terminal A+ 10 Violet 1

IO5 I/O channel 5. Can be used as input or output 11 Grey/Pink 1

IO6 I/O channel 6. Can be used as input or output 12 Red/Blue 1

IO7 I/O channel 7. Can be used as input or output 13 White/Green 1

IO8 I/O channel 8. Can be used as input or output 14 Brown/Green 1

RS485: B0- RS485 interface. Leave open if unused 15 White/Yellow 1

EXTBACKUP

RS485: A0+ RS485 interface. Leave open if unused 17 White/Grey 1

* Note: Isolation group indicate which terminals/circuits that a galvanic connected to each other. In other
words group 1, 2, 3 and 4 are all fully independently isolated from each other. Group 1 correspond to the
housing of the motor which may also be connected to earth via the DC or AC input supply.

Ground intended to be used together with the
other signals in this connector

terminal in the PWR connector. Max 700 mA

Only for motors with the -H3 or -H4 option (abs.
multiturn encoder). This terminal can be con­nected to an external supply.

Connect to ground (GND) if not used.

2 Blue 1

9 Red 1

16 Yellow/Brown 1

JVL Cable
WI1046­M12M4S05R

JVL Cable
WI1046­M12M4S05R

JVL Cable
WI1009M12
M17TxxN

Isolation
group
(See note)

Isolation
group
(see note)

Isolation
group
(see note)

JVL Industri Elektronik A/S - User Manual - Integrated Stepper Motors MIS17x, 23x, 34x, 43x 45

2.8 How to connect a MIS motor

TT2333-01GB

2.8.7 Cables for the MISxxxxxxExxxxx

The following cables equipped with M12 connector can be supplied by JVL.

MIS34x Connectors Description JVL Order no. Picture

“PWR”

5pin
Male

“CN2”

5pin
Female

“CN3”

8pin
Female

“CN4”

17pin
Female

X

X

Not relevant. The RS485-USB­ATC-820 connect to CN2 through
cable type RS485-M12-1-5-8

X X

X X

X X

This cable only exist in 5m length

RS485 Interface cable. Connects
directly from The MIS motor to a
RS485 comport.
Length: 5m (197 inch)

Cable (Ø5.5mm) with M12 male
5-pin connector loose wire ends

0.35mm² (22AWG) and foil screen.
Length: 5m (197 inch)

USB to RS485 Converter. To be
used if no RS485 COM port is avail
able.

Cable (Ø5.5mm) with M12 male D­coded 4-pin connector loose wire
ends 0.35mm² (22AWG) and foil
screen. Length: 5m (197 inch)

Same as above but 15m (590 inch)

Cable (Ø5.5mm) with M12 male D­coded 4-pin connector and RJ45
connector.
Length: 5m (197 inch)

RS485-M12-1-5-17S

WI1000-M12F5T05N

-

RS485-USB-ATC-820

WI1046-M12M4S05R

WI1046-M12M4S15R

WI1046-M12M4S05­NRJ45

Cable with M12 male 17-pin
connector loose wire ends

X

0.22mm² (24AWG) and screen.
Length: 5m (197 inch)

Same as above but 20m (787 inch)

X

WI1009-M12M17S05N

WI1009-M12M17S20N

Protection caps. Optional if connector is not used to protect from dust / liquids.

X X X

X

IP67 protection cap for M12
female connector.

IP67 protection cap for M12

male connector.

WI1000-M12FCAP1

WI1000-M12MCAP1

46 JVL Industri Elektronik A/S - User Manual - Integrated Stepper Motors MIS17x, 23x, 34x, 43x

2.8 How to connect a MIS motor

TT2347-01GB

CN2

Ethernet

CN3
RS485 (SSI etc.) + I/O

CN4

RS485 + I/O + Backup(optional)

2.8.8 MISxxxxxxE(2-7)xxxx connector description.

Hardware wise all the MIS motors with the Ethernet option are equal and offer the con­nectivity shown in the table below.
The following Ethernet protocols are supported in this moment:
MISxxxxxxE2xxxx : EtherCAT
MISxxxxxxE3xxxx : EtherNetIP
MISxxxxxxE4xxxx : Ethernet POWERLINK
MISxxxxxxE5xxxx : Modbus TCP
MISxxxxxxE6xxxx : ProfiNet
MISxxxxxxE7xxxx : Sercos III

The MIS motors offers robust M12 connectors which makes it ideal for automation ap­plications. The M12 connectors offer solid mechanical protection and are easy operate.
Following scheme gives the relevant information about each connector and the pins, wire
colours and a short description of the signals available.

The connector layout:

“PWR” (CN1) - Power input. M12 - 5pin male connector

JVL Cable
WI1000-

Signal name Description Pin no.

P+ Main supply +7-72VDC. Connect with pin 2 * 1 Brown 1

P+ Main supply +7-72VDC. Connect with pin 1 * 2 White 1

P- Main supply ground. Connect with pin 5 * 3 Blue 1

CVI

P- Main supply ground. Connect with pin 3 * 5 Grey 1

* Note: P+ and P- are 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.

(Continued next page)

Control and user output supply +7-28VDC.

DO NOT connect >30V to this terminal !

4 Black 1

M12F5TxxN

Isolation
group

JVL Industri Elektronik A/S - User Manual - Integrated Stepper Motors MIS17x, 23x, 34x, 43x 47

2.8 How to connect a MIS motor

“CN2” - Ethernet In port connector - M12 - 4pin female connector “D” coded

Signal
name Description Pin no.

Tx0_P Ethernet Transmit channel 0 - positive terminal 1 - 2

Rx0_P Ethernet Receive channel 0 - positive terminal 2 - 2

Tx0_N Ethernet Transmit channel 0 - negative terminal 3 - 2

Rx0_N Ethernet Receive channel 0 - negative terminal 4 - 2

“CN3” - RS485 (SSI etc.) + I/O. M12 - 8pin Male connector.

Signal
name Description Pin no.

IO5 Used for zero set. Leave open if unused 1 White 1

IO6 Counting direction. Leave open if unused 2 Brown 1

RS422: A1+ SSI Clock +. Leave open if unused 3 Green 1

GND Signal ground. Leave open if unused 4 Yellow 1

RS422: B1- SSI Data in -. Leave open if unused 5 Grey 1

RS422: B1+ SSI Data in +. Leave open if unused 6 Pink 1

RS422: A1- SSI Clock -. Leave open if unused 7 Blue 1

CVO Supply output. Connected internally to the CVI

terminal in the PWR connector. Max 700 mA

“CN4” - RS485 + I/O + Backup (option) connector - M12 - 17pin female connector

Signal
name Description Pin no.

IO1 I/O channel 1. Can be used as input or output 1 Brown 1

GND

IO2 I/O channel 2. Can be used as input or output 3 White 1

IO3 I/O channel 3. Can be used as input or output 4 Green 1

B1- RS422 I/O terminal B- 5 Pink 1

IO4 I/O channel 4. Can be used as input or output 6 Yellow 1

A1- RS422 I/O terminal A- 7 Black 1

B1+ RS422 I/O terminal B+ 8 Grey 1

CVO Supply output. Connected internally to the CVI

A1+ RS422 I/O terminal A+ 10 Violet 1

IO5 I/O channel 5. Can be used as input or output 11 Grey/Pink 1

IO6 I/O channel 6. Can be used as input or output 12 Red/Blue 1

IO7 I/O channel 7. Can be used as input or output 13 White/Green 1

IO8 I/O channel 8. Can be used as input or output 14 Brown/Green 1

RS485: B0- RS485 interface. Leave open if unused 15 White/Yellow 1

EXTBACKUP

RS485: A0+ RS485 interface. Leave open if unused 17 White/Grey 1

* Note: Isolation group indicate which terminals/circuits that a galvanic connected to each other. In other
words group 1, 2, 3 and 4 are all fully independently isolated from each other. Group 1 correspond to the
housing of the motor which may also be connected to earth via the DC or AC input supply.

Ground intended to be used together with the
other signals in this connector

terminal in the PWR connector. Max 700 mA

Only for motors with the -H3 or -H4 option (abs. multi­turn encoder). This terminal can be connected to an
external supply.

Connect to ground (GND) if not used.

8 Red 1

2 Blue 1

9 Red 1

16

JVL Cable
WI1046­M12M4S05R

JVL Cable
WI1000-M12
F8TxxN

JVL Cable
WI1009M12
M17TxxN

Yellow/Brown

Isolation
group
(See note)

Isolation
group
(See note)

Isolation
group
(see note)

1

48 JVL Industri Elektronik A/S - User Manual - Integrated Stepper Motors MIS17x, 23x, 34x, 43x

2.8 How to connect a MIS motor

TT2333-01GB

2.8.9 Cables for the MISxxxxxxE6xxxx

The following cables equipped with M12 connector can be supplied by JVL.

MIS34x Connectors Description JVL Order no. Picture

“PWR”

5pin
Male

“CN2”

5pin
Female

“CN3”

8pin
Female

“CN4”

17pin
Female

X

X

Not relevant. The RS485-USB­ATC-820 connect to CN2 through
cable type RS485-M12-1-5-8

X X

X X

X X

This cable only exist in 5m length

RS485 Interface cable. Connects
directly from The MIS motor to a
RS485 comport.
Length: 5m (197 inch)

Cable (Ø5.5mm) with M12 male
5-pin connector loose wire ends

0.35mm² (22AWG) and foil screen.
Length: 5m (197 inch)

USB to RS485 Converter. To be
used if no RS485 COM port is avail
able.

Cable (Ø5.5mm) with M12 male D­coded 4-pin connector loose wire
ends 0.35mm² (22AWG) and foil
screen. Length: 5m (197 inch)

Same as above but 15m (590 inch)

Cable (Ø5.5mm) with M12 male D­coded 4-pin connector and RJ45
connector.
Length: 5m (197 inch)

RS485-M12-1-5-17S

WI1000-M12F5T05N

-

RS485-USB-ATC-820

WI1046-M12M4S05R

WI1046-M12M4S15R

WI1046-M12M4S05­NRJ45

Cable with M12 male 17-pin
connector loose wire ends

X

0.22mm² (24AWG) and screen.
Length: 5m (197 inch)

Same as above but 20m (787 inch)

X

WI1009-M12M17S05N

WI1009-M12M17S20N

Protection caps. Optional if connector is not used to protect from dust / liquids.

X X X

X

IP67 protection cap for M12
female connector.

IP67 protection cap for M12

male connector.

WI1000-M12FCAP1

WI1000-M12MCAP1

JVL Industri Elektronik A/S - User Manual - Integrated Stepper Motors MIS17x, 23x, 34x, 43x 49

2.8 How to connect a MIS motor

36.0mm

[1.42 inch]

54.0mm

[2.126 inch]

0

5.0mm
[0.197inch]

= Mounting holes

77.0mm
[3.031inch]

112.0mm
[4.409inch]

2 x
Ø4/8mm

[Ø0.16/0.32inch]

2 x
Ø4x8mm

[Ø0.16x0.32inch]

118.0mm
[4.646inch]

TT3088-01GB

2.8.10 Drawing and description of PA0190

Junction box that splits the signals in the MIS motors “CN4” 17 pin I/O connector into 4
individual connectors giving an easy and more flexible installation.

Usage hints:
The LED's will only work with a MIS motor where the OUT+ and IO- is supplied from
the CN4 connector. See also the I/O description for the module.
If a cable is connected to the “BYPASS” then the Communication pins and GND must be
properly connected to valid signals (pins 2,15,17). AND “COM” must not be used. In
other words use EITHER the “BYPASS” OR the “COM” connector. Not both.

50 JVL Industri Elektronik A/S - User Manual - Integrated Stepper Motors MIS17x, 23x, 34x, 43x

2.8 How to connect a MIS motor

«COM»

8 pin Female

«IO2»

8 pin Male

«BYPASS»

17 pin Female

Cable from Motor

with 17 pin Male connector

«IO1»

8 pin Male

TT2476-01GB

1

11

1

1

2

2

2

2

2

3

3

3

3

3

7

99

7

7

7

7

8

10101616111112

12

8

8

Signals
and colors
like the
«BYPASS»
cable

The screen is
connected to
«GND»
(main ground)

1717

8

8

4

4

4

4

4

5

66

1313

5

5

6

15

15

5

5

1414

6

6

B

Y

P

A

S

S

C

O

M

C

O

M

I

O

2

I

O

2

I

O

1

I

O

1

Pin no.

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

Color*

Brown
Blue
White
Green
Pink
Yell ow
Black
Grey
Red
Violet
GY/PK
RD/BU
WH/GN
BN/GN
WH/YE
YE/BN
WH/GY

-

Funct.

IO1
GND
IO2
IO3
B1­IO4
A1­B1+
CVO
A1+
IO5
IO6
IO7
IO8

B0-

RS485:

Ext

Backup

A0+

RS485:

GND

Pin no.

Pin 1
Pin 2
Pin 3
Pin 4
Pin 5
Pin 6
Pin 7
Pin 8
Body

Pin no.

Pin 1
Pin 2
Pin 3
Pin 4
Pin 5
Pin 6
Pin 7
Pin 8
Body

Pin no.

Pin 1
Pin 2
Pin 3
Pin 4
Pin 5
Pin 6
Pin 7
Pin 8
Body

Funct.

IO1
IO2
IO3
Ext

Backup

IO6
IO5
GND
CVO
GND

Funct.

IO4
IO7
IO8
Ext

Backup

IO6
IO5
GND
CVO
GND

Func.

IO4

A0+

RS485:

B0-

RS485:

GND

B0-

RS485:

A0+

RS485:

IO7
IO8
GND

Color*

White
Brown
Green
Yellow
Grey
Pink
Blue
Red

-

Color*

White
Brown
Green
Yell ow
Grey
Pink
Blue
Red

-

* Notes.

Colors shown are based on

the JVL standard cables type:

COM

connection 8 Pin Male

cable WI1000-M12M8TxxN

connect. 17 Pin Male

BYPASS

cable WI1009-M12M17TxxN

connection 8 Pin Female

IO1

cable WI1000-M12F8TxxN

connection 8 Pin Female

IO2

cable WI1000-M12F8TxxN

Color*

White
Brown
Green
Yellow
Grey
Pink
Blue
Red

-

POWER

is lit if terminal

is supplied

«CVO»

RX

is lit if data is rec-

eived or transmitted at

the RS485 line.

TX

is lit if data is trans­mitted or received at
the RS485 line.

IO3

is lit if IO3
is activated.
(Input or output)

IO4

is lit if IO4
is activated.
(Input or output)

IO5

is lit if IO5
is activated.
(Input or output)

IO6

is lit if IO6
is activated.
(Input or output)

IO1

is lit if IO1
is activated.
(Input or output)

IO2

is lit if IO2
is activated.
(Input or output)

Text in inverse is
relevant when PA0190
is used with the
MIS34x motors

Text in NON-inverse must
be used when PA0190 is
used with the MAC00-Ex41
Ethernet modules.

LED explanations

Terminal and LED description of the PA0190 Junction box.

JVL Industri Elektronik A/S - User Manual - Integrated Stepper Motors MIS17x, 23x, 34x, 43x 51

2.8 How to connect a MIS motor

TT3090-01GB

Diagram of the internal details in the PA0190 Junction Box.

52 JVL Industri Elektronik A/S - User Manual - Integrated Stepper Motors MIS17x, 23x, 34x, 43x

2.9 LED indicators basic motor

TT2344-01GB

Error indicator

Power indicator

Unused but user configurable

Indicator overview

Motor moving

(can also be user configured)

Motor in position

(can also be user configured)

2.9.1 LED’s - description for products without Ethernet or CANopen.

This description covers all MIS motors with basic configuration without any Ethernet or
CANopen such as MISxxxxxxQ5xxxx, MISxxxxxxQ9xxxx, MISxxxxxxFBxxxx, or
MISxxxxxxEWxxxx.
The LED's are used for indicating states and faults.

LED indicator descriptions (default setup)

LED Text Colour Constant off Constant on Blinking

L1 Green Default Only when user configured Only when user configured
L2 Green Motor not moving Motor moving -
L3 Green Motor not in position Motor in position -

ERR Red No error - Error

PWR Green Power is not applied Power is applied to both

motor and module.
Only MIS17x and MIS23x:
The LED will lit red constant­ly if the supply is too low.

-

L1, Red, shows by default the Status bit 15: Closed loop lead/lag detected. It tells if the mo-

tor is overloaded, which can be caused of too low Running current or too heavy load.

L1 to L3 can be configured to show the status of a almost any single bit from a user de­fined register. Please see FlexLEDSetup1, page 230 for the details.

JVL Industri Elektronik A/S - User Manual - Integrated Stepper Motors MIS17x, 23x, 34x, 43x 53

2.10 LED indicators using CANopen

TT2345-01GB

CANopen Error LED

Power indicator

CANopen run LED

Indicator overview

Motor moving

(can also be user configured)

Motor in position

(can also be user configured)

2.10.1 Indicator LED’s - description for products with CANopen.

This description covers all MISxxx products with build in CANopen option such as
MIS34xxxxP6xxxx.
The LED's are used for indicating states and faults.

LED indicator descriptions (default setup)

L2 to L3 can be configured to show the status of a almost any single bit from a user de­fined register. Please see FlexLEDSetup1, page 230 for the details.

LED Text Function Colour Constant off Constant on Blinking

L1 CANopen

run LED

L2 Motor moving Green Motor not moving Motor moving -
L3 Motor in

position

ERR CANopen

error LED

PWR Power Green Power is not applied. Power is applied to both

Green

Green Motor not in position Motor in position

Red

Please see below and optionally the DS303-3 standard

Please see below and Please see the DS303-3 standard

motor and module.
Only MIS17x and MIS23x:
The LED will lit red constant­ly if the supply is too low.

-

-

54 JVL Industri Elektronik A/S - User Manual - Integrated Stepper Motors MIS17x, 23x, 34x, 43x

2.11 LED indicators using Ethernet

2.11.1 Indicator LED’s - description for products with Ethernet.

The MIS motors offers optional 6 different Ethernet protocols.
These are:

- EtherCAT

- ModbusTCP

- Profinet

- Powerlink

- EthernetIP

- SercosIII

This manual do only cover description of how to connect.
Concerning LED indicators, software and protocol setup and usage please consult a sep­arate manual that can be found at www.jvl.dk using this link: www.jvl.dk
The LED descriptions are in the chapters “Commissioning” for each protocol.

JVL Industri Elektronik A/S - User Manual - Integrated Stepper Motors MIS17x, 23x, 34x, 43x 55

56 JVL Industri Elektronik A/S - User Manual - Integrated Stepper Motors MIS17x, 23x, 34x, 43x

3 Functional Safety

JVL Industri Elektronik A/S - User Manual - Integrated Stepper Motors MIS17x, 23x, 34x, 43x 57

3.1 STO - Safe Torque Off

Option

MIS23_ _ _ _ _ _ _ XX

Motor size

Feedback type (if any)

Connectivity:

- Ethernet type

- Wireless

- CANopen

- Basic I/O

S6
P6
S8
P8

= Includes STO.
= Includes STO.
= Includes STO.
= Includes STO.

Options:

Torque rating
Shaft version

etc.

Controllertype

TT2548-02GB

Nomenclature for the MIS product family

S = Standard P = Potted

3.1.1 Introduction

This section provides information for use of MIS stepper motors in functional safety ap­plications. The section includes information about functional safety standards, the STO
function, the related installation and commissioning and service and maintenance for
STO.

3.1.2 Functional overview

Introduction

As an option the MIS motor can be delivered with the so-called STO function which to a
certain extend can simplify the safety system in the actual application. If the STO option
is present in the motor an extra 4-pin M8 connector is available with 2 inputs. These 2
inputs need to be applied with a 24V (nom.) voltage in order to let the motor be ener
gized and thereby operate. If one or both of the inputs are not supplied, the motor will
be de-energized and no movement will happen regardless which commands are sent to
the motor. The STO input simply overrule any other attempts to let the motor run. The
default settings require manual restart of the motor when the STO signals are re-applied.

Products covered and identification

The whole range of MIS and MIL stepper motors offers the STO option. To identify
whether a motor has the STO option installed, please check the last 2 digits of the type
number:

-

58 JVL Industri Elektronik A/S - User Manual - Integrated Stepper Motors MIS17x, 23x, 34x, 43x

3.1 STO - Safe Torque Off

Option

TT2559-01GB

Example of the physical label on the motor where the S8 is identified and marked with a
red circle:

3.1.3 Abbreviations

Abbreviation Reference Description

Cat. ISO13849-1 Category, level “1-4”

DC - Diagnostic coverage

FIT - Failure in time: 1E-9/hour

HFT IEC61508 Hardware fault tolerance: HFT = n means that n+1 faults cause a loss of

MTTFd ISO13849-1 Mean time to failure – dangerous. Unit: Years

PFH IEC61508 Probability of dangerous failures per hour. Consider this value if the

PFD IEC61508 Average probability of failure on demand, value used for low demand

PL ISO13849-1 Performance level, used to specify the ability of safety-related parts of

SIL IEC61508

IEC62061

STO IEC61800-5-2 Safe Torque Off

SRECS IEC62061 Safety related electrical control system

SRP/CS ISO13849-1 Safety related parts of control systems

PDS/SR IEC61800-5-2 Power drive system (safety related)

the safety function.

safety device is operated in high demand or continuous mode of
operation, where the frequency of demands for operation made on a
safety-related system is greater than once per year.

operation.

control systems to perform a safety function under foreseeable conditions.
Levels a–e.

Safety integrity level

JVL Industri Elektronik A/S - User Manual - Integrated Stepper Motors MIS17x, 23x, 34x, 43x 59

3.2 Safety

Option

3.2.1 Qualified personnel

Only persons with proven skills are allowed to assemble, install, program, commission,
maintain, and decommission the products.

Persons with proven skills

• Are qualified electrical engineers, or persons who have received training from quali­fied electrical engineers and are suitably experienced to operate devices, systems,
plant, and machinery in accordance with the general standards and guidelines for safe
ty technology.

• Are familiar with the basic regulations concerning health and safety/accident preven­tion.

• Have read and understood the safety guidelines given in this section and also the in­structions given in the general operating instructions of the stepper motor.

• Have a good knowledge of the generic and specialist standards applicable to the spe­cific application.

Users of power drive systems (safety related) (PDS(SR)) are responsible for:

• Hazard and risk analysis of the application.

• Identifying safety functions required and allocating SIL or PLr to each of the functions.

• Other subsystems and the validity of signals and commands from them.

• Designing appropriate safety-related control systems (hardware, software, parame­terization, and so on).

-

Protective measures

• Only qualified and skilled personnel is allowed to install and commission safety engi­neering systems.

• Check the ingress protection (IP) level of the motor before installation in wet, humid
environments -

• Ensure short-circuit protection of the STO cable between the motor and the external
safety device according to ISO 13849-2 table D.4.

• When external forces influence the motor axis (for example suspended loads), extra
measures (for example a safety holding brake) are required to eliminate hazards.

3.2.2 Safety precautions

CAUTION

After installation of STO, perform a commissioning test as specified in chapter STO com-

missioning test, page 70. A passed commissioning test is mandatory after first installation

and after each change to the safety installation. In case that the test of STO fails: DO

NOT use the motor, return it to JVL Industri Elektronik A/S for service.

The motor control electronics including the safety related parts must only be serviced
and repaired by JVL Industri Elektronik A/S. Access to the inner parts of the motor will
violate the guarantee.

Ordering information, page 353.

60 JVL Industri Elektronik A/S - User Manual - Integrated Stepper Motors MIS17x, 23x, 34x, 43x

3.2 Safety

Option

Time

STO Function Activation

TT2542-01GB

In this area the motor is de-energized
but dependant on the attached inertia
to the motor it will keep moving for a
while before its fully stopped.

WARNING

RISK OF DEATH AND SERIOUS INJURY
If external forces act on the motor, for example in case of vertical axis (suspended loads),
and an unwanted movement, for example caused by gravity, could cause a hazard, the
motor must be equipped with extra measures for fall protection. For example, install ex
tra mechanical brakes.

WARNING

STO is suitable for performing mechanical work on the system or affected area of a ma­chine only. It does not provide electrical safety.

NOTICE

Perform a risk assessment for each stop function to determine the selection of a stop cat­egory in accordance with EN 60204-1:

• Stop Category 0 is achieved with immediate removal of power to the actuator, re­sulting in an uncontrolled coast to stop.
The STO according to EN 61800-5-2 accomplishes a Stop Category 0 stop.

-

This is the only category available for the MIS motors alone. Other measures must be
made to achieve stop category 1 or 2:

• Stop Category 1 is achieved with power available to the machine actuators to achieve
the stop. Power is removed from the actuators when the stop is achieved according
to EN 61800-5-2 Safe Stop 1 (SS1).

• Stop Category 2 is a controlled stop with power available to the machine actuators.
A holding position under power follows the stop.

NOTICE

When designing the machine application, timing and distance must be considered for a
coast to stop (Stop Category 0 or STO).

For more information regarding stop categories,

refer to EN 60204-1.

JVL Industri Elektronik A/S - User Manual - Integrated Stepper Motors MIS17x, 23x, 34x, 43x 61

3.2 Safety

Option

3.2.3 Important general information.

If the motor is used outside the environmental limits given in this instruction the motor
can not be expected to perform a safe stop when there is a demand on the STO-safety
function.

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3.3 Installation

Option

3.3.1 Safety instructions

CAUTION - ELECTRICAL HAZARD

The operator or electrical installer is responsible for proper grounding and compliance
with all applicable national and local safety regulations. Please see

ing and Earthing, page 14.

3.3.2 STO installation

Installation must be in accordance with the following steps and must be carried out by
competent personnel, see
intended to be part of the safety related control system. Before installation, perform a
risk assessment that compares the Safe Torque Off option specifications and all foresee
able operational and environmental characteristics of the control system. A safety analy­sis of the machine section controlled by the drive is required to determine how often to
test the safety function for proper operation during the life of the machine.

3.3.3 Enabling the STO function

NOTE: The MIS motors must be ordered with the STO option installed.
The STO option is enabled when the NON-STO plug is not inserted, please see Disa-

bling the STO function, page 71 to learn more about the NON-STO plug.

Qualified personnel, page 60. The Safe Torque Off option is

Power Supply Ground-

-

3.3.4 Cables and connectors

The STO connector contains the two enable inputs STOA and STOB. Both inputs must
be applied nominal +24VDC in order to energize the motor and make any motor move
ment possible. STO-signals must originate from a safety isolating transformer in accord­ance with IEC 61558-1 and IEC 61558-2-6 or from a switch mode power supply with
equivalent property. If only one of the inputs is not applied +24VDC the internal STO
circuit will remove the energy from the motor. The illustration below shows the pinout
of the connector. A 100 mA fuse must be inserted in each channel.

-

Use only the standard cable for the STO function: JVL stock no. WI1010-M08M4V05P.

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3.3 Installation

Option

TT2561-01GB

Terminate outer screen

to earth

Inner screens isolated from outer screen
(Test voltage 500VDC)

Outer Screen

Brown = STOA input
Inner screen = STO GND
Inner screen = STO GND

Black = STOB input

The standard STO cable is yellow to signal “safety”, and by using this official cable, the
disable output (pin 4) is not connected inside. If using another standard cable, pin 4 might
be connected and therefore 24 V is inside the cable and could be a risk in safety applica
tions.



-

3.3.5 Functional Proof tests

The functional safety standards require that functional proof tests be performed on the
equipment used in the system. Proof tests are performed at user-defined intervals and
are dependent upon PFD and PFH values.

IMPORTANT

The specific application determines the time frame for the proof test interval. Verify op­eration of safety function after drive installation, modification, or maintenance.
Refer to STO commissioning test, page 70 for more information about how to test the
safety function.

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3.4 Commissioning

Option

3.4.1 Safety instructions

CAUTION - ELECTRICAL HAZARD

The operator or electrical installer is responsible for proper grounding and compliance
with all applicable national and local safety regulations.
Please see Power Supply Grounding and Earthing, page 14.

3.4.2 Activation of STO

The STO is activated by removing either signal STO_A, STO_B or both. In all 3 cases the
STO will be active and the motor will not be energized.

3.4.3 Parameter settings for STO (auto./manual restart behavior)

AUTOMATIC RESTART
Automatic restart behavior is only allowed in 1 of the 2 situations:

• The unintended restart prevention is implemented by other parts of the STO instal­lation.

• A presence in the dangerous zone can be physically excluded when STO is not acti­vated. In particular, paragraph 6.3.3.2.5 of ISO 12100: 2010 must be observed.

JVL Industri Elektronik A/S - User Manual - Integrated Stepper Motors MIS17x, 23x, 34x, 43x 65

3.4 Commissioning

Option

3.4.4 Operating the STO feature using MacTalk

If the motor has the Safe Torque Off option installed, The “STO – Safe Torque Off” tab
will be shown in MacTalk.
The actual status of both channels can be monitored on this tab. When green, the channel
is ON. Both channels must be ON at the same time in order to enable the motor.

When one or both of the channels are OFF, the Safe Torque Off is active and the motor
is disabled. The motor will behave according to the settings made:

Below the STO tab in MacTalk.

3.4.5 Motor action if STO is active

Below a description of the 3 possible actions that can be done if the STO is activated.
They refer to the screen dump above.

Set Errorbit

Default = OFF
The motor will set both the General (bit 0) and the STO (bit 29) error bit. To get the
motor back in normal operation the STO channels must be ON, the error must be
cleared and an active operation mode must be selected.

Set Passive mode

Default = ON
The motor will go to passive mode. To get the motor back in normal operation the STO
channels must be ON and an active operation mode must be selected.

Set Velocity = 0 RPM

Default = OFF
The motor stays in the actual mode and the requested velocity will be set to 0 RPM. After
the STO channels are ON, a velocity value (>0 RPM) must be written into the velocity
register to get the motor moving again.

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3.4 Commissioning

Option

3.4.6 STO Error messages

2 error messages exist:

- Safe torque off (triggered)

When the Safe Torque Off is or has been active and the Set Errorbit setting, the
STO Error bit is set, and in MacTalk this can be monitored on the right status panel
as “Safe torque off (triggered)”. The error will only be cleared by sending the
“Clear errors” command.

- Safe Torque off (internal error)

Will only be set if the STO self-diagnostic circuit has detected an internal error. In this
case, the motor must be returned to the manufacturer (JVL) for repair. This error can
not be cleared.

3.4.7 STO Warning messages

Warnings
When the Safe Torque Off is active, the STO Warning bit is set, and in MacTalk this can
be monitored on the right status panel as “STO- Safe Torque Off Warning”.

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3.4 Commissioning

Option

3.4.8 Safe Torque Off without using MacTalk

If MacTalk is not used for monitoring the status of the STO function it must be done as
follows:

The motor contains a number of registers which can be accessed from various protocols
depending on which options the motor has.
Protocols available are for example Ethernet (EthernetIP, PROFINET etc.) and CAN­open, Modbus or the MacTalk protocol.
The status of the STO function is also available using above protocols.

Each field in MacTalk described earlier in this chapter can be monitored/read from a reg­ister in the motor.

The registers that are relevant for the STO function are:

R25 STATUS_BITS Status bits related to the STO function.

Note that other bits for many other functions in the motor
are also represented in this register.

- Bit 23: Input status for the STOA input.
Reading “0” means that the input is inactive

(no voltage applied).

- Bit 24: Input status for the STOB input.
Reading “0” means that the input is inactive
(no voltage applied).

See also: Status bits, page 198

R35 ERROR_BITS Error bits related to the STO function.

Note that other bits for many other functions in the motor
are also represented in this register.

- Bit 27: STO_ALARM.
Will be set if there is an internal hardware defect in
the STO circuitry.

Important

The STO_ALARM will only be set if the STO self-di­agnostic circuit has detected an internal error.
In this case, the motor must be returned the manu­facturer (JVL) for repair.

- Bit 29: STO - This bit will be set if one of the 2 STO inputs
are off (not applied an voltage). Also STO is set if the
STO_ACTION_ERROR bit is set.

See also: Err_Bits, page 201

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3.4 Commissioning

Option

R36 WARNING_BITS Warning bits related to the STO function.

Note that other bits for many other functions in the motor
are also represented in this register.

- Bit 9: STO Warning
The STO warning bit is always set if one of the STO
channels are off (no voltage applied to the STOA
and/or STOB input)

See also: Warn_Bits, page 202

R124 SETUP_BITS Setup bits related to the STO function.

Note that other bits for many other functions in the motor

are also represented in this register.

If one or more of the following bits are set, the motor will

behave as described when the STO function is activated:

-Bit 29:STO_ACTION_ERROR

The motor will set both the General (bit 0) and the STO
(bit 29) error bit.

- Bit 30:STO_ACTION_PASSIVE

The motor will go to passive mode.

- Bit 31:STO_ACTION_V_ZERO

The motor stays in the actual mode and the requested
velocity will be set to 0 RPM.

See also: Setup_Bits, page 213

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3.4 Commissioning

Option

3.4.9 STO commissioning test

After installation and before first operation, perform a commissioning test of the installa­tion, using STO. Perform the test again after each modification of the installation or ap­plication involving the STO.

NOTICE
A successful commissioning test of the STO function is required after the initial installa­tion, and after each subsequent change to the installation.

To perform a commissioning test:

• Follow the instructions in chapter Restart prevention for STO application, page 70
for applications without automatic restart after a safe stop, or

• Follow the instructions in chapter Automatic restart of STO application, page 71 for
applications with automatic restart after a safe stop.

3.4.10 Restart prevention for STO application

Application where SETUPBITS are set to default values STO_ACTION_ERROR=1,
STO_ACTION_PASSIVE=0, STO_ACTION_V_ZERO=0:

1. Set the motor in an active mode where it runs at well-defined velocity.

2. Remove STO channel A.

3. Check that:
3a The motor coasts until stop.
3b If any monitoring is connected, then check that ERRORBIT 0 and 29 are set. If

MacTalk is connected, it shows “Safe Torque Off – triggered”.

4. Reapply 24 V DC to STO channel A.

5. Verify that the motor remains stopped.

6. Clear the ERRORBITS either with MacTalk (“Clear errors” button”) or by sending

command 97 to register 24.

7. Set the motor in the active mode.

8. Check that the motor runs at the defined velocity.

Repeat the procedure with STO channel B.

The commissioning test is successfully completed when all the given steps are passed.

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3.4 Commissioning

Option

TT2560-01GB

3.4.11 Automatic restart of STO application

Application where SETUPBITS are set to STO_ACTION_ERROR=0, STO_ACTION_­PASSIVE=0, STO_ACTION_V_ZERO=0:

1. Set the motor in an active mode where it runs at well-defined velocity.

2. Remove STO channel A.

3. Check that the motor coasts until stop.

4. Reapply 24 V DC to STO channel A.

5. Check that the motor runs at the defined velocity.

Repeat the procedure with STO channel B.

The commissioning test is successfully completed when all the given steps are passed.

NOTICE
See the warning on the restart behavior in chapter Parameter settings for STO (auto./

manual restart behavior), page 65

3.4.12 Disabling the STO function

If the STO function is not needed the plug JVL type WI1010-M08M4SSTO must be in­serted in the STO connector at the motor.

The reason for this external plug to disable the STO function is to obtain a high safety
level and make sure that no misunderstandings will occur concerning whether the STO
function is active or not.

Pictures of the 4 pin M8 plug

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3.4 Commissioning

Option

3.4.13 Service and maintenance

For PL e or SIL3, it is a must, for lower PL or SIL it is recommended to conduct a func­tional test every 12 months to detect any failure or malfunction of the STO functionality.
To conduct the functional test, perform the following steps (or a similar method suitable
for the application):

1. Remove the 24 V DC voltage supply from the STO A and B.

2. Check if the monitoring gives an error message.

3. Verify that the motor is coasting and comes to a complete stop.

4. Verify that the motor cannot be started by re-applying the 24 V DC to STO A and B.

5. Verify that the motor is not started automatically until errors are cleared and the mo­tor is set in an active mode.

3.4.14 Capabilities

Safe Torque Off performs a safety function such that when one of the STO inputs is not
active, (i.e. open-circuit or set at nominally 0V), the motor will not develop torque. The
STO function is implemented purely in simple solid state hardware for which substantial
failure data exists, allowing meaningful quantitative FMEA to be carried out. The function
does not use software or complex hardware. The probability of failure of the safety func
tion due to a hardware fault has been estimated by JVL Industri Elektronik A/S as 1,38e­10 per hour (IEC61508/IEC62061/IEC61800-5-2) or 4,29e-8 per hour (ISO13849), and
assessed by the independent notified body TÜV NORD (pending). The input is compat
ible with self-testing digital outputs of controllers such as PLCs, where the test pulse is a
maximum of 1 ms. This means that the drive is not disabled by logic-low input pulses with
a maximum of 1 ms duration.

-

-

3.4.15 Limitations

• STO uses solid-state techniques, it does not provide physical separation of electrical

connections and is not intended to provide electrical isolation.

• STO does not provide braking, it disables the motor so no motor electrical braking

is available. If motor braking is a requirement then an external arrangement must be
made to stop the motor conventionally and then to safely remove the STO inputs to
activate STO. Braking by the drive is not a high-integrity function, if braking is a safety
requirement then an independent fail-safe brake must be provided.

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3.4 Commissioning

Option

3.4.16 STO Technical Data

NOTICE : The STO signal must be SELV or PELV supplied.

Machinery Directive (2006/42/EC)

EN ISO 13849-1/2
EN IEC 62061
EN IEC 61800-5-2

European directives

Safety standards

Safety function

Safety performance

Reaction time

EMC Directive (2014/30/EU) EN 61000-6-3

EN 61800-3

Low Voltage Directive (2014/35/EU)

Safety of Machinery

Functional Safety IEC 61508-1/2, IEC 61800-5-2

ISO 13849-1

Category Cat 3
Diagnostic Coverage DCavg: 98,5 % (Medium)
Mean Time to Dangerous Failure

(per channel)
PFHd 4,29e-8/h
Performance Level PLe

IEC 61508 / IEC 62061 / IEC61800-5-2

Safety Integrity Level SIL 3, SIL CL3
Systematic capability

(systematic integrity level)
Probability of Dangerous Failure

per Hour
Diagnostic Coverage DC: 96 %
Safe Failure Fraction SFF: 96 %
Common Cause Failure Factor CCF 5 %
Hardware Fault Tolerance HFT: 1 (1oo2)
Proof Test Interval T1 20 Years
Mission time TM 20 Years
Input to output response time Maximum 8 ms.
Response time (internal fault) Maximum 200 ms.

EN 61800-5-1
EN ISO 13849-1/2, IEC 62061,

IEC 60204-1

IEC 61800-5-2 IEC 60204-1
Safe Torque Off

(STO)

MTTFd: 100 years (High)

SIL 3

PFHd: 1,38e-10/h
(High Demand Mode)

Stop
Category 0

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3.4 Commissioning

Option

The following temperature profile is used in safety value calculations:

• 1000 on/off cycles per year with T = 85 °C

• 85 °C board temperature at 100 % of time.

• The STO is a type A safety component as defined in IEC 61508-2.

• Relevant failure modes:

1. The STO trips spuriously (safe failure)

2. The STO does not activate when requested

The analysis is based on an assumption that one failure occurs at one time. No accumu­lated failures have been analyzed. The conclusion gives that no single dangerous failures
can remain undetected, and therefore the motor will always go to safe state in case of
one dangerous failure at a time.

• Reaction times are described in section STO function activation and indication re­sponse times in the table above.

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3.5 Specifications and Certifications

Option

3.5.1 General specifications

Attribute Value

Standards EN 60204-1, IEC 61508, EN 61800-3, EN 61800-5-1,

Safety category Cat. 3 and PL e per EN ISO 13849-1;

Power supply (user I/O) 24V DC ±10%, 0.8…1.1 x rated voltage PELV or SELV

STO A 24 V DC, max. 10 mA

STO B 24 V DC, max. 10 mA

STO input ON voltage, min 5 V

STO input OFF voltage, max 2 V

STO input absolute max rating 60 V

Conductor type Multi-conductor shielded cable

Conductor size 24 AWG

Strip length 10 mm

3.5.2 Environmental specifications

The installation must comply with all environmental, pollution degree, and drive enclo­sure rating specifications required for the operating environment.

EN 61800-5-2, EN 62061, EN ISO 13849-1

SIL CL3 per IEC 61508 and IEC 62061

Category Specification

Ambient temperature 0…40 °C

Storage temperature -40…70 °C

Relative humidity 5..93 % non-condensing

Shock 15 g, 30ms. (EN/IEC 60068-2-27)

Vibration 5 - 25 Hz: ±1.6mm,

Surrounding environment The ingress protection (IPxx) depends on the specific motor type

EMC

ATTENTION:
Failure to maintain the specified ambient temperature can result in a failure of the safety
function.

3.5.3 Certifications

Certification Value

TÜV CertifiedbyTÜVNORDforFunctionalSafety:

25 - 500Hz: 4 g, 1.0 oct./min.
(EN/IEC 60068-2-6)

number. Please see Ordering information, page 353

Emission IEC61800-3 (Category 2)

Noise immunity IEC61000-6-2

uptoSILCL3,accordingtoIEC61800‐5‐2,IEC61508,andEN62061;

uptoPerformanceLevelPLeandCategory3,accordingtoENISO
13849‐1;

whenusedasdescribedinthisUserManual.

JVL Industri Elektronik A/S - User Manual - Integrated Stepper Motors MIS17x, 23x, 34x, 43x 75

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4 Using MacTalk

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4.1 Using the MacTalk software

4.1.1 MacTalk introduction

The MacTalk software is the main interface for setting up the MIS motor for a specific
application.

The program offers the following features:

- Selection of operating mode of the MIS motor.

- Changing main parameters such as speed, motor current, zero search type, etc.

- Monitoring in real time the actual motor parameters, such as supply voltage, input

status, etc.

- Changing protection limits such as position limits.

- Saving all current parameters to PC.

- Restoring all parameters from PC.

- Saving all parameters permanently in the motor.

- Updating the motor firmware or MacTalk software from the internet or a file.

The main window of the program changes according to the selected mode, thus only
showing the relevant parameters for operation in the selected mode.

The following pages describe the actual window for each mode and how the parameters
affect MIS motor operation.

MacTalk is normally connected through the RS485 interface but may also work on Ether­net (if the Ethernet option is present in the actual motor).

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4.1 Using the MacTalk software

4.1.2 Toolbar description

The toolbar at the top of MacTalk contains the most commonly used features.

Open

Opens a setup file from PC and downloads the setup to the motor. If no motor is con­nected, the setup is shown in MacTalk and can be edited and saved to the PC.

Save

Saves the actual setup from the motor to a file. If no motor is connected, the actual off­line settings (including module setups and program) are saved.

Save in motor

The complete actual setup in the basic motor will be saved permanently in the flash
memory. If the motor is powered down or reset, the saved setup will be used.

Reset position

Resets the position counter to 0. The content of the position counter can be monitored
in the right side of the main screen as “Actual position”.

Clear errors

Clears all the errors (if any). Please note that if an error is still present, the motor will
remain in the actual error state.

Reset motor

Reset the motor. Same as performing a power off / on operation.

Filter Setup

For specifying the filter setup of the analogue inputs.

STOP motor

Stops the motor immediately using a controlled deceleration ramp and puts the motor
into passive mode. If a program is present this is stopped as well.
This button shall be considered a functional stop button and is available using the
keyboard shortcut F8.
Pressing the “Stop” button will immediately stop the motor by changing the currently
running mode to “passive” using a fast controlled deceleration curve.
Using a quickstep motor or a module that enables the user to execute RxP programs this
execution is also halted to prevent the motor from starting up if a startup-mode is setup
from a program.

Warning! Do not consider this button as an appropriate Emergency stop. Al­ways fit an Emergency stop circuitry to your motor setup.

Auto Scan

If the actual COM port is not known or the motor is setup with an address different from
default the Auto Scan feature can help finding the motor(s). Auto Scan is also available
when connecting with one of the Ethernet protocols (optional)

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4.1 Using the MacTalk software

4.1.3 Saving or opening a setup file to/from PC

The complete motor setup can be saved to PC or
opened from PC and transferred to the motor.
Saving and opening a file over a network is also possible.
The setup files use the extension MAC.
By default, the setup files are saved in the same directory
in which MacTalk itself is also installed.
Other directories can be selected.

In case a motor is present and a PC file is opened the user is prompted for keeping the
connection or going offline and displaying the file-content.
The following message box appears.

If the user decides to go offline the following text box is presented.

Pressing “OK” disconnects the motor from the PC-application and all data can be edited
without any interruption in the motor.

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4.1 Using the MacTalk software

The following MacTalk view is presented.

As seen in the bottom info line, the motor is disconnected and the file data is currently
present in Mactalk. To re-establish communication with the motor, simply press the
”Go Online” -button and if any data has been changed a warning box appears enabling
the user to save current data before re-establishing communication with the motor as
this will overwrite existing data in MacTalk.

If data is changed in MacTalk the user is warned that current data in MacTalk may be
overwritten and needs to be saved. The following warning box is presented.

Choosing “No” will immediately upload all motor data, pressing “yes” will save all data
in the open file.

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4.1 Using the MacTalk software

Active level

for the I/Os
can be chosen to high or
low on inputs

Selection if it shall
be Inputs or Outputs

Dedicated Outputs

Selection for outputs ”In position”,
”In Physical Position”, ”Error”
output. It can also be selected
if the pulses generated shall be
used internally, externally or both
and which output should be used
for pulse and direction signals

Dedicated Inputs

Selection for Inputs
HM, NKL and PL
An external encoder can
also be selected here and
defined as either quadrature
or pulse/direction type.

Input filters

Here the filter for the
digital inputs can be selected.

Status of the outputs **)

Status of the inputs *)

Selection of output for
In-Position and Errors

Selection of Inputs for
HM, NL and PL

TT2183-02GB

Filter time constant

can be adjusted here.
The same value is used for all inputs if filter
inputs are enabled.

4.1.4 Main Screen

4.1.5 I/O Setup tab

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*) The analogue value of certain inputs can be read. Click at the input lamp and the ana­logue value will be shown. The upper value is the actual value and the lower value the
filtered value.

**) If the IO’s are setup as output(s) they can be activated with a click at the output
“LED” in the status window. At the same time the digital and analogue input are activated
since they share the same I/O terminal. This can be very usefull in test situations when
the motor is not installed in the final application with all I/O signals connected.

4.1 Using the MacTalk software

TT2391-01GB

4.1.6 Register Screen

These registers can be used with FastMac commands. For example, the motor can run
to position P2 using velocity V2, acceleration/deceleration A2, running current T2, using
only a one byte command.

These values are not updated automatically. To update, place the cursor at the specific
register value to the left of the box for new values, and click. Otherwise they only update
at motor reset or power up.

When relative moves are made using the MOVE command it uses the Position 1 (P1) reg­ister.

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4.1 Using the MacTalk software

4.1.7 Advanced Screen

4.1.8 Test Screen

This screen is used for adjusting the Zero search sensor to the correct position when us­ing the index pulse of an encoder. The index pulse should be in the green area. If not, the
sensor has to be adjusted.

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4.1 Using the MacTalk software

4.1.9 Scope Function

This function is not available yet!.

The Scope function is an excellent and necessary function for testing a new application
or finding errors in an existing system.
The Setup has to be selected to set up the Scope function correctly before use. Most reg­isters in the MIS motors can be selected for viewing, different trigger functions can be
selected, saving and loading scope pictures is possible, etc.

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4.2 How to update MacTalk

TT2342-02GB

Step 1

Choose the in the menu.

Update MacTalk Updates

Step 2

MacTalk will now check if newer version exist

on the JVL server. If a newer version exist it

will automatically be downloaded and the release

notes can be seen in the window.

Step 3

Press the button to download

Download & Install

the selected latest MacTalk.
The progress counter will now rise from 0
to 100%.

The new version is now located in the same
directory as the MacTalk which was installed
in the first place.
The old version is automatically deleted.

Step 4

When the download process is finished, the status
shows “ .

Update ready”

Press “ in order to start the new version

OK”

of MacTalk.

Step 5

After MacTalk have restarted the version number
of the new MacTalk can be observed in the top
of the screen.
The complete update is finished !.

MacTalk can be updated directly from the internet at any time. It is recommended always to use the
latest version of MacTalk since it support the latest features and bugs may have been found and cor
rected. Below is shown how to make an update of MacTalk.

-

86 JVL Industri Elektronik A/S - User Manual - Integrated Stepper Motors MIS17x, 23x, 34x, 43x

4.3 How to update the motor firmware

Step 1

The firmware update will erase the existing user
setup of the motor. Use the Save button to save
the existing setup before updating the motor.
Then choose the in the

menu.

Update Firmware

Updates

Step 2

The first list shown is only the newest firmwares
related to the actual motor connected.
It may also contains encoder and/or Ethernet
firmware if these features are present.
To see all files also older versions enable the
checkbox
Select the desired firmware, «SMCxxx firmware».
Press S to download the selected firmware.
The progress counter will now rise from 0
to 100%.

“Show all files”.

tart

Step 3

When the download process is finished, the status
shows “ .

Done”

Step 4

The on-line information shown in the lower right
corner of the MacTalk main window will now
show the complete type of firmware and version.

The firmware update is now fully completed.
Please remember that the settings of the motor
is set back to default. But can be reinstalled by
opening the user setup file made initially in this
opdate sequence.

TT2343-01GB

The firmware in the motor can be updated directly from the internet at any time by using
MacTalk.
It is recommended always to use the latest version of the firmware available for the actual
MIS motor used since it will contain the latest features and bugs may have been found
and corrected. Below is shown how to make an update of the firmware. Notice that the
screen dumps below is based on the update of a MIS34x but could be any other size of
MIS motor.

Hint!: Some older products may not start after pushing the “start” button showed above.
If this is the case simply switch off power wait 5 seconds and reapply power. The update
should now start.

JVL Industri Elektronik A/S - User Manual - Integrated Stepper Motors MIS17x, 23x, 34x, 43x 87

4.4 How to update the encoder FW

Only MISxxx---H3/H4--

Step 1

The encoder firmware update will erase the
existing user setup of the motor. Use the

Save

button to save the existing setup before updating
the motor. Then choose the in

Update Firmware

the menu.

Updates

Step 2

The first list shown is only the newest encoder
firmwares related to the actual motor connected.
It may also contains main and/or Ethernet
firmware if these features are present.
To see all files also older versions enable the
checkbox

.“Show all files”

Select the desired firmware, «SMC... encoder

firmware» S

tart

. Press to download the selected
firmware. The progress status counter will now
rise from 0 to 100%.

Step 3

When the download process is finished, the status
shows .“

Done”

If the download process for some reason did NOT
start/succed start from step 1 in this guide but
switch off power until the botton have«Start»
been activated and then switch on power.

Step 4

The on-line information shown in the lower right
corner of the MacTalk main window will now
show the complete type of main firmware
and optionally the ethernet firmware version
(if ethernet is present) including version.
The encoder firmware version is shown by
placing the mouse curser at top of the motor
for a short while.

The firmware update is now fully completed.
Please remember that the settings of the motor
is set back to default. But can be reinstalled by
opening the user setup file made initially in this
opdate sequence.

TT2349-01GB

If the motor has the H3 or H4 (absolute multiturn encoder feature) then the firmware
can be updated directly from the internet very easy at any time by using MacTalk.
It is recommended always to use the latest version of the firmware available for the actual
MIS motor used since it will contain the latest features and bugs may have been found
and corrected. Below is shown how to make an update of the encoder firmware.

88 JVL Industri Elektronik A/S - User Manual - Integrated Stepper Motors MIS17x, 23x, 34x, 43x

Hint!: Some older products may not start after pushing the “start” button showed above.
If this is the case simply switch off power wait 5 seconds and re-apply power. The update
should now start.

4.5 How to get SW/HW motor info

JVL Industri Elektronik A/S - User Manual - Integrated Stepper Motors MIS17x, 23x, 34x, 43x 89

4.5 How to get SW/HW motor info

90 JVL Industri Elektronik A/S - User Manual - Integrated Stepper Motors MIS17x, 23x, 34x, 43x

5 Description of functions

JVL Industri Elektronik A/S - User Manual - Integrated Stepper Motors MIS17x, 23x, 34x, 43x 91

5.1 Setting up the motor current

The current supplied to each of the step motor’s phases can be adjusted for standby and
running currents by changing the values of standby and running currents under “Driver
parameters” in the MacTalk program. The register is also accessible in general through
the serial interface.

The electronics automatically switches between the two currents by detecting the pres­ence of step-pulses. If a rising edge is detected at the step-clock, the “Move current” is
selected. If no rising edge is detected during the period specified by “Standby time” at
the step-clock input, the current is automatically switched back to “Standby current”.

Values for the two currents are typically adjusted so that the Operating Current is signif­icantly higher than the Standby Current, since the motor must be supplied with more
power to drive its load during acceleration and constant operation than when it is sta­tionary.

5.1.1 Standby current considerations

The main reason for having the Standby current setting is to optimise the heat produced
by the motor.
Having a suitable standby current will make sure that the motor do no loose position but
also make sure that the motor is not producing more heat than necessary.
A typical setting of the Standby Current typically is 30-40% of the Running current.
Normally the motor do not need to produce any significant torque during standby and
therefore it makes sense to lower the standby current.

92 JVL Industri Elektronik A/S - User Manual - Integrated Stepper Motors MIS17x, 23x, 34x, 43x

5.1 Setting up the motor current

5.1.2 MIS17x Current and torque relation

MIS171 MIS173 MIS176 Unit

Standby Current 0 - 4000 0 - 4000 0 - 4000 mA RMS

Running Current 0 - 4000 0 - 4000 0 - 4000 mA RMS

Holding Torque

0 - 0.36

[0 - 51]

5.1.3 MIS23x Current and torque relation

Standard torque versions High torque versions

MIS231Q

or

MIS231S

Standby Current 0 - 6000 0 - 6000 0 - 6000 0 - 6000 0 - 6000 n/a mA RMS

Running Current 0 - 6000 0 - 6000 0 - 6000 0 - 6000 0 - 6000 n/a mA RMS

Holding Torque

0 - 1.2

[0 - 170]

5.1.4 MIS34x Current and torque relation

0 - 0.56

[0 - 79.3]

MIS232Q

or

MIS232S

0-1.9

[0 - 269]

0 - 0.8

[0 - 113.3]

MIS234Q

or

MIS234S

0 - 3.0

[0 - 425]

MIS231T

or

MIS231R

0 - 1.2

[0 - 170]

MIS232T

or

MIS232R

0 - 2.5

[0 - 354]

Nm [Oz-In]

MIS234T

or

MIS234R

n/a Nm [Oz-In]

Unit

MIS340 MIS341 MIS342 MIS343 Unit

Standby Current 0 - 6000 0 - 6000 0 - 6000 0 - 6000 mA RMS

Holding Torque

Running Current 0 - 9000 0 - 9000 0 - 9000 0 - 9000 mA RMS

Holding Torque

0 - 2.0

[0 - 283]

0-3.0

[425]

0 - 4.1

[0 - 575]

0-6.1

[863]

0 - 6.0

[0 - 849]

0-9.0

[1274]

5.1.5 MIS43x Current and torque relation

MIS430 MIS431 MIS432 Unit

Standby Current 0 - 6000 0 - 6000 0 - 6000 mA RMS

Holding Torque

Running Current 0 - 9000 0 - 9000 0 - 9000 mA RMS

Low speed
torque 1 RPM

0 - 6.7

[0 - 944]

0-10.0

[0 - 1416]

0 - 14.0

[0 - 1983]

0-21.0

[0 - 2974]

0 - 16.7

[0 - 2360]

0-25.0

[0 - 3540]

5.1.6 Current and torque relation

If a MIS232 motor is used and the current is set to 6000 mA, the motor will be able to
deliver a torque of 1.9 Nm at low speed. If the current is set to 3000 mA, the motor will
be able to deliver 0.85Nm.
In other words the torque produced is proportional to the current setup at low speeds.
At increased speed the relation stops to be proportional since the motor current which
is setup can not be achieved fully due to the motors electrical and mechanical timecon­stants.
See also Run_Current, page 192 for information about Running Current and Standby_Cur-

rent, page 193 for information about Standby Current.

0 - 8.0

[0 - 1133]

0-12.0

[1699]

Nm [Oz-In]

Nm [Oz-In]

Nm [Oz-In]

Nm [Oz-In]

JVL Industri Elektronik A/S - User Manual - Integrated Stepper Motors MIS17x, 23x, 34x, 43x 93

5.2 Auto Correction

Only MISxxx---H2/H3/H4---

5.2.1 Position "Auto correction"

This feature is only active when the motor is in Position Mode. Also the function is only
active if the motor is equipped with one of the encoder options -H2/H3 or H4.
The function can be called a semi-closed loop feature since it do only correct the motor
position after a move have been done or tried done and not dynamically during a move
like closed loop will do. See also
The auto correction feature can be useful to assure that the motor reach its target posi­tion. The feature will take effect if for example the movement was physically blocked,
the torque of the motor was insufficient, or a bad value for start velocity or acceleration
were used. It might also be used to handle occasional mechanical oscillations.

The Auto correction feature is not recommended to use if the motor also has
enabled the closed loop regulation.

!

5.2.2 “Auto correction” - basic function

The auto-correction feature is only used when the motor has stalled and not reached its
final target position within the given position window.

Each time the motor has done a movement the "Actual position" counter and the "En­coder position" counter is compared.
If the difference without sign is within the value specified in the "In position window" as
shown below no further action is taken.

Introduction to closed loop operation., page 98

If the difference is larger than the value in the "In position window" the motor will try to
correct the position by doing a new motor movement. The "Max number of retries" is
the number of times the motor will try to correct the position, and the "Settling time be
tween retries" is the time the motor will wait between each retry.

The AutoCorrection system will first wait (unconditionally) for a certain time (settling
time) to allow the initial movement to settle mechanically before testing for the target
position. It will then attempt a normal movement, using the same values for velocities and
acceleration as the movement that failed. It will continue until the encoder position is
within the target window, or the selected number of retries has expired.

Note that AutoCorrection will only start after the value of the Position (P_SOLL) register
is changed. In other words, changing P_SOLL (not just writing the same value again) will
reload the maximum number of retries and set the Auto Correction Active status bit.
The Auto Correction Active status bit will remain set until either the position is within
the target window or the max number of retries has been exhausted.

Also note that if the motor is used to control other motors by sending out the pulse and
direction signals on digital outputs, any extra movements caused by AutoCorrection will
send out additional steps to the other motors.

The Auto correction feature is not recommended to use if the motor also has
enabled the closed loop regulation.

!

-

94 JVL Industri Elektronik A/S - User Manual - Integrated Stepper Motors MIS17x, 23x, 34x, 43x

5.2 Auto Correction

Only MISxxx---H2/H3/H4---

5.2.3 Setup with MacTalk

Following parameters are available in MacTalk.

In position window

Defines the window wherein the motor must be before the In Physical Position flag is set.

Autocorrection velocity

Defines the velocity used if a correction is done. Can be useful when Ethernet or other
protocol is used since the main velocity register can be overwritten with a velocity value
which is not optimal for auto correction.

Max number of retries

Defines how many auto correction retries that are allowed to be done

Settling time between retries

Defines defines the time between the auto correction retries

Update the In Physical Position bit continuously

Defines if the In Physical Position bit is updated continuously or only after the motor has
stopped (default)

JVL Industri Elektronik A/S - User Manual - Integrated Stepper Motors MIS17x, 23x, 34x, 43x 95

5.2 Auto Correction

Only MISxxx---H2/H3/H4---

TT2397-01GB

Desired/ideal behavior

The In Physical Pos. flag is not updated continously.

Only every time the motor stops the flag is updated.

The «In Physical Position» flag is now updated continously but the «In Position Window» is only set to 1 count

which is a very narrow window and the flag is only set when the motor is settled completely

The «In Physical Position» flag is updated continously and the «In Position Window» is only set to 5000 counts

which is a more realistic window. The window is however often trespassed so the flag will be a bit unstable until
the motor is settled completely. Notice that the flag indicate that target is reached a bit before the movement stop.
This is a consequence of have the window of 5000 counts.

The «In Physical Position» flag is updated continously and the «In Position Window» is set to 20000 counts
which is a very large window and the flag will only indicate if a very large position error is occuring.
Notice that the flag indicate that target is reached a bit before the movement stop. This is a consequence of
have the wide window of 20000 counts.

Requested move

Actual move

(actual motor velocity)

In Position Flag

(Based on ideal move)

In Physical Position Flag

(Without continuesly update)

In Physical Position Flag

(With In Position Window = 1)

In Physical Position Flag

(With In Position Window = 20000)

In Physical Position Flag

(With In Position Window = 5000)

Vel oc it y

Time

Motor
stall

Retry
positioning

Settling time

before retry

Behavior for «In Pos.» and «In Phys. Pos.» flag

1

1

2

2

3

4

Actual behavior

4

3

The relation between settings and behaviour of the In Physical Position flag can be seen
below.

5.2.4 Setup without MacTalk

If MacTalk is not used for setting up parameters/registers related to the auto correction
feature it must be done as follows.

The motor contains a number of registers which can be accessed from various protocols
depending at which options the motor has.
Protocols available are for example Ethernet (EthernetIP, Profinet etc.) and CANopen,
Modbus or the MacTalk protocol.

Each field in MacTalk described earlier in this chapter is accessing a register in the motor.
The registers that are relevant for auto correction operation are:

R33 - IN_POSITION_WINDOW MacTalk name: “In Position Window”.

Selects how close the internal encoder position
must be to the target Position (P_SOLL) to set the
InPhysical-Position status bit and prevent further
AutoCorrection.

96 JVL Industri Elektronik A/S - User Manual - Integrated Stepper Motors MIS17x, 23x, 34x, 43x

See also: IN_POSITION_WINDOW, page 200

5.2 Auto Correction

Only MISxxx---H2/H3/H4---

R236 - V_SOLL_AUTO MacTalk name: “Auto correction velocity”.

The auto correction is done per default with the ve­locity specified in the general velocity register. If an
alternative velocity is intended the V_SOLL_AUTO
register can be used. If V_SOLL_AUTO != 0 it will
be used in stead of the general velocity.
See also: V_SOLL_AUTO, page 231

R34 - IN_POSITION_COUNT MacTalk name: “Max. number of retries”.

Specifies the maximum number of auto correction
retries before no further attempts are done. A val
ue of 0 (zero) effectively disables AutoCorrection.
See also: IN_POSITION_COUNT, page 200

R110 - SETTLING_TIME MacTalk name: “Settling time between retries”.

When the internal encoder option is installed and
register 34, InPositionCount, is none-zero so Auto
Correction is enabled, the value in this register de­fines how many milliseconds to wait after each
movement attempt before testing whether the en­coder position is within the target window as de­fined in register 33. This waiting time is often
necessary to allow mechanical oscillations to die out.
See also: Settling Time, page 210

-

-

R124 - SETUP_BITS MacTalk name: “Update the In Physical Posi-

tion bit continuously”.

Bit no. 6 defines if the In Physical Position bit should
be updated continue sly or not.
Default: Bit 6 = 0 = only update after motor stops.
See also: Setup_Bits, page 213

R25 - STATUSBITS MacTalk name: (Run status area)

This register contains 2 bits that are relevant for the

auto correction feature.

Bit 1: AutoCorrection Active

If set an auto correction cycle is in progress
because target position was not met.

Bit 2: In Physical Position

If set the motor position is physically within
the In_Physical_Position_Window

See also: Status bits, page 198

JVL Industri Elektronik A/S - User Manual - Integrated Stepper Motors MIS17x, 23x, 34x, 43x 97

5.3 Closed loop operation

Only MISxxx---H2/H4---

5.3.1 Introduction to closed loop operation.

When running a stepper motor under normal operating conditions the load torque will
cause a small displacement of the rotor from its nominal position, but normally such dis
placements do not lead to a loss of synchronization.
However, synchronization will be lost if the load exceeds the available motor torque.
This can cause the motor to stall with a position loss which must be corrected afterwards
– for example with the Auto correction function (see also
monitoring the position externally with an encoder.

The MISxxH2xx (only available from serial numbers 173000) and MISxxH4xx have the
ability to run in closed loop and therefore always tracks the rotor displacement in real
time. The control algorithm aligns the commutation angle and motor current when need
ed. This avoids that the motor is stalling and runs the motor at a lower current when pos­sible with the advantage that the overall system efficiency is much better.

The closed loop offers 2 ways of operation

1. Closed loop with constant current. The current is maximum all the time regardless
which load is applied to the motor.

2. Closed loop with dynamic current control. The current is adjusted real time to match
the actual load. The advantage is that the motor runs more efficient (less heat) and
the audible noise when running is much less.

Auto Correction, page 94) or by

-

-

Note: When "closed loop" is enabled, then the InPosition flag changes its behaviour so

that it will act as the "InTargetPosition" bit, which means that it will tell if the en
coder position and P_SOLL are within the "in position window".

-

98 JVL Industri Elektronik A/S - User Manual - Integrated Stepper Motors MIS17x, 23x, 34x, 43x

5.3 Closed loop operation

Only MISxxx---H2/H4---

5.3.2 Examples of motor behaviour in closed loop

Example 1:

A too high acceleration has been set. The motor cannot accelerate the load fast enough
and therefore a follow error will be incremented until the motor is able to maintain the
right speed.

JVL Industri Elektronik A/S - User Manual - Integrated Stepper Motors MIS17x, 23x, 34x, 43x 99

5.3 Closed loop operation

Only MISxxx---H2/H4---

Example 2:

The motor is not able to follow the ideal acceleration and therefore increases the velocity
to catch up the follow error. During the movement overloads also occur forcing the mo
tor to go down in speed because lack of torque to overcome the load.

-

5.3.3 Current control (optional)

In a classic stepper motor system (not closed loop) the motor current is typically set to
maximum to make sure that the motor do not stall and loose track of its position.
The disadvantage is that the motor becomes hot and energy is wasted.

When running in closed loop, loss of position (motor stall) is not a concern and therefore
the control algorithms current control will (if enabled) adjust the current to a level where
the motor is able to follow the requested velocity and not loose the position.
The actual running current (“Actual torque” in MacTalk) is a percentage of the user de­fined “Running current”. The motor can never run with a higher RMS current than the
one specified in the “Running current” register, and the algorithm decreases the actual
running current according to the follow error.

100 JVL Industri Elektronik A/S - User Manual - Integrated Stepper Motors MIS17x, 23x, 34x, 43x