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LMD CANopen: IMS-MN-LMDA42C_A.pdf

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02/04/2022 Rev A

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Summary of Contents for IMS Liberty MDrive CANopen

Page 1: ...Hardware Manual Liberty MDrive CANopen NEMA 17 42 mm with M12 Circular Connectors Publication IMS MN LMDA42C_A pdf 10 2021 REACH IP65 LISTED...

Page 2: ...s evaluation and testing of the products with respect to the relevant specific application or use thereof Neither Novanta IMS nor any of its affiliates or subsidiaries shall be responsible or liable f...

Page 3: ...duction 11 About this Product 12 Unit Overview 12 Components and Interfaces 13 Conditions for UL 508C 15 Name Plate 16 Part Number Identification 17 Chapter 2 Technical Data 20 Certifications 21 Envir...

Page 4: ...0 Configuration via Layer Setting Services 60 Chapter 6 Operation 61 Basics 62 CANopen DSP402 Operation Modes 64 Operation by hMT Modes 66 I O Operation 69 Appendix A Diagnostics and Troubleshooting 7...

Page 5: ...TION indicates a hazardous situation which if not avoided could result in minor or moderate injury NOTICE NOTICE is used to address practices not related to physical injury Qualification of Personnel...

Page 6: ...predictable responses in the system WARNING UNINTENDED MOVEMENT Carefully install the wiring in accordance with the electromagnetic compatibility EMC requirements Do not operate the drive system with...

Page 7: ...to follow these instructions can result in death serious injury or equipment damage Opening LMD heat sinks can affect factory set encoder alignment and impact Hybrid Motion Technology hMT performance...

Page 8: ...le controllers Part 2 Equipment requirements and tests ISO 13849 1 2008 Safety of machinery Safety related parts of control systems General principles for design EN 61496 1 2013 Safety of machinery El...

Page 9: ...more information concerning the individual standards applicable to the products described herein see the characteristics tables for those product references Writing Conventions and Symbols Work Steps...

Page 10: ...ds https novantaims com dloads Resources https novantaims com resources Warranty https novantaims com warranty and disclaimer Certifications and Listing Information https novantaims com dloads certifi...

Page 11: ...1 Introduction What s in this Chapter This chapter contains the following topics Topic Page About this Product 12 Unit Overview 12 Components and Interfaces 13 Conditions for UL 508C 15 Name Plate 16...

Page 12: ...osed loop model See Appendix D for details Open Loop open loop stepper control Operating Modes The LMD CANopen uses DS301 communication profile as the interface between device profiles and CAN bus It...

Page 13: ...er stage The drive system is controlled by a CANopen master sending Service Data Object SDO and Process Data Object PDO data over CAN bus 2 0b active Interfaces DC Power Interface The DC Power Interfa...

Page 14: ...ion M12 male A coded connector P2 CANopen Interface The CANopen interface provides a connection to the CAN bus A computer may be connected to the interface via a Universal Serial Bus USB to CANopen co...

Page 15: ...y of a system to execute the required safety function in spite of the presence of one or more hardware faults The SFF of a system is defined as the ratio of the rate of safe failures to the total fail...

Page 16: ...ame Plate The name plate contains the following information 1 Part number 2 Nominal voltage 3 Max Holding torque 4 Max required input current 5 Serial number 6 Date of manufacture 7 Communication inte...

Page 17: ...part number identification Product LMD standard torque motor Control Type A CANopen Feedback O Open loop no encoder C Closed loop with encoder A Absolute encoder Size 42 NEMA 17 42 mm Length 1 1 stack...

Page 18: ...ead pitch travel rev A 0 250 6 35mm B 0 125 3 175mm C 0 063 1 600mm Screw end finish M Metric threaded U UNC threaded S Smooth Z None Screw length available in 0 1 increments 030 Minimum 3 0 76 2mm 18...

Page 19: ...P20 Nut S PEEK Blend Lead Pitch travel rev A 0 100 2 54mm B 0 250 6 35mm C 0 500 12 70mm D 1 000 25 40mm Stroke length available in 0 1 increments 020 Minimum 2 0 50 8mm 180 Maximum 18 0 457 2mm Mount...

Page 20: ...e mechanical and electrical properties of the device family and accessories This chapter includes the following topics Topic Page Mounting Rotary and External Linear Actuators 23 Environmental Conditi...

Page 21: ...iation C F min 0 5 32 9 Humidity 5 95 non condensing 1 If the product is to be used in compliance with UL 508C note the information provided in Conditions for UL 508C on page 15 Storage and Transport...

Page 22: ...on IP as per EN 60529 Motor Type Ingress Protection Rating Rotary IP20 IP651 External Linear IP20 Electric Cylinder IP20 1 Motor shaft is not sealed To meet an IP65 rating ensure that the shaft end of...

Page 23: ...5 43 81 0 118 3 00 Thru 4 Places on a 1 725 43 81 Circle Mounting Electric Cylinder with Flange Mount The electric cylinder LMD products flange mount option uses front and rear flange plates to mount...

Page 24: ...ic cylinder LMD products foot mount option has front and rear foot mounting plates for mounting the cylinder into the system The following graphic shows the mounting hole dimensions for the foot mount...

Page 25: ...struck by external objects Failure to follow these instructions can result in equipment damage Rotary Dimensions The following graphic shows the rotary dimensions inches mm 4 x M3x0 5 THREAD x0 15 MIN...

Page 26: ...Length Screw Length Nut Length Mounting Surface Plate Thickness The following graphic shows the linear screw dimensions and pitch information Screw Lead and Nut Specifications Screw Travel Per rev Per...

Page 27: ...n result in equipment damage Cylinder Travel Specifications Screw A Screw B Screw C Screw D Screw Lead inches 0 100 0 250 0 500 1 000 mm 2 54 6 35 12 7 25 4 Diameter inches 0 25 0 25 0 25 0 25 mm 6 35...

Page 28: ...9 max Stroke Length 0 19 4 8 M10 x 1 25 THREAD 0 87 22 0 1 38 35 0 0 49 12 5 1 38 35 0 Stroke Lengths may range from 2 0 51 min to 18 0 457 max 0 55 13 9 2 06 52 3 1 67 42 4 2 13 54 1 3 67 93 1 2 05 5...

Page 29: ...in max 1 2 Vdc 12 48 Ripple at nominal voltage Vpp 4 6 Max current input1 A 2 0 1 The actual power requirement is often significantly lower because the maximum possible motor torque is usually not req...

Page 30: ...kHz 5 Isolation Galvanic Protection class III Analog Input Voltage mode 0 5 Vdc 0 5 Voltage mode 0 10 Vdc 0 10 Current loop mode mA 0 20 Resolution Bits 12 Impedance by mode 0 5 V M 5 0 10 V k 1 25 0...

Page 31: ...lashing VDC off AUX power out of range CANopen Status LED 2 Green Solid The Device is in the OPERATIONAL state Single Flash The Device is in STOPPED state Flashing The Device is in the PREOPERATIONAL...

Page 32: ...t oz g 13 6 385 16 454 18 4 522 Rotary Performance The graphic below shows the speed torque performance curves for a LMD 42 for the following test condition hMT OFF 100 current 0 84 oz damper inertia...

Page 33: ...ry with a dynamic load Linear Actuator Performance The graphic below shows the speed force performance curves for an LMD 42 0 60 27 100 45 140 64 20 9 0 2 50 8 4 101 6 6 152 8 8 103 2 Screw C Screw B...

Page 34: ...load is based on a static load and will vary with a dynamic load Electric Cylinder Performance The graphics below shows the speed force performance curves for the LMD 42 Electric Cylinder SCREW A 0 10...

Page 35: ...apter contains information on the application of the product that is vital in the design phase This chapter includes the following topics Topic Page External Power Supply Units 36 Auxiliary Power Supp...

Page 36: ...y or equipment damage Supply Voltage VDC General The power supply unit must be rated for the power requirements of the drive The supply voltage and current can be found in the technical data The real...

Page 37: ...ing devices used are dependent on the environment application and system WARNING UNINTENDED EQUIPMENT OPERATION DUE TO EMI AND RFI Do not exceed a DC power supply cable length of 50 feet 15 2 m to an...

Page 38: ...hows power cabling 50 15 2 m or greater DC power to an unregulated DC power supply 50 15 2 m A B C Shield to Earth Supply End Only A B C Type RFI Filter Required Current 120 or 240 VAC Dependant on DC...

Page 39: ...or better for motor current 4 0 amps or higher A common mode choke may be required in each of the motor phase lines to reduce shield current levels Power ground return should be as short as possible...

Page 40: ...C industrial PC etc does not have galvanically isolated outputs for the drives verify that the current of the DC supply voltage has no path back to the power supply unit via the master controller Ther...

Page 41: ...to recirculating currents ground loops Mounting plate tied to earth Common system earth point Common system earth point Mounting plate floating Multiple system earth points Monitoring Functions The m...

Page 42: ...topics Topic Page Electromagnetic Compatibility EMC 44 Mechanical Installation 45 Electrical Installation 47 Supply Voltage VDC Connection 48 Multifunction Interface Connection 50 Signal Input Circui...

Page 43: ...ted for proper operation before being placed into service Failure to follow these instructions can result in death serious injury or equipment damage 1 For USA Additional information refer to NEMA ICS...

Page 44: ...ers may be required as determined by the systems integrator WARNING HIGH FREQUENCY INTERFERENCE Do not use these products in domestic electrical networks Failure to follow these instructions can resul...

Page 45: ...op or a suitable brake Failure to follow these instructions can result in death serious injury or equipment damage WARNING LOSS OF BRAKING FORCE DUE TO WEAR OR HIGH TEMPERATURE Applying the holding br...

Page 46: ...he motor flange and mounting surface Mounting The motor is designed to be mounted using four screws The motor flange must be mounted on a flat surface to avoid mechanical tension from being transmitte...

Page 47: ...isconnect or modify wiring while the supply voltage is present Failure to follow these instructions can result in death serious injury or equipment damage Refer to Engineering on page 35 for additiona...

Page 48: ...e to follow these instructions can result in injury or equipment damage The connection for the DC supply voltage at the product does not have an inrush current limitation If the voltage is switched on...

Page 49: ...e Specifications Use shielded twisted pair cabling for the supply voltage VDC Verify that wiring cables and connected interfaces meet the protected extra low voltage PELV requirements Ensure that the...

Page 50: ...al purpose programmable Input 4 I 2 Blue IN2 General purpose programmable Input 2 I 3 White INPUT_REF Biases the input as sinking or sourcing I 4 Green N C Not connected 5 Pink IN3 General purpose pro...

Page 51: ...cables and connected interfaces meet the PELV requirements Signal Input Circuits The signal inputs may be interfaced as sinking or sourcing as determined by the bias of the INPUT _ REFERENCE Connectin...

Page 52: ...by reversing the bias on the Input Reference with the power supply return connected to the reference The inputs will then be at ground LOW and at 24V HIGH when the switch is closed Input reference Inp...

Page 53: ...tails for the inputs Input Function Switch state MCode setup string Is in func active Notes 2 LIMIT normally open IS 2 2 0 Set IN 2 as LIMIT active when low switch closed 3 LIMIT normally open IS 3 3...

Page 54: ...ral purpose active when high switch closed 4 GP normally open IS 4 0 1 Set IN 4 as general purpose active when high switch closed Signal Output Circuit The signal output provides indication of trip co...

Page 55: ...Logic Analog ground pin is non isolated common with power ground Analog Logic ground LMD signal Refer to the LMD MCode manual or the appropriate fieldbus manual for full setup and configuration detai...

Page 56: ...elded cable Twisted pair cables Grounding of the shield at both ends Refer to CiA DR 303 1 Cabling and Connector Pin Assignment for current cabling recommendations and specifications Use equipotential...

Page 57: ...V CAN V NOTE Power is internally supplied by the LMD External power is not required 120 Termination Resistors are required between CAN High and CAN Low at both ends of the cabling per ISO 11828 120 Te...

Page 58: ...58 IMS MN LMDA42C_A pdf Chapter 5 Configuration What s in this Chapter This chapter includes the following topics Topic Page Preparing for Configuration 60 Configuration via Layer Setting Services 60...

Page 59: ...ow these instructions can result in death serious injury or equipment damage Rotating parts may cause injuries and may catch clothing or hair Loose parts or parts that are unbalanced may be ejected WA...

Page 60: ...Ensure that this chapter is read in it s entirety as many setup parameters are mode specific For configuration and programming a computer with the LSS or equivalent Layer Setting Services master is r...

Page 61: ...6 Operation What s in this Chapter This chapter describes the basic functions of the drive This chapter includes the following topics Topic Page Basics 62 CANopen DSP402 Operation Modes 64 Operation b...

Page 62: ...ode it provides a target position to the drive device which performs position control velocity control and torque control Hybrid Motion Technology hMT NOTE hMT is only available on LMD CANopen models...

Page 63: ...control uses hMT to accurately measure and track the rotor stator relationship and apply current as needed An example of this can be seen when current is applied during acceleration or deceleration t...

Page 64: ...onally controlled by individual parameter sets At the input to the trajectory generator parameters may have optional limits applied before being normalized to internal units Normalized parameters are...

Page 65: ...signals Monitoring of the profile velocity using a window function Monitoring of velocity actual value using a threshold Trajectory Generator Velocity Controller Target velocity 60FFh Motion profile t...

Page 66: ...que speed Trajectory Generator Torque control and power stage Target slope 6087h Torque speed 2704h Controlword 6040h Motor hMT logic Torque demand Encoder counts Polarity 607Eh Target torque 6071h Ve...

Page 67: ...he CAN bus and processed as commanded bypassing the hMT logic block The following graphic shows a block diagram for a system with hMT disabled MPU Bridge Bridge Current Control Motor Encoder Velocity...

Page 68: ...ws a block diagram for a system with hMT enabled MPU Bridge Bridge Current Control Motor Encoder Velocity Generator hMT Logic CAN CAN Compare logic Position Lead Lag Register Rotor actual position Sta...

Page 69: ...ignal output For detailed descriptions of each I O configuration parameter please reference the CANopen Fieldbus Manual Inputs The general purpose inputs are 5 to 24 VDC tolerant optically isolated ge...

Page 70: ...ror is asserted A locked rotor error condition can only occur when hMT is enabled This status may be read using the hMT status bits or error codes LED Indicators The LMD has two LEDs for status indica...

Page 71: ...n communication converter MD CC502 000 Y cable for daisy chain MD CS660 000 M12 Bus Terminator resistor plug PLG M12TP The communication converter kit contains a converter a six foot cable and a termi...

Page 72: ...00 is a 4 position B coded M12 female to flying leads cable used to interface the CAN bus to the LMD 9 8 3 0 m 1 75 44 5 mm MD CS610 000 12 Pin M12 to Flying Leads I O Signals Cordset The MD CS610 000...

Page 73: ...NEMA ICS 7 1 latest edition Safety Standards for Construction and Guide for Selection Installation and Operation of Adjustable Speed Drive Systems CAUTION RISK OF INJURY WHEN REMOVING CIRCUIT BOARD P...

Page 74: ...ior of the drive system is governed by numerous stored data or settings Unsuitable settings or data may trigger unintended movements or responses to signals and disable monitoring functions WARNING UN...

Page 75: ...ystem Shipping The product must be protected against shocks during transportation If possible use the original packaging for shipping Storage The product may only be stored in spaces where the specifi...

Page 76: ...to charge for a period of 24 hours During this time programming and commissioning of the unit may be performed 3 The internal storage level my be queried via the communications or network interface 4...

Page 77: ...rcuitry retaining and updating the position data for a period of up to five 5 years The battery pack requires three 3 Energizer L91 1 5V AA Lithium batteries Dimensional Information Battery Voltage Le...

Page 78: ...A flammability hazard exists if package is damaged Handle with care Failure to follow these instructions can result in death serious injury or equipment damage Attention If Lithium batteries are insta...

Page 79: ...iption Wire color 1 V BAT Battery positive supply to one 1 LMD Absolute encoder product Red 2 V BAT Battery negative return Black J7 Supply and Monitoring To connect the 24 VDC system supply and optio...

Page 80: ...ANopen Connecting the Encoder Battery Pack The following diagram shows the connection of the optional Encoder Back up Battery Pack ICP0531 LMD Encoder Battery Pack LMD J1 J1 J7 1 J7 4 J7 3 J7 2 VBAT V...

Page 81: ...ameters For cases where loads are not predictable the closed loop feedback from an external encoder to the controller may be used for stall detection position maintenance or position verification D Da...

Page 82: ...r an object s inertia the greater the torque required to accelerate or decelerate it Inertia is a function of an object s mass and shape For the most efficient operation the system coupling ratio shou...

Page 83: ...Parameter Device data and values that can be set by the user PLC Programmable logic controller Position Make up When active the position make up can correct for position errors occurring due to trans...

Page 84: ...is pressed into the shell of the frame The winding pattern determines the voltage constant of the motor T Torque Ramp Deceleration of the motor with the maximum possible deceleration which is only li...

Page 85: ...d product information visit https novantaims com warranty and disclaimer Document Revision History LMD CANopen IMS MN LMDA42C_A pdf Date Revision Changes 02 04 2022 Rev A Reformatting for company name...

Page 86: ...t disclaimer and most recent product information available online https novantaims com all products 2022 Novanta IMS All rights reserved Photos Novanta IMS Print Novanta IMS To provide feedback on Nov...

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