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Liberty MDrive Ethernet TCP/IP: IMS-MN-LMDE42C_A

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02/2022

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Summary of Contents for IMS Liberty MDrive Ethernet TCP/IP

Page 1: ...Hardware Manual Liberty MDrive Ethernet TCP IP NEMA 17 42 mm with M12 Circular Connectors Publication IMS MN LMDE42C_A 02 2022 REACH IP20 IP65 LISTED TM...

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: ...te Directory 10 Documentation Feedback 10 Chapter 1 Introduction 11 About This Product 12 Unit Overview 12 Components and Interfaces 13 Name Plate 15 Part Number Identification 16 Chapter 2 Technical...

Page 4: ...g for Configuration 59 Installing the LSS 59 Chapter 6 Operations 60 Basics 61 Software Operation Modes 63 Operation by hMT Modes 65 I O Operation 67 Appendix A Diagnostics and Troubleshooting 69 Oper...

Page 5: ...could result in minor or moderate injury NOTICE NOTICE is used to address practices not related to physical injury Qualification of Personnel Electrical equipment should be installed operated serviced...

Page 6: ...before connecting or disconnecting inputs or outputs to any terminal or installing or removing any hardware Failure to follow these instructions will result in death or serious injury When the system...

Page 7: ...ntended behavior and possible destruction of system components as a result WARNING LOSS OF CONTROL ERRATIC OPERATION AND DESTRUCTION OF MECHANICS Do not drop product Leave product in protective packag...

Page 8: ...rammable controllers Part 2 Equipment requirements and tests ISO 13849 1 2015 Safety of machinery Safety related parts of control systems General principles for design EN 61496 1 2013 Safety of machin...

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

Page 10: ...options on the Novanta IMS Main Page https novantaims com Downloads https novantaims com dloads Resources https novantaims com resources Warranty https novantaims com warranty and disclaimer Certific...

Page 11: ...C_A Chapter 1 Introduction What s in this Chapter This chapter includes the following topics Topic Page About This Product 12 Unit Overview 12 Components and Interfaces 13 Name Plate 15 Part Number Id...

Page 12: ...fer to Appendix D on page 78 for details Open Loop Standard open loop stepper control LMD Ethernet TCP IP Products LMDxE Included protocols on all Ethernet LMDxE devices include the Ethernet IP Profin...

Page 13: ...device may be programmed with multiple functions subroutines and process interactions using the MCode programming language which is made up of 1 and 2 character ASCII mnemonics Stored programs may be...

Page 14: ...olated 5 5 mA output signal opto isolated NOTE For information on how to increase the Output current refer to Output 3 Knowledge Based Solutions available from https novantaims com resources troublesh...

Page 15: ...has the following information 1 Part number 2 Nominal voltage 3 Max Holding torque 4 Maximum required input current 5 Serial number 6 Ethernet MAC address 7 Date of manufacture 8 Communication interf...

Page 16: ...motor part number identification Product LMD standard torque motor Control Type E Ethernet Feedback O Open loop no encoder C Closed loop with encoder A Absolute encoder Size 42 NEMA 17 42 mm Length 1...

Page 17: ...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 180 Maximum 18 0 457 2mm Nut G...

Page 18: ...ch 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 Mounts M Flange mounts F Foot moun...

Page 19: ...nd on the mechanical and electrical properties of the device family and accessories This chapter includes the following topics Topic Page Certifications 20 Environmental Conditions 20 Mounting Data 22...

Page 20: ...ollowing relative humidity is permissible during operation Operating temperature1 C F 20 50 4 122 no icing Temperature variation C F min 0 5 Humidity 5 95 non condensing 1 If the product is to be used...

Page 21: ...60529 Motor Style NEMA 17 42 mm Rotary IP20 IP651 Linear Actuators IP20 Electric Cylinders IP20 1 Motor shaft is not sealed To meet an IP65 rating ensure that the NEMA flange of the motor is properly...

Page 22: ...fined and approved as per EN 60034 7 IM B5 drive shaft horizontal IM V1 drive shaft vertical shaft end down IM V3 drive shaft vertical shaft end up IM V1 IM V3 IM B5 Mounting Rotary Units and External...

Page 23: ...00 mm REF 0 640 16 25 mm REF 4 x 0 197 5 00 mm Center axis of rod 0 188 4 78 mm Side View Front View 2 500 0 015 63 50 mm 0 38 2 125 53 98 mm 1 670 0 015 42 42 mm 0 38 1 220 30 99 mm 1 06 26 92 mm REF...

Page 24: ...ernal objects Failure to follow these instructions can result in injury or equipment damage Rotary Dimensions The following graphic shows the dimensions inches mm for the rotary motor 4 x M3x0 5 THREA...

Page 25: ...Stroke 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...

Page 26: ...ations 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 6 35 6 35 6 35 Travel Per rev inches 0 375 0 20 0 16...

Page 27: ...55 140 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...

Page 28: ...2 Vdc 24 48 Limit values min max 1 2 Vdc 12 48 Ripple at nominal voltage Vpp 4 6 Max current input A 2 0 1 The actual power requirement is often significantly lower because the maximum possible motor...

Page 29: ...current 24V mA 14 6 Input frequency kHz 5 Isolation Galvanic Protection class III Analog Input NOTE Not available on LMD Absolute Closed Loop models Refer to Appendix D on page 78 for more information...

Page 30: ...nabled unit that has not been initially setup Refer to the following website for additional information https novantaims com all products cybersecurity Ethernet IP ODVA Color State Description NS Netw...

Page 31: ...e a valid Profinet connection MCode TCP Color State Description NS Network Status LED 2 None Off No power or no Ethernet port 503 connection Red Flashing Power applied and Port 503 MCode TCP connected...

Page 32: ...5 Weight oz g 13 6 385 16 454 18 4 522 Rotary Performance The graphics below show the speed torque performance curves for an LMD 42 for the following test condition hMT OFF 100 current 0 84 oz damper...

Page 33: ...cklash nut limit 25 lbs 11 kg Linear Actuator Specifications The following table shows the external actuator specifications for the LMD 42 Specifications Units Value Rotor inertia oz in sec2 0 0005 kg...

Page 34: ...ew A Max load Force in lbs kg 24 VDC Speed in inches mm per second 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 Screw A Max load Force in lbs kg 48 VDC Speed in inches m...

Page 35: ...load is based on a static load and will vary with a dynamic load Electric Cylinder Performance SCREW A 0 100 rev 10 25 0 20 51 30 76 40 102 48 VDC 24 VDC 12 VDC 0 60 267 40 178 20 89 0 80 356 Speed i...

Page 36: ...ently in each mode of operation It is critical that all documentation be read completely A clear understanding of how the device is to be employed must be present before attempting to install or commi...

Page 37: ...n the technical data Actual power requirements are often significantly lower since the maximum possible motor torque is usually not required for normal operation of a system When designing the system...

Page 38: ...pe and filtering 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...

Page 39: ...elow shows power cabling 50 ft 15 2 m or greater AC 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 Depend...

Page 40: ...twisted pairs using 20 gauge wire for motor current less than 4 0 amps and 18 gauge or better for motor current 4 0 amps or higher A common mode choke may be required in each of the motor phase lines...

Page 41: ...the individual drives may be needed to supply DC voltage The ground connections of the individual power supply units must be connected with the largest possible conductor cross section If the master...

Page 42: ...arthed to a common system earth point Multiple earth points within a system may be at different potentials which can lead to recirculating currents ground loops Mounting plate tied to earth Common sys...

Page 43: ...topics Topic Page Electromagnetic Compatibility EMC 45 Mechanical Installation 46 Electrical Installation 48 Supply Voltage VDC Connection 49 Multifunction Interface Connection 50 Signal Input Circuit...

Page 44: ...regulations and local safety guidelines 1 Each implementation of the product must be individually and thoroughly tested for proper operation before being placed into service Failure to follow these in...

Page 45: ...ding and filters 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 instructi...

Page 46: ...MERGENCY STOPS may also cause wear At operating temperatures of more than 80 C 176 F do not exceed a maximum of 50 of the specified holding torque when using the brake Failure to follow these instruct...

Page 47: ...ng four screws The motor flange must be mounted on a flat surface to avoid mechanical tension from being transmitted to the housing Painted surfaces have an insulating effect During mounting verify th...

Page 48: ...o not connect disconnect or modify wiring while the supply voltage is present Failure to follow these instructions can result in injury or equipment damage Refer to Engineering on page 36 for addition...

Page 49: ...ation conditions Failure 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...

Page 50: ...requirements Ensure the wiring conforms to the specified technical data Conform to the information provided in the section External Power Supply Units on page 37 and Ground Earth Design on page 41 Ins...

Page 51: ...tor O 10 Violet N C Not connected 11 Gray Pink N C Not connected 12 Red Blue N C Not connected Connector Style 12 position M12 male A Coded Recommended cable cordset M12 Signal Cable Straight 9 8ft 3m...

Page 52: ...l provide sourcing inputs The ACTIVE HI LO state of the inputs are configured using the appropriate Input Setup IS command detailed in the MCode Programming and Reference Manual The inputs are optical...

Page 53: ...ropriate fieldbus manual for full setup and configuration details for the inputs Input Function Switch State MCode Setup String Is in func active Notes 2 JOG normally open IS 2 7 0 Set IN 2 as JOG act...

Page 54: ...ine operations Input reference Input 2 general purpose Input 3 general purpose Input 4 general purpose LMD 5 to 24 VDC brown black signal blue brown black signal blue brown black signal blue PNP senso...

Page 55: ...to 10 V Current 0 to 20 mA or 4 to 20 mA A typical use for the analog input would be to read the value from a sensor within an MCode program and set a position or velocity based upon that value NOTE...

Page 56: ...eceive 3 TX Transmit 4 RX Receive Function The drive system is commissioned via the Ethernet interface which is part of the LSS available for download from https novantaims com dloads or by using supp...

Page 57: ...57 IMS MN LMDE42C_A Chapter 5 Configuration What s in this Chapter This chapter includes the following topics Topic Page Preparing for Configuration 59 Installing the LSS 59...

Page 58: ...s in the zone of operation Failure to follow 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 p...

Page 59: ...ly voltage VDC and the Ethernet interface connections are required for Configuration Ensure that this chapter is read in it s entirety as many setup parameters are mode specific For configuration and...

Page 60: ...A Chapter 6 Operations What s in this Chapter Optional brief summary of the chapter This chapter includes the following topics Topic Page Basics 61 Software Operation Modes 63 Operation by hMT Modes 6...

Page 61: ...uted via the immediate mode execution command or I O interactions Immediate and program modes may be used interchangeably Programs may be halted to issue immediate commands and then resumed Ethernet I...

Page 62: ...ins the rotor stator relationship within the set control bounds LEAD LAG Hybrid Motion Technology uses a high speed feedback loop to tightly maintain the rotor stator relationship within a specified r...

Page 63: ...0 HT MT 0 Time Current DELAY Software Operation Modes The LMD is controlled and programmed using the MCode language which consists of 1 and 2 character mnemonics Details are available in the MCode Pr...

Page 64: ...ice to be used to initiate and respond to process events in a distributed intelligence system The network architecture shown below is an example of program mode operation All system control is dictate...

Page 65: ...the motion block of the device will operate as a standard open loop stepper controller drive motor Commands for absolute or relative positioning or slew at velocity are received via the Ethernet bus a...

Page 66: ...ng graphic shows 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 actua...

Page 67: ...or download from https novantaims com dloads General Purpose Inputs The general purpose inputs are 5 to 24 VDC tolerant optically isolated inputs with programmable functions and dedicated alternate fu...

Page 68: ...ut may be programmed to trigger on a single trip event or any combination of events The available events are Trip on input Trip on absolute position Trip on capture Trip on time Trip on relative posit...

Page 69: ...71 using a terminal emulator or the LMD configuration utility Stall Detection hMT Disabled Detecting a stall condition may be accomplished by monitoring the encoder index outputs via the multifunctio...

Page 70: ...Red Solid Unrecoverable error detected Flashing Recoverable error detected or I O connection timed out Green Solid Normal runtime operation I O connection allocated Flashing Device is idle or not all...

Page 71: ...ication is active With Port 503 is disconnected Profinet application is active MODBUS TCP Color State Description NS Network Status LED 2 No defined functions MS Module Status LED 1 None Off No power...

Page 72: ...M12 to flying leads cable MD CS611 000 12 Pin Right Angle M12 to Flying Leads I O Signals Cordset The MD CS611 000 is a 12 position A coded right angled M12 female to flying leads cable used to interf...

Page 73: ...Pin Right Angle M12 Male to RJ45 Cordset The MD CS641 000 is a 4 position D coded M12 male to RJ45 cable used to interface an Ethernet network to a LMD product Pre wired shielded cables with right an...

Page 74: ...12 right angle configuration male to male cable used to daisy chain the communication interface on the LMD Ethernet dual port device Pre wired shielded cables with right angle M12 connector ends for i...

Page 75: ...USA Additional information refer to NEMA ICS 1 1 latest edition Safety Guidelines for the Application Installation and Maintenance of Solid State Control and to NEMA ICS 7 1 latest edition Safety Stan...

Page 76: ...esponses in the system The behavior 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...

Page 77: ...the system 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 s...

Page 78: ...r a period of 24 hours During this time programming and commissioning the unit may be performed 3 The internal storage level my be queried via the communications or network interface 4 If an applicati...

Page 79: ...cuitry 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 Lev...

Page 80: ...Failure to follow these instructions can result in injury or equipment damage Attention if Lithium batteries are installed provide proper package warning labels to all shipping containers as required...

Page 81: ...182206 2 2 ea Pin Signal Description 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...

Page 82: ...hernet TCP IP 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...

Page 83: ...response Default Value Factory setting Detent Torque The periodic torque ripple resulting from the tendency of the magnetic rotor and stator poles to align themselves to positions of minimal reluctan...

Page 84: ...ng through a speed change reducer or gear train L Lag The amount in full motor steps that the rotor lags the stator Lag conditions are caused by loading on the motor shaft as during transient loading...

Page 85: ...enerates currents for controlling the motor on the basis of the positioning signals from the controller Q Quick Stop Function used to enable fast deceleration of the motor via a command or in the even...

Page 86: ...tion of the motor with the maximum possible deceleration which is only limited by the maximum permissible current The higher the permissible braking current the stronger the deceleration Because energ...

Page 87: ...y and product information visit https novantaims com warranty and disclaimer Document Revision History Liberty MDrive Ethernet TCP IP IMS MN LMDE42C_A Date Revision Changes 02 2022 A Document revision...

Page 88: ...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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