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Basics
IMS-MN-LMDE42C_A
Liberty MDrive Ethernet TCP/IP
Basics
Mode of Operation
Basic operational functionality of the LMD TCP/IP product is impacted by the selected mode
of operation. The device can act as an Adapter Class device on an Ethernet/IP network, as a
programmable node on a MODBUS/TCP network, as an IO-device on a Profinet IO network, or
it can operate independently as a programmable motion controller on a TCP/IP network if in
MCode/TCP mode.
MODBUS/TCP
Using MODBUS/TCP, the LMD Ethernet is controlled by a PLC on a MODBUS/TCP network.
Stored MCode programs may be executed, paused, or stopped in this mode.
For MCode/TCP mode, motion and I/O functionality is dictated by the device’s programming
and/or configuration in either of the following modes:
•
Immediate (streaming command) mode:
The device will respond to motion, position and I/O
commands in real-time. These commands are given via an HMI or host computer over the
TCP/IP network.
•
Program mode:
The device will move the motor, control outputs, and respond to inputs as
dictated by the programming. Programs may be executed 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/IP
The LMD Ethernet operates as an adapter class device capable of both implicit and explicit
messaging. All of the LMD operations are controlled via the PAC or PLC. Stored MCode
programs may be executed, paused or stopped in this mode when certain requirements are
met. For additional information refer to:
https://novantaims.com/application-note/executing-mcode-program-ethernetip/
Profinet IO
The LMD Profinet operates as an IO-DEVICE on a Profinet network. 38 output registers and 34
input registers may be variably mapped to standard motion, I/O, control and status commands.
It is not possible to store MCode programs on drives in Profinet mode.
Hybrid Motion Technology
NOTE:
hMTechnology is only available on LMD models with an encoder.
Hybrid Motion Technology is the core control technology that enables the multi-mode
functionality of the LMD by overcoming many of the limitations inherent in stepper systems.
Two major limitations addressed by this technology are:
• Loss of motor synchronization and subsequent stalling.
• Excessive motor heated due to limited current control options
