Related Manuals for Novanta IMS Liberty MDrive CANopen
Summary of Contents for Novanta 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 You also agree not to establish any hypertext links to this document or its content. Novanta IMS does not grant any right or license for the personal and noncommercial use of the document or its content, except for a non-exclusive license to consult it on an “as is” basis, at your own risk.
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Page 3: Table Of Contents
Table of Contents Safety Information Important Information .......................5 Qualification of Personnel ......................5 Intended Use ..........................5 Product Related ...........................6 About this Manual Introduction ...........................8 Terminology Derived from Standards .................8 Writing Conventions and Symbols ..................9 Documentation and Literature References ..............10 Website Directory ........................10 Documentation Feedback ......................10 Chapter 1: Introduction About this Product ........................ - Page 4 LMD CANopen Chapter 4: Installation Electromagnetic Compatibility, EMC ................. 44 Mechanical Installation ......................45 Electrical Installation ........................ 47 Supply Voltage VDC Connection ..................48 Multifunction Interface Connection ..................50 Signal Input Circuits ........................51 Signal Output Circuit ....................... 54 Analog Input ..........................54 Communications Interface Connection ................
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Page 5: Safety Information
Qualification of Personnel Electrical equipment should be installed, operated, serviced, and maintained only by qualified personnel. No responsibility is assumed by Novanta IMS for any consequences arising out of the use of this material. A qualified person is one who has skills and knowledge related to the construction and operation of electro-mechanical equipment and its installation, and has received safety training to recognize and avoid the hazards involved. -
Page 6: Product Related
LMD CANopen Product Related DANGER POTENTIAL FOR EXPLOSION Install and use this equipment in non-hazardous locations only. Failure to follow these instructions will result in death or serious injury. Any use other than the use explicitly permitted is prohibited and can result in hazards. Electrical equipment should be installed, operated, serviced, and maintained only by qualified personnel. - Page 7 UNINTENDED EQUIPMENT OPERATION • Do not open the LMD device housing for any reason. • Contact a Novanta IMS applications representative if the product exhibits unexplained, erratic, or incorrect operation. Failure to follow these instructions can result in death, serious injury, or equipment damage.
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Page 8: About This Manual
ABOUT THIS MANUAL Introduction Read and understand the material contained in this manual before working on LMD products for the first time. Take particular note of the safety information (see “Safety Information” on page 5). Only qualified persons are allowed to work with the LMD product (see “Qualification of Personnel”... -
Page 9: Writing Conventions And Symbols
Writing Conventions and Symbols LMD CANopen In addition, terms used in the present document may tangentially be used as they are derived from other standards such as: IEC 60034 series Rotating electrical machines IEC 61800 series Adjustable speed electrical power drive systems IEC 61158 series Digital data communications for measurement and control –... -
Page 10: Documentation And Literature References
The latest versions of this manual can be downloaded from: https://novantaims.com/dloads/product-literature/manuals-3/ Website Directory NOTE: Direct links are subject to change as website and search engine updates occur. Each of the websites below can also be accessed through menu options on the Novanta IMS Main Page: https://novantaims.com/ Downloads: https://novantaims.com/dloads/ Resources: https://novantaims.com/resources/... -
Page 11: Chapter 1: Introduction
Chapter 1: Introduction What’s in this Chapter? This chapter contains the following topics: Topic Page About this Product Unit Overview Components and Interfaces Conditions for UL 508C Name Plate Part Number Identification IMS-MN-LMDA42C_A.pdf... -
Page 12: About This Product
LMD CANopen About this Product About this Product This manual is valid for NEMA 17 (42mm) LMD CANopen devices with M12 circular connectors. This chapter lists the type code for this product. The type code can be used to identify whether the product is a standard product or a customized model. -
Page 13: Components And Interfaces
Components and Interfaces LMD CANopen Components and Interfaces (A) Electronics housing (B) Two-phase stepper motor (C) DC power interface (D) Multifunction interface (E) CANopen interface (F) Protective earth (PE) (G) Light-emitting diode (LED) indicators Components Motor The motor is a two-phase brushless stepper motor. The step angle of the motor is 1.8°. Electronics Housing The electronics system is comprised of control electronics and the power stage. - Page 14 LMD CANopen Components and Interfaces Multifunction Interface The multifunction interface operates at the following signal levels: • +5 to +24V input signals are opto-isolated. • 5.5 mA output signal is opto-isolated and current limited. • 12-bit analog signal is not isolated. The +5 to +24V input signals are programmable as general purpose or to predefined functions.
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Page 15: Conditions For Ul 508C
Conditions for UL 508C LMD CANopen Conditions for UL 508C The following conditions must be met if the product is used to comply with UL 508C. Ambient temperature during operation: • Surrounding air temperature [°C] 0 ... +50. Pollution degree: •... -
Page 16: Name Plate
LMD CANopen Name Plate Name 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 interface (8) Data matrix (9) Ingress protection rating IMS-MN-LMDA42C_A.pdf... -
Page 17: Part Number Identification
Part Number Identification LMD CANopen Part Number Identification LMD Rotary Motor The following graphic displays a breakdown of the LMD rotary motor part number identification. LMD O A 42 Product LMD = standard torque motor Feedback O = Open loop (no encoder) C = Closed loop (with encoder) A = Absolute encoder Control Type... - Page 18 LMD CANopen Part Number Identification LMD External Linear Actuators The following graphic displays a breakdown of the LMD external linear actuator part number identification. LMD O A 42 1 C -L A 3 M 030 G T Product LMD = standard torque motor Feedback O = Open loop (no encoder) C = Closed loop (with encoder)
- Page 19 Part Number Identification LMD CANopen LMD Electric Cylinders (eCylinders) The following graphic displays a breakdown of the LMD eCylinder part number identification. LMD O A 42 1 C -C S A 020 M NN Product LMD = standard torque motor Feedback O = Open loop (no encoder) C = Closed loop (with encoder)
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Page 20: Chapter 2: Technical Data
Chapter 2: Technical Data What’s in this Chapter? This chapter contains information on the ambient conditions and on the mechanical and electrical properties of the device family and accessories. This chapter includes the following topics: Topic Page Mounting (Rotary and External Linear Actuators) Environmental Conditions Mounting Data Mechanical Data... -
Page 21: Certifications
Certifications LMD CANopen Certifications Certification Regulation # RoHS 2011/65/EU, 2015/863 2004/108/EC REACH EC 1907/2006 UL 1004-1, UL 1004-3 CSA C22.2 No. 100 CSA C22.2 No. 77 A current list of certifications and compliance information can be viewed at: https://novantaims.com/dloads/certificationssustainability/ Environmental Conditions Ambient Operating Conditions The maximum permissible ambient temperature during operation depends on the distance between the devices and the required power. -
Page 22: Mounting Data
LMD CANopen Mounting Data Emission IEC61800-3 (Category C2) Noise immunity IEC61000-6-2 IP Degree of Protection CAUTION INOPERABLE OR DAMAGED EQUIPMENT DUE TO IMPROPER SEALING Ensure that the shaft end of the motor is properly sealed for any LMD Rotary M12 connector products used in IP65 rated applications. -
Page 23: Mounting (Rotary And External Linear Actuators)
Mounting (Rotary and External Linear Actuators) LMD CANopen Mounting (Rotary and External Linear Actuators) Mounting the LMDXA42XC uses four (4) M3 x 0.5 screws on a bolt circle diameter (BCD) of 1.725” (43.81 mm). The length of the screws will be determined by the thickness of the mounting material plus a maximum of 0.140”... - Page 24 LMD CANopen Mounting (Rotary and External Linear Actuators) Mounting (Electric Cylinder with Foot Mount) The electric 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 mounting plates.
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Page 25: Mechanical Data
Mechanical Data LMD CANopen Mechanical Data NOTICE EXCESSIVE RADIAL OR AXIAL LOADS Radial (side) loading or axial (thrust) impacts on the shaft may result in premature bearing wear and eventual destruction of the bearing. • Do not place unsupported radial or side loads on the motor shaft. •... - Page 26 LMD CANopen Mechanical Data External Linear Actuator Dimensions The following graphic shows the external linear actuator dimensions of the NEMA 17 (42 mm) [inches (mm)]. 1.450 (36.83) Screw end options: smooth end (shown), metric, UNC, or none 3.449 (87.60) Ø 0.866 +0/-0.002 (Ø...
- Page 27 Mechanical Data LMD CANopen Electric Cylinder Mechanical Specifications Electric cylinder range of motion is limited by the stroke length with the cylinder rod end acting as a hard stop. Running the cylinder into a hard stop can damage the internal components of the cylinder.
- Page 28 LMD CANopen Mechanical Data Foot Mounts The following graphic shows the dimensions for the LMD electric cylinder with the foot mounting option. 5.55 (140.9) max + Stroke Length 2.06 (52.3) 1.45 (36.8) Stroke Lengths may range from 1.67 (42.4) 2.0 (51) min. to 18.0 (457) max. 1.83 (46.5) + Stroke Length 0.19 0.19...
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Page 29: Electrical Data
Electrical Data LMD CANopen Electrical Data This section provides an overview of the LMD connection specifications and LED status information. Chassis LED 1 LED 2 P1 Connector - Supply Voltage (VDC) and Auxiliary Voltage (AUX V) Supply Voltage Refer to the following table for LMD•42 supply voltage information. LMD•42 Nominal voltage [+Vdc]... - Page 30 LMD CANopen Electrical Data P2 Connector - Multifunction Interface Signal Inputs The signal input functions are programmable in function They may be used as sinking or INPUT _ REFERENCE sourcing based upon the bias of the Voltage range [+Vdc] 5 ... 24 Input current (5V) [mA] Input current (24V)
- Page 31 Electrical Data LMD CANopen LED Indicators The LMD has two LEDs for status indication. • LED 1: Status of the power supply • LED 2: The CANopen status LED shows the states as specified in the CAN in Automation (CiA) DR-303-3, Indicator Specification. Color State Status...
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Page 32: Rotary Motor Data
LMD CANopen Rotary Motor Data Rotary Motor Data Rotary Specifications Single Double Triple Holding torque oz-in (N-cm) 44 (31) 58 (41) 88 (62) Detent torque oz-in (N-cm) 1.7 (1.2) 2.1 (1.5) 3.5 (2.5) Rotor inertia oz-in-sec (kg-cm 0.0005 (0.038) 0.0008 (0.057) 0.0012 (0.082) Radial load limit End of shaft... -
Page 33: External Linear Actuator Data
External Linear Actuator Data LMD CANopen External Linear Actuator Data Linear Actuator Specifications The following table shows the external linear actuator specifications for the LMD•42: Specifications Units Value Rotor inertia oz-in-sec 0.0005 kg-cm 0.038 Maximum screw misalignment degrees ±1 Maximum thrust general purpose nut anti-backlash nut Maximum repeatability... -
Page 34: Electric Cylinder Data
LMD CANopen Electric Cylinder Data Electric Cylinder Data Electric Cylinder Specifications The table below lists the electric cylinder actuator specifications for the LMD•42: Specifications Units Value Rotor inertia oz-in-sec 0.0005 kg-cm 0.038 Maximum thrust PEEK blend nut Accuracy ± inches per inch 0.0003 ±... -
Page 35: Chapter 3: Engineering
Chapter 3: Engineering What’s in this Chapter? This chapter 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 Auxiliary Power Supply Wiring and Shielding Ground (Earth) Design Monitoring Functions IMS-MN-LMDA42C_A.pdf... -
Page 36: External Power Supply Units
LMD CANopen External Power Supply Units External Power Supply Units The VDC, AUX_PWR, and INPUT_REFERENCE supply voltages are connected with many exposed signal connections in the drive system. DANGER ELECTRIC SHOCK POSSIBLE • Use an DC power supply unit that meets voltage requirements. •... - Page 37 External Power Supply Units LMD CANopen Regeneration conditions resulting from braking or external driving forces may increase the VDC supply voltage to an unexpected level. Components not rated for this voltage may be destroyed or cause malfunctions. CAUTION LOSS OF CONTROL DUE TO REGENERATION CONDITION •...
- Page 38 LMD CANopen External Power Supply Units The graphic below shows power supply cabling 50’ (15.2 m) or greater, AC power to a full wave bridge. To the DC Power Supply Cable ≥ 50’ (15.24 m) Shield to Earth Ŀ Type RFI Filter ≥ Required Current (Supply End Only) Transformer: 10 to 28 VAC RMS Shielded Twisted Pair (See AWG Table for Size)
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Page 39: Auxiliary Power Supply
Auxiliary Power Supply LMD CANopen Auxiliary Power Supply The auxiliary logic supply is an optional power supply used to provide power to the logic circuitry of the LMD in the event of main system power outage. This supply will retain all system data. -
Page 40: Ground (Earth) Design
LMD CANopen Ground (Earth) Design +VDC GND AUX GND +VDC Supply AUX Supply 12V - 48V 12V - 24V Ground (Earth) Design The ground (earth) connections of all interfaces are connected, including the ground for the VDC supply voltage. The exception to this is the logic ground connection of the I/O interface, which is optically isolated. -
Page 41: Monitoring Functions
Monitoring Functions LMD CANopen the following conductor cross sections can be used: • AWG 5 (16 mm2) for equipotential bonding conductors up to a length of 650 ft (200 m) • AWG 4 (20 mm2) for equipotential bonding conductors with a length of more than 650 ft (200 m) Protective Earth The LMD should be earthed to a common system earth point. -
Page 42: Chapter 4: Installation
Chapter 4: Installation What’s in this Chapter? This chapter includes the following topics: Topic Page Electromagnetic Compatibility, EMC Mechanical Installation Electrical Installation Supply Voltage VDC Connection Multifunction Interface Connection Signal Input Circuits Signal Output Circuit Analog Input Communications Interface Connection Checking Wiring IMS-MN-LMDA42C_A.pdf... - Page 43 LMD CANopen WARNING INCORRECT INSTALLATION Ensure the correct installation and maintenance of the system according to the instructions contained in the present document and other supporting documents. Failure to follow these instructions can result in death, serious injury, or equipment damage. The designer of any control scheme must consider the potential failure modes of control paths and, for certain critical functions, provide a means to achieve a safe state during and after a path failure.
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Page 44: Electromagnetic Compatibility, Emc
LMD CANopen Electromagnetic Compatibility, EMC Electromagnetic Compatibility, EMC This product meets the EMC requirements in accordance with the standard IEC 61800-3, provided that the EMC measures described in this manual are complied with during installation. If not, signal interference can cause unexpected responses of device. WARNING SIGNAL AND DEVICE INTERFERENCE •... -
Page 45: Mechanical Installation
Mechanical Installation LMD CANopen Mechanical Installation Shock or strong pressure applied to the motor shaft may destroy the motor. CAUTION MOTOR DAMAGE AND LOSS OF CONTROL • Protect the motor shaft during handling and transportation. • Avoid shocks to the motor shaft during mounting. •... - Page 46 LMD CANopen Mechanical Installation Heat Dissipation The metal surfaces of the product may exceed 70°C (158°F) during operation. CAUTION HOT SURFACES • Avoid unprotected contact with hot surfaces. • Do not allow flammable or heat-sensitive parts in the immediate vicinity of hot surfaces. •...
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Page 47: Electrical Installation
Electrical Installation LMD CANopen Electrical Installation Interruptions of the negative connection of the controller supply voltage can cause excessively high voltages at the signal connec tions. WARNING LOSS OF CONTROL • Do not interrupt the negative connection between the power supply unit and load. •... -
Page 48: Supply Voltage Vdc Connection
LMD CANopen Supply Voltage VDC Connection Supply Voltage VDC Connection P1 Connector - Power Interface Pin Assignments Regeneration conditions resulting from braking or external driving forces may increase the supply voltage to an unexpected level. Components not rated for this voltage may be destroyed or cause malfunctions. - Page 49 Supply Voltage VDC Connection LMD CANopen MD-CS620 Wire Signal Function Brown Supply voltage White 0 VDC Reference potential to VDC Blue +12 to +24V Auxiliary Power Black 0 VDC Reference potential to VDC Connector Style: 4-position M12 (male) B-Coded Recommended cable/cordset: M12 Power Cable - Straight, 9.8 ft(3m) length, flying leads to 4-position M12 (female) B-Coded (IMS part number - MD-CS620-000) Wiring/cable Specifications Use shielded twisted pair cabling for the supply voltage...
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Page 50: Multifunction Interface Connection
LMD CANopen Multifunction Interface Connection Multifunction Interface Connection NOTE: On LMD products with a multi-turn Absolute Encoder, the Analog input located at P2a, pin 6 is replaced by the External Battery pack inputs: See Appendix D on page 76 for details specific to the Absolute Encoder variant. -
Page 51: Signal Input Circuits
Signal Input Circuits LMD CANopen Wiring/Cable Specifications • Shielded cable • Twisted-pair cables • Grounding of the shield at both ends only if on equipotential ground plane Max cable length feet (m) 328 (100) Minimum conductor cross section AWG (mm 24 (0.205) Maximum conductor cross section AWG (mm... - Page 52 LMD CANopen Signal Input Circuits Open collector (sinking): INPUT_REF Constant Current Source INPUT Open collector (sourcing): INPUT_REF Constant Current Source INPUT Signal Input Wiring and Usage Examples Mechanical Switches Sinking Operation: In the schematic below, the inputs will float at a 24V level (HIGH), then be at ground (LOW) when the switch is closed.
- Page 53 Signal Input Circuits LMD CANopen NPN Sensors in a Sinking Home/limit ± Configuration A common configuration is to have two sensors which define the PLUS and MINUS limits of travel, and a third to home the axis. The following illustrates three NPN sensors connected to the LMD inputs 2 - 4 in that configuration.
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Page 54: Signal Output Circuit
LMD CANopen Signal Output Circuit Refer to the LMD MCode manual or the appropriate fieldbus manual for full setup and configuration details for the inputs. Input # Function Switch state MCode setup string Notes (Is=[in #],[func],[active]) normally open IS=2, 0, 1 Set IN 2 as general purpose, active when high (switch closed) normally open IS=3, 0, 1... -
Page 55: Communications Interface Connection
Communications Interface Connection LMD CANopen Analog Input Wiring and Usage Examples The analog input may be used in either voltage or current loop modes with two range settings available for each mode: • Voltage: 0 to 5V or 0 to 10 V •... - Page 56 LMD CANopen Communications Interface Connection MD-CS650 Wire color Signal Function Shield CAN_SHIELD Shield CAN_V+ Power Black CAN_GND CAN Ground White CAN_H Dominant High Blue CAN_L Dominant Low Connector Style: 5-position M12 (male) A-Coded Recommended cable/cordset: M12 Signal Cable - Straight, 9.8ft (3m) length, flying leads to 5-position M12 (female) A-Coded (IMS part number - MD-CS650-000) Function The drive system is commissioned via the communications interface using either...
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Page 57: Checking Wiring
Checking Wiring LMD CANopen CANopen Node X Node 1 Controller Termination Termination Resistor* Resistor* *120 Termination Resistors are required between CAN High and CAN Low at both ends of the cabling per ISO-11828 NOTE: Power is internally supplied by the LMD. External power is not required. Checking Wiring Check the following before applying power to the device: •... -
Page 58: Chapter 5: Configuration
Chapter 5: Configuration What’s in this Chapter? This chapter includes the following topics: Topic Page Preparing for Configuration Configuration via Layer Setting Services IMS-MN-LMDA42C_A.pdf... - Page 59 LMD CANopen Drives may perform unintended movements because of incorrect wiring, incorrect settings, incorrect data, or other errors. Interference (EMC) may cause unpredictable responses in the system. Further, the behavior of the drive system is governed by stored data or settings. Unsuitable settings or data may trigger unintended movements or responses to signals and disable monitoring functions.
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Page 60: Preparing For Configuration
LMD CANopen Preparing for Configuration CAUTION HOT SURFACES • Avoid unprotected contact with hot surfaces. • Do not allow flammable or heat-sensitive parts in the immediate vicinity of hot surfaces. • Verify that the heat dissipation is sufficient by performing a test run under maximum load conditions. -
Page 61: Chapter 6: Operation
Chapter 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 CANopen DSP402 Operation Modes Operation by hMT Modes I/O Operation IMS-MN-LMDA42C_A.pdf... -
Page 62: Basics
LMD CANopen Basics Basics Mode of Operation The “LMD CANopen”, which uses DS301 communication profile, is the interface between device profiles and CAN bus. It was specified in 1995 under the name DS301 and defines uniform standards for common data exchange between different device types under CANopen. The DSP402 device profile describes standardized objects for positioning, monitoring, and settings of drives. - Page 63 Basics LMD CANopen The following graphic shows the control bounds for hMT. hMT maintains the rotor/stator relationship within the set control bounds LEAD Best torque performance Stall zone Stall zone > 2 full steps > 2 full steps Best overall performance Best speed performance Hybrid Motion Technology uses a high speed feedback loop to tightly maintain the rotor/stator relationship within a specified range, or control bounds.
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Page 64: Canopen Dsp402 Operation Modes
LMD CANopen CANopen DSP402 Operation Modes Refer to the following graphic for an overview of motor phase current. Fixed or variable current AS = 0 AS = 1 AS = 2 (variable) AS = 3 (variable) Run current Hold current RC=[0...100%] HC=[1...100%] ACTUAL... - Page 65 CANopen DSP402 Operation Modes LMD CANopen Profile Velocity Mode The profile velocity mode covers the following sub-functions: • Demand value input via trajectory generator. • Velocity capture using position sensor or velocity sensor. • Velocity control function with appropriate input and output signals. •...
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Page 66: Operation By Hmt Modes
LMD CANopen Operation by hMT Modes Profile Torque Mode NOTE: Profile torque mode is only available on LMD CANopen models with an encoder. The profile torque mode allows the motor to transmit the target torque value, which is processed via the trajectory generator in concert with the hMT logic. The LMD will maintain constant torque on the load at the commanded torque speed. - Page 67 Operation by hMT Modes LMD CANopen hMT Off (Bypass) With hMT disabled, the motion block of the device will operate as a standard integrated stepper controller/drive/motor. Commands for absolute or relative positioning, or slew at velocity are received via the CAN bus and processed as commanded, bypassing the hMT logic block.
- Page 68 LMD CANopen Operation by hMT Modes hMT On (Fixed Current) With hMT enabled in fixed current mode, hMT will use the integrated encoder to maintain the rotor/stator relationship within the set control bounds. Commands for absolute or relative positioning, or slew at velocity, are received via the CAN bus and processed through the hMT logic block.
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Page 69: I/O Operation
I/O Operation LMD CANopen I/O Operation The LMD CANopen NEMA 17 (42 mm) features the following I/O points: • Three general purpose inputs. • One 12-bit analog input. • One high-speed signal output. For detailed descriptions of each I/O configuration parameter, please reference the CANopen Fieldbus Manual. -
Page 70: Appendix A: Diagnostics And Troubleshooting
Appendix A: Diagnostics and Troubleshooting Operation State and Error Indication Temperature Monitoring Sensors in the drive measure the temperature of the power stage. If the permissible maximum temperature is exceeded, the power stage is de-energized. Indication can be read by reading object 2019h Output h-bridge temperature options, subindex 01h. -
Page 71: Appendix B: Accessories And Spare Parts
Appendix B: Accessories and Spare Parts Accessories Source Commissioning Software The latest version of the CANopen Configuration Utility, part of the LSS, available for download from https://novantaims.com/dloads/ Communications Converter Description Part number USB to CANopen communication converter MD-CC502-000 Y-cable for daisy chain MD-CS660-000 M12 Bus Terminator (resistor) plug PLG-M12TP... - Page 72 LMD CANopen Accessories MD-CSD650-000: 5-Pin M12F to Flying Leads (CAN bus) Cordset The MD-CS650-000 is a 5-position, A-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-CS620-000: 4-Pin M12 to Flying Leads (DC Power) Cordset The MD-CS620-000 is a 4-position, B-coded M12 female to flying leads cable used to interface the CAN bus to the LMD.
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Page 73: Appendix C: Service, Maintenance, And Disposal
Appendix C: Service, Maintenance, and Disposal The designer of any control scheme must consider the potential failure modes of control paths and, for certain critical functions, provide a means to achieve a safe state during and after a path failure. Examples of critical control functions are EMERGENCY STOP, overtravel stop, power outage, and restart. -
Page 74: Service Address
LMD CANopen Service Address Service Address If an error cannot be resolved from the information provided in this manual, contact an IMS Applications Engineer. Have the following details available: • Nameplate (type, identification number, serial number, DOM, ...) • Type of error (e.g., LED flash code, error number. etc.) •... -
Page 75: Shipping, Storage, And Disposal
Shipping, Storage, and Disposal LMD CANopen Shipping, Storage, and Disposal Removal Removal procedure: • Switch off the power supply., verifying that all voltage sources have been turned off. • Disconnect the power supply. • Pull out all plugs. • Remove the product from the system. Shipping The product must be protected against shocks during transportation. -
Page 76: Appendix D: Lmd With Absolute Encoder
Appendix D: LMD with Absolute Encoder Overview This appendix covers the multi-turn absolute encoder functions for LMD CANopen products. The multi-turn absolute encoder holds and updates the position information regardless of the powered on/off state of the LMD device. The absolute position in memory is powered by an internal source for up to 30 days, or by an external battery pack for up to five years. -
Page 77: Icp0531 Encoder Back-Up Battery Pack
ICP0531 Encoder Back-up Battery Pack LMD CANopen ICP0531 Encoder Back-up Battery Pack The optional Encoder Back-up Battery Pack (ICP0531) will provide back-up power for the LMD Absolute Encoder circuitry, retaining and updating the position data for a period of up to five (5) years. - Page 78 LMD CANopen ICP0531 Encoder Back-up Battery Pack Installing/Replacing the Batteries NOTE: Use only Energizer L91 1.5V AA Lithium batteries. WARNING FLAME OR FIRE HAZARD Do not load or transport lithium ion batteries if the packaging is damaged. A flammability hazard exists if package is damaged.
- Page 79 ICP0531 Encoder Back-up Battery Pack LMD CANopen Connector Configuration J1-J8: Encoder Backup Voltage To connect encoder battery backup power to a single Absolute MDrive product, use development cable PD02-0531-FL1 (shown below). 3.3 ft (1.0m) VBAT+ VBAT- Housing P/N Crimp Pin P/N Crimp Pin Qty 280358-0 182206-2...
- Page 80 LMD CANopen ICP0531 Encoder Back-up Battery Pack Connecting the Encoder Battery Pack The following diagram shows the connection of the optional Encoder Back-up Battery Pack (ICP0531). LMD Encoder Battery Pack VBAT+ VBAT– J1– J2-J6: up to 5 more LMD Devices J7:1 24VDC Low Level Advisory Output...
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Page 81: Glossary
GLOSSARY AC: Alternating current Acceleration: The time rate of change of velocity with respect to a fixed reference frame. The commanded step rate is started at a base velocity and accelerated at a slew velocity at a defined and controlled rate or rate of changes. ASCII: American Standard Code for Information Interchange. - Page 82 LMD CANopen Glossary Error: Operating state of the drive caused as a result of a discrepancy between a detected (computed, measured, or signaled) value or condition and the specified or theoretically correct value or condition. Error Class: Classification of errors into groups. The different error classes allow for specific responses to faults (e.g., by severity).
- Page 83 Glossary LMD CANopen Microstepping: A control electronic technique that proportions the current in a stepper motor’s windings to provide additional intermediate positions between poles. Produces smooth rotation over a wide range and high positional resolution. Typically, step resolutions range from 400 to 51,200 steps per shaft revolution.
- Page 84 LMD CANopen Glossary Sinking Current: Refers to the current flowing into the output of the chip. This means that a device connected between the positive supply and the chip output will be switched on when the output is low. Slew: The position of a move profile where the motor is operating at a constant velocity. Sourcing Current: Refers to the current flowing out of the output of the chip.
- Page 85 Warranty For the latest warranty and product information, visit: https://novantaims.com/warranty-and-disclaimer/ Document Revision History LMD CANopen: IMS-MN-LMDA42C_A.pdf Date Revision Changes Reformatting for company name change. New document number 02/04/2022 Rev A applied.
- Page 86 Novanta IMS is a part of the Precision Motion Group within Novanta, a leading technology company that delivers innovation to medical and advanced industrial OEMS. As standards, specifications, and designs may change, confirmation of the information given in this publication can be found in the product disclaimer and most recent product information, available online.
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