Related Manuals for Novanta IMS Liberty MDrive Ethernet TCP/IP
Summary of Contents for Novanta 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...
- 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 CyberSecurity Standards and Certification ..............5 Intended Use ..........................6 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... - Page 4 Liberty MDrive Ethernet TCP/IP Chapter 4: Installation Electromagnetic Compatibility, EMC ................. 45 Mechanical Installation ......................46 Electrical Installation ........................ 48 Supply Voltage VDC Connection ..................49 Multifunction Interface Connection ..................50 Signal Input Circuits ........................52 Signal Output Circuit ....................... 54 Analog Input ..........................
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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: Intended Use
Liberty MDrive Ethernet TCP/IP Intended Use Intended Use The product may only be used in compliance with all applicable safety regulations and directives, the specified requirements, and the technical data. Prior to using the product, perform a risk assessment in view of the planned application. Based on the results, the appropriate safety measures must be implemented. - 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 DocumentName 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 these manuals 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 includes the following topics: Topic Page About This Product Unit Overview Components and Interfaces Name Plate Part Number Identification IMS-MN-LMDE42C_A... -
Page 12: About This Product
Liberty MDrive Ethernet TCP/IP About This Product About This Product This manual is valid for the NEMA 17 (42mm) Liberty MDrive (LMD) Ethernet products with M12 circular connectors. This chapter lists the type codes for these products. 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 Liberty MDrive Ethernet TCP/IP • Immediate Mode: In immediate mode, also known as streaming commands, the device will respond to 1 and 2 character ASCII commands sent via the Ethernet interface, available as part of the LSS. •... - Page 14 Liberty MDrive Ethernet TCP/IP Components and Interfaces 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 power stage. The drive system is controlled by streaming commands via the service interface, embedded programming, or by pulse and direction input signals.
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Page 15: Name Plate
Name Plate Liberty MDrive Ethernet TCP/IP Name Plate The name plate 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 interface (9) Data Matrix code (10) CyberSecurity Enabled indication... -
Page 16: Part Number Identification
Liberty MDrive Ethernet TCP/IP Part Number Identification Part Number Identification LMD Rotary Motor The following graphic displays a breakdown of the LMD rotary motor part number identification. LMD O E 42 Product LMD = standard torque motor Feedback O = Open loop (no encoder) C = Closed loop (with encoder) A = Absolute encoder Control Type... - Page 17 Part Number Identification Liberty MDrive Ethernet TCP/IP LMD External Linear Actuators The following graphic displays a breakdown of the LMD external linear actuator part number identification. LMD O E 42 1 C -L A 3 M 030 G T Product LMD = standard torque motor Feedback O = Open loop (no encoder)
- Page 18 Liberty MDrive Ethernet TCP/IP Part Number Identification LMD Electric Cylinders (eCylinders) The following graphic displays a breakdown of the LMD eCylinder part number identification. LMD O E 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 19: 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 Certifications Environmental Conditions Mounting Data Mechanical Data Electrical Data... -
Page 20: Certifications
Liberty MDrive Ethernet TCP/IP Certifications Certifications Certification Regulation # RoHS 2011/65/EU 2004/108/EC REACH EC 1907/2006 UL 1004-1, UL 1004-3 CSA C22.2 No. 100 CSA C22.2 No. 77 For additional information regarding RoHS certifications, contact a Service Representative at etech@imshome.com or call +1 (860) 365-3907.” A current list of certifications and compliance information can be viewed at: https://novantaims.com/dloads/certificationssustainability/ Environmental Conditions... - Page 21 Environmental Conditions Liberty MDrive Ethernet TCP/IP Vibration and Shock Vibration, sinusoidal IEC 60721-3-2 Shock, non-sinusoidal IEC 60721-3-2 Emission EIC61800-3 (Category C2) Noise immunity IEC61000-6-2 IP Degree of Protection The product has the following IP degree of protection as per EN 60529. Motor Style NEMA 17 (42 mm) Rotary...
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Page 22: Mounting Data
Liberty MDrive Ethernet TCP/IP Mounting Data Mounting Data Mounting Positions NOTE: Unless otherwise stated, all drawing measurements are in inches (mm) ±0.005” (0.13mm). Drawings are not to scale. CAUTION AXIAL AND RADIAL LOADING OF THE SHAFT Mounting of the load to the shaft must be done with regard to the radial and axial load limits of the motor Failure to follow these instructions can result in injury or equipment damage. - Page 23 Mounting Data Liberty MDrive Ethernet TCP/IP Mounting (Electric Cylinder with Flange Mount) The electric cylinder flange mount option has front and rear flange plates for mounting into the system. The following graphic shows the mounting hole dimensions for the flanges. Electric Cylinder Flange Mount (Motor End) Electric Cylinder Flange Mount (Rod End) Side View...
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Page 24: Mechanical Data
Liberty MDrive Ethernet TCP/IP Mechanical Data Mechanical Data Radial (side) loading or axial (thrust) impacts on the shaft may result in premature bearing wear and eventual inoperability. CAUTION EXCESSIVE RADIAL OR AXIAL LOADS • Do not place unsupported radial or side loads on the motor shaft. •... - Page 25 Mechanical Data Liberty MDrive Ethernet TCP/IP 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...
- Page 26 Liberty MDrive Ethernet TCP/IP Mechanical Data 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 27 Mechanical Data Liberty MDrive Ethernet TCP/IP 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.
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Page 28: Electrical Data
Liberty MDrive Ethernet TCP/IP Electrical Data Electrical Data This section provides an overview of the LMD connection specifications and LED status information. For pin assignment and installation information, refer to Chapter 4, “Installation” on page 43 P1 Connector - Supply Voltage (VDC) Refer to the following table for LMD•42 supply voltage information. - Page 29 Electrical Data Liberty MDrive Ethernet TCP/IP 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 ...
- Page 30 Liberty MDrive Ethernet TCP/IP Electrical Data P3 Connector - Ethernet Interface RJ45 Standard 4-pin M12 (female, D-coded) connector for CAT5/6 cabling capable of 10/100 network speeds. TCP/IP settings are modified using the TCP/IP Configuration Utility. Refer to the LSS Software Manual, available for download from: https://novantaims.com/dloads/ TCP/IP Settings Default IP...
- Page 31 Electrical Data Liberty MDrive Ethernet TCP/IP Profinet-IO Color State Description NS – Network Status (LED 2) None No power Solid Motion Controller driver initialized and operational Flashing Motion drive error detected or drive is in MCode firmware upgrade mode Green Solid Unrecoverable error detected - drive not responding Flashing...
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Page 32: Rotary Motor Data
Liberty MDrive Ethernet TCP/IP 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:... -
Page 33: External Linear Actuator Data
External Linear Actuator Data Liberty MDrive Ethernet TCP/IP External Linear Actuator Data The linear actuator motor delivers force in excess of the maximum rated load limit of the general purpose and anti-backlash nuts. Ensure that the selected nut’s load limit is not exceeded. - Page 34 Liberty MDrive Ethernet TCP/IP External Linear Actuator Data Linear Actuator Performance The graphics below show the speed-force performance curves for an LMD•42. 24 VDC 12 VDC 140/64 140/64 Screw C Screw C Screw B Screw B Screw A Screw A 100/45 100/45 60/27...
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Page 35: Electric Cylinder Data
Electric Cylinder Data Liberty MDrive Ethernet TCP/IP Electric Cylinder Data Electric Cylinder Specifications Specifications Units Value Rotor inertia oz-in-sec 0.0005 kg-cm 0.038 Maximum thrust PEEK blend nut Accuracy 0.0003 0.002 Backlash PEEK blend nut 0.002 0.05 End play inches @ lbs 0.002 @ 2 mm @ N 0.05 @ 9... -
Page 36: 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 device will operate differently 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 commission the device. -
Page 37: External Power Supply Units
External Power Supply Units Liberty MDrive Ethernet TCP/IP External Power Supply Units DANGER ELECTRIC SHOCK CAUSED BY INCORRECT POWER SUPPLY UNIT • Use a DC power supply unit that meets voltage requirements. • Connect the negative output of the power supply unit to PE (ground). Failure to follow these instructions will result in death or serious injury. - Page 38 Liberty MDrive Ethernet TCP/IP External Power Supply Units Regeneration conditions resulting from braking or external driving forces may increase the supply voltage to an unexpected level. Components may be damaged. CAUTION LOSS OF CONTROL DUE TO REGENERATION CONDITION • Verify that all VDC consumers are rated for the voltage occurring during regeneration conditions (i.e., proximity sensors, photo sensors, etc.).
- Page 39 External Power Supply Units Liberty MDrive Ethernet TCP/IP 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...
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Page 40: Auxiliary Power Supply
Liberty MDrive Ethernet TCP/IP Auxiliary Power Supply 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 failure. This supply will retain data such as position. -
Page 41: Ground (Earth) Design
Ground (Earth) Design Liberty MDrive Ethernet TCP/IP The following graphic illustrates system power wiring. +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. -
Page 42: Monitoring Functions
Liberty MDrive Ethernet TCP/IP Monitoring Functions Equipotential Bonding Conductors Potential differences can result in excessive currents on the cable shields. Use equipotential bonding conductors to reduce currents on the cable shields. The equipotential bonding conductor must be rated for the maximum current flowing. Practical experience has shown that the following conductor cross sections can be used: •... -
Page 43: 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 Communication Interface Connection Checking Wiring IMS-MN-LMDE42C_A... - Page 44 Liberty MDrive Ethernet TCP/IP 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 45: Electromagnetic Compatibility, Emc
Electromagnetic Compatibility, EMC Liberty MDrive Ethernet TCP/IP 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 46: Mechanical Installation
Liberty MDrive Ethernet TCP/IP Mechanical Installation Mechanical Installation Shock or strong pressure applied to the motor shaft may damage 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 47 Mechanical Installation Liberty MDrive Ethernet TCP/IP Heat Dissipation If there is an incorrect arrangement of multiple motors or an improper setup, the motor may become very hot. The surface temperature of the motor must not exceed 100 °C (212 °F) on the surface of the motor laminations during continuous operation.
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Page 48: Electrical Installation
Liberty MDrive Ethernet TCP/IP Electrical Installation Electrical Installation Interruptions of the negative connection of the controller supply voltage can cause excessively high voltages at the signal connections. CAUTION LOSS OF CONTROL • Do not interrupt the negative connection between the power supply unit and load. •... -
Page 49: Supply Voltage Vdc Connection
Supply Voltage VDC Connection Liberty MDrive Ethernet TCP/IP Supply Voltage VDC Connection P1 Connector - Power Supply Interface Connection 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 damaged or cause unintended operation. -
Page 50: Multifunction Interface Connection
Liberty MDrive Ethernet TCP/IP Multifunction Interface Connection 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... - Page 51 Signal Input Circuits Liberty MDrive Ethernet TCP/IP MD-CS610 Wire Signal Function Brown General purpose programmable Input 4 Blue General purpose programmable Input 2 White INPUT_REF Biases the input as sinking or sourcing Green Not connected — Pink General purpose programmable Input 3 Yellow ANALOG_IN Analog input...
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Page 52: Signal Input Circuits
Liberty MDrive Ethernet TCP/IP Signal Input Circuits Signal Input Circuits The signal inputs may be interfaced as sinking or sourcing as determined by the bias of the INPUT _ REFERENCE INPUT _ REFERENCE . Connecting the to a 5 ... 24V power source will provide sinking inputs. - Page 53 Signal Input Circuits Liberty MDrive Ethernet TCP/IP Signal Input Wiring and Usage Examples Mechanical Switches Sinking Operation: In the schematic below, the inputs will float at a 24V level (HIGH), then go to ground (LOW) when the switch is closed. Sourcing Operation: The configuration shown below can be switched to a sourcing configuration by reversing the bias on the Input Reference, with the power supply return connected to the reference.
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Page 54: Signal Output Circuit
Liberty MDrive Ethernet TCP/IP 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]) Limit + normally open IS=2, 2, 0 Set IN 2 as LIMIT +, active when low (switch closed) -
Page 55: Analog Input
Analog Input Liberty MDrive Ethernet TCP/IP Analog Input ANALOG _ IN may be configured to sense one of four (4) input types: • 0 - 5V • 0 - 10V • 0 - 20 mA • 4 - 20 mA ANALOG _ IN Signal Input 10 kΩ... -
Page 56: Communication Interface Connection
Liberty MDrive Ethernet TCP/IP Communication Interface Connection Communication Interface Connection P3 Connector - Ethernet Interface LED 1 LED 2 Signal Function Transmit + Receive + Transmit — 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 supported commissioning... -
Page 57: Chapter 5: Configuration
Chapter 5: Configuration What’s in this Chapter? This chapter includes the following topics: Topic Page Preparing for Configuration Installing the LSS IMS-MN-LMDE42C_A... - Page 58 Liberty MDrive Ethernet TCP/IP 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 59: Preparing For Configuration
Preparing for Configuration Liberty MDrive Ethernet TCP/IP Metal surfaces of the product may exceed 70°C (158°F) during operation. WARNING HOT SURFACES • Avoid unprotected contact with hot surfaces. • Do not allow flammable or heat-sensitive parts in the immediate vicinity of hot surfaces. •... -
Page 60: Chapter 6: Operations
Chapter 6: Operations What’s in this Chapter? Optional brief summary of the chapter. This chapter includes the following topics: Topic Page Basics Software Operation Modes Operation by hMT Modes I/O Operation IMS-MN-LMDE42C_A... -
Page 61: Basics
Basics 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. - Page 62 Liberty MDrive Ethernet TCP/IP Basics Loss of Synchronization Synchronous motion in a stepper motor requires that the lead/lag relationship between the rotor and stator be within +/- 2 motor full steps. As this relationship drifts toward the 2 step point the torque available to the load is reduced, with maximum constant torque available at the <= 1 full step point.
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Page 63: Software Operation Modes
Software Operation Modes Liberty MDrive Ethernet TCP/IP Overview of Motor Phase Current NOTE: LMD models without an encoder will operate in fixed run/hold current only. The motor phase current of the drive is influenced by the following factors: • The setting of the run current. •... - Page 64 Liberty MDrive Ethernet TCP/IP Software Operation Modes The network architecture shown below is an example of immediate mode operation. All system control is dictated by the programming of the host. Response LMDM 1 Request Host Response LMDM 2 Response LMDM n Sensor Sensor Display...
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Page 65: Operation By Hmt Modes
Operation by hMT Modes Liberty MDrive Ethernet TCP/IP Operation by hMT Modes The LMDCE and LMDAE feature four operational modes for hMT: 1. hMT Off 2. hMT On (fixed current) 3. hMT On (variable current) 4. Torque control The selected mode will have a major effect on how the device will operate during a move. The hMT operating mode may also be changed either programmatically or immediately provided a move is not in progress. - Page 66 Liberty MDrive Ethernet TCP/IP I/O Operation 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 Ethernet bus and processed through the hMT logic block.
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Page 67: I/O Operation
I/O Operation Liberty MDrive Ethernet TCP/IP I/O Operation The LMD TCP/IP products feature the following I/O points: • Three (3) general purpose inputs • One (1) 12-bit analog input (not available on the Absolute Encoder version) • One (1) high-speed signal output All of the I/O points are functionally configured in software using MCode. - Page 68 Liberty MDrive Ethernet TCP/IP I/O Operation Analog Input NOTE: The absolute encoder variant does not have an analog input. The analog input is a 12-bit input which operates in one of two modes. • Voltage mode can be set to be 0 to 5 V or 0 to 10 V. •...
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Page 69: Appendix A: Diagnostics And Troubleshooting
Appendix A: Diagnostics and Troubleshooting Opening LMD heat sinks can affect factory-set encoder alignment and impact hMTechnology performance. Tamper seals are in place to ensure factory hardware settings remain unaltered and match the encoder alignment set during the manufacturing process. The LMD product warranty may be void If a seal is broken. - Page 70 Liberty MDrive Ethernet TCP/IP Operation State and Error Indication LED Indicators The LMD TCP/IP products has two dual-color (red/green) LEDs visible from the back of the drive to give status and error indication of the Ethernet/IP connection. When power is first applied to the motor, both LEDs should flash orange, lasting for approximately one (1) second.
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Page 71: Error Codes
Error Codes Liberty MDrive Ethernet TCP/IP MCode/TCP Color State Description NS – Network Status (LED 2) None No power or no Ethernet port 503 connection Flashing Power applied and Port 503 (MCode/TCP) connected Green Solid Unrecoverable error detected Red/Green Alternating/Bi-color Socket error or port 503 (MCode/TCP) disconnected MS –... -
Page 72: Appendix B: Accessories And Spare Parts
Appendix B: Accessories and Spare Parts Accessories Source Commissioning Software The latest version of the Ethernet Interface Utility, part of the LSS, is available for download from: https://novantaims.com/dloads/user-interface-software/ MD-CS610-000: 12-Pin M12 to Flying Leads (I/O Signals) Cordset The MD-CS610-000 is a 12-position, A-coded M12 female to flying leads cable used to interface I/O signals to LMD products. - Page 73 Accessories Liberty MDrive Ethernet TCP/IP MD-CS621-000: 4-Pin Right Angle M12 to Flying Leads (DC Power) Cordset The MD-CS621-000 is a 4-position, B-coded M12 female with flying leads cable used to interface DC power to LMD products. Pre-wired shielded cables with a right angled M12 connector end for interfacing DC power.
- Page 74 Liberty MDrive Ethernet TCP/IP Accessories MD-CS671-xxx : Right Angle Configuration Ethernet Interconnect Cables The MD-CS671-xxx is a dual ended 4-position, D-coded M12 right angle configuration male to male cable used to daisy chain the communication interface on the LMD Ethernet dual port device.
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Page 75: 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 76: Service Address
Liberty MDrive Ethernet TCP/IP 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, ...) •... -
Page 77: Shipping, Storage, And Disposal
Shipping, Storage, and Disposal Liberty MDrive Ethernet TCP/IP Shipping, Storage, and Disposal Removal Procedure: • Switch off all power supplies, verifying that all voltage sources have been turned off. • Disconnect all power supplies. • Pull out all plugs. • Remove the product from the system. Shipping The product must be protected against shocks during transportation. -
Page 78: Appendix D: Lmd With Absolute Encoder
Appendix D: LMD with Absolute Encoder Overview This appendix covers the multi-turn absolute encoder functions for LMD Ethernet TCP/IP 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 to extend the life to five (5) years. -
Page 79: Icp0531 Encoder Back-Up Battery Pack
ICP0531 Encoder Back-up Battery Pack Liberty MDrive Ethernet TCP/IP 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 80 Liberty MDrive Ethernet TCP/IP ICP0531 Encoder Back-up Battery Pack Installing/Replacing the Batteries NOTE: Use only Energizer L91 1.5V AA Lithium batteries. CAUTION FLAMMABILITY HAZARD Do not load or transport lithium ion batteries if the packaging is damaged. Handle damaged batteries with care.
- Page 81 ICP0531 Encoder Back-up Battery Pack Liberty MDrive Ethernet TCP/IP Connector Configuration NOTE: The following cables are sold separately. 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+...
- Page 82 Liberty MDrive Ethernet TCP/IP 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 83: 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 84 Liberty MDrive Ethernet TCP/IP Ground (Earth) Loop: A ground (earth) loop is any part of the DC return path (ground) that has more than one possible path between any two points. Half Step: This term means that the motor shaft will move a distance of 0.9 degree (400 steps per shaft revolution) instead of moving 1.8 degree per digital pulse.
- Page 85 Liberty MDrive Ethernet TCP/IP NEMA: The acronym for the National Electrical Manufacturer’s Association, an organization that sets standards for motors and other industrial electrical equipment. Open Loop System: An open loop motion control system is where no external sensors are used to provide position or velocity feedback signals, such as encoder feedback of position.
- Page 86 Liberty MDrive Ethernet TCP/IP Sourcing Current: Refers to the current flowing out of the output of the chip. This means that a device connected between the chip output and the negative supply will be switched on when the output is high. Stall: Loss of synchronization.
- Page 87 Warranty For the latest warranty 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 Document revision to new company name and format.
- Page 88 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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