Related Manuals for Novanta LMD23
Summary of Contents for Novanta LMD23
- Page 1 Hardware Manual Liberty MDrive CANopen NEMA 23 (57 mm) & NEMA 34 (85 mm) with Pluggable Connectors Publication IMS-MN-LMDA5785_A 02/2022 REACH IP20 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 Terminology Derived from Standards .................8 Source Documents and Software ..................9 Writing Conventions and Symbols ..................9 Documentation and Literature References ...............9 Website Directory ........................10 Documentation Feedback ......................10 Chapter 1: Introduction... - Page 4 Liberty MDrive CANopen Chapter 4: Installation Electromagnetic Compatibility, EMC ................. 46 Mechanical Installation ......................47 Supply Voltage VDC Connection ..................49 Multifunction Interface Connection ..................51 Signal Input Circuits ........................52 Power Output Circuits ......................55 Signal Output Circuit ....................... 56 Analog Input ..........................57 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
Liberty MDrive 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 Terminology Derived from Standards The technical terms, terminology, symbols and the corresponding descriptions in this manual, or that appear in or on the products themselves, are generally derived from the terms or definitions of international standards. In the area of functional safety systems, drives and general automation, this may include, but is not limited to, terms such as safety, safety function, safe state, fault, fault reset, malfunction, failure, error, error message, dangerous, etc. -
Page 9: Source Documents And Software
Source Documents and Software Liberty MDrive CANopen Source Documents and Software The latest versions of the manuals are available online from: https://novantaims.com/dloads/product-literature/manuals-3/ Writing Conventions and Symbols Work Steps Work steps must be performed consecutively. Work steps will be numbered in order of expected operation. -
Page 10: Website Directory
Liberty MDrive CANopen Website Directory 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-LMDA5785_A... -
Page 12: About This Product
Liberty MDrive CANopen About this Product About this Product This manual is valid for all NEMA 23 (57 mm) and NEMA 34 (85 mm) LIberty MDrive (LMD) CANopen products with pluggable connectors. This chapter lists the type codes for these products. -
Page 13: Components And Interfaces
Components and Interfaces Liberty MDrive CANopen Components and Interfaces The NEMA 23 (57 mm) product is shown below. The NEMA 34 (85 mm) has identical 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... - Page 14 Liberty MDrive CANopen Multifunction Interface The multifunction interface operates at the following signal levels: • +12V to +-------------------------------------------log signal is not isolated. The +5V to +24V input signals are programmable as general purpose or to predefined functions. The output is a 5.5 mA signal output which can be defined as high speed trip. The reference voltage or current is applied to the analog input and may be used for a number of programmatically defined operations.
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Page 15: Conditions For Ul 508C
Conditions for UL 508C Liberty MDrive 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
Liberty MDrive 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-LMDA5785_A... -
Page 17: Part Number Identification
Part Number Identification Liberty MDrive CANopen Part Number Identification LMD Rotary Motor The following graphic displays a breakdown of the LMD rotary motor part number identification. LMD O A 85 Product LMD = standard torque motor = high torque motor Feedback O = Open loop (no encoder) C = Closed loop (with encoder) - Page 18 Liberty MDrive 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 57 1 P -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 Liberty MDrive CANopen LMD Electric Cylinders (eCylinders) The following graphic displays a breakdown of the LMD eCylinder part number identification. LMD O A 57 1 P -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 Certifications Environmental Conditions Mounting Data Mechanical Data Electrical Data Rotary Motor Data... -
Page 21: Certifications
Certifications Liberty MDrive 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... -
Page 22: Mounting Data
Liberty MDrive CANopen Mounting Data Emission IEC61800-3 (Category C2) Noise immunity IEC61000-6-2 IP Degree of Protection These products have the following degree of ingress protection (IP) as per EN 60529. Degree of protection IP20 The total degree of protection is determined by the component with the lowest degree of protection. - Page 23 Mounting Data Liberty MDrive CANopen Mounting (Rotary and External Linear Actuators) NEMA 23 (57 mm) Mounting Holes Mounting the LMDXA57X uses four (4) M5 x 0.5 screws on a bolt circle diameter (BCD) of 2.625” (66.67 mm). The length of the screws will be determined by the thickness of the mounting material plus a maximum of 0.186”...
- Page 24 Liberty MDrive CANopen Mounting Data Mounting (Electric Cylinder with Flange Mount) The flange mount option for the NEMA 23 (57 mm) electric cylinder uses front and rear flange plates to mount the cylinder into the system. The following graphic shows the mounting hole dimensions for the flanges.
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Page 25: Mechanical Data
Mechanical Data Liberty MDrive 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 Liberty MDrive CANopen Mechanical Data NEMA 34 (85mm) Rotary Dimensions The following graphic shows the rotary dimensions [inches (mm)]. 2.566 1.973 (65.19) (50.12) 0.394 (10.01) 1.159 1.461 ±0.039 (29.45) (37.1 ±1.0) Ø 2.874 ±0.001 (Ø 73.0 ±0.025) 0.984 ±0.01 (24.99 ±0.25) 4.65 (118.12) Ø...
- Page 27 Mechanical Data Liberty MDrive CANopen External Linear Actuator Dimensions The following graphic shows the external linear actuator dimensions for the NEMA 23 (57 mm) [inches (mm)]. 2.26 (57.4) Ø 1.50 ±0.002 Screw end options: (Ø 38.10 ±0.05) smooth end (shown), metric, UNC, or none 3.81 (96.8)
- Page 28 Liberty MDrive CANopen 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 29 Mechanical Data Liberty MDrive CANopen Foot Mounts The following graphic shows the dimensions for the LMD electric cylinder with the foot mounting option. 6.23 (158.2) max + Stroke Length Stroke Lengths may range from 2.0 (51) min. to 24.0 (610) max. 2.16 (55.0) 2.16 (54.9) + Stroke Length 0.19...
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Page 30: Electrical Data
Liberty MDrive CANopen Electrical Data Electrical Data This section provides an overview of the LMD connection specifications and LED status information. P1 Connector - Supply Voltage (VDC) Refer to the following table for LMD•42 supply voltage information. LMD•57 LMD•85 Nominal voltage [+Vdc] 24/48 24/48... - Page 31 Electrical Data Liberty MDrive CANopen P2a and P2b Connectors - 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 32 Liberty MDrive CANopen Electrical Data Auxiliary Supply Voltage VDC Auxiliary power is used to maintain power to the logic circuits and retain information stored in counters, registers, and user variables in the event of system power loss. It is not a required connection.
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Page 33: Rotary Motor Data
Rotary Motor Data Liberty MDrive CANopen Rotary Motor Data LMD•57 (NEMA 23) Motor Specifications Single Double Triple Holding torque oz-in (N-cm) 103 (73) 159 (112) 242 (171) Detent torque oz-in (N-cm) 3.9 (2.7) 5.6 (3.9) 9.7 (6.9) Rotor inertia oz-in-sec (kg-cm 0.0025 (0.18) 0.0037 (0.26) - Page 34 Liberty MDrive CANopen Rotary Motor Data LMD•85 (NEMA 34) Motor Specifications Single Double Triple Holding torque oz-in (N-cm) 336(237) 480 (339) 920 (650) Detent torque oz-in (N-cm) 10.9 (7.7) 14.16 (10.0) 19.83 (14.0) Rotor inertia oz-in-sec (kg-cm 0.0127 (0.90) 0.0191 (1.35) 0.0382 (2.70) Radial load limit End of shaft...
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Page 35: External Linear Actuator Data
External Linear Actuator Data Liberty MDrive CANopen External Linear Actuator Data Linear Actuator Specifications NEMA 23 (57mm) The following table shows the external linear actuator specifications for the LMD•57: Specifications Units Value Rotor inertia oz-in-sec 0.0005 kg-cm2 0.038 Maximum screw misalignment degrees ±1 Maximum thrust... -
Page 36: Electric Cylinder Data
Liberty MDrive CANopen Electric Cylinder Data Electric Cylinder Data Electric Cylinder Specifications The table below lists the electric cylinder actuator specifications: Specifications Units Value Rotor inertia oz-in-sec 0.0025 kg-cm 0.18 Maximum thrust PEEK blend nut Accuracy 0.0003 0.007 Backlash PEEK blend nut 0.002 0.05 End play... -
Page 37: 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. CAUTION MULTI-MODE OPERATION This device will operate differently in each mode of operation. Read all documentation completely for a clear understanding of how the device is to be employed before attempting to install or commission the device. -
Page 38: External Power Supply Units
Liberty MDrive 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 a DC power supply unit that meets voltage requirements. •... - Page 39 External Power Supply Units Liberty MDrive CANopen CAUTION LOSS OF CONTROL DUE TO REGENERATION CONDITION 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.
- Page 40 Liberty MDrive 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 41: Auxiliary Power Supply
Auxiliary Power Supply Liberty MDrive 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 42: Ground (Earth) Design
Liberty MDrive CANopen Ground (Earth) Design The following graphic illustrates system power wiring. +VDC GND AUX GND +VDC Supply AUX Supply 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 43: Monitoring Functions
Monitoring Functions Liberty MDrive CANopen 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 44: Chapter 4: Installation
Chapter 4: Installation What’s in this Chapter? This chapter includes the following topics: Topic Page Electromagnetic Compatibility, EMC Mechanical Installation Supply Voltage VDC Connection Multifunction Interface Connection Signal Input Circuits Power Output Circuits Signal Output Circuit Analog Input Communications Interface Connection Checking Wiring IMS-MN-LMDA5785_A... - Page 45 Liberty MDrive 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 46: Electromagnetic Compatibility, Emc
Liberty MDrive 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 47: Mechanical Installation
Mechanical Installation Liberty MDrive 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 48 Liberty MDrive 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 49: Supply Voltage Vdc Connection
Supply Voltage VDC Connection Liberty MDrive CANopen LMD Connectors Overview This section provides an overview of the LMD connectors. Refer to “Electrical Data” on page 30 for the electrical specifications for these connectors. Connector Assignment Supply voltage VDC Multifunction interface Communication interface Supply Voltage VDC Connection P1 Connector - Power Supply Interface Connections... - Page 50 Liberty MDrive CANopen Multifunction Interface Connection Pin Assignment The graphic and table below show the DC power connection pin assignment. Signal Function Pin number +12 to +48 VDC Supply voltage 0 VDC Reference potential to VDC Wiring/cable Specifications Use shielded twisted pair cabling for the supply voltage •...
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Page 51: Multifunction Interface Connection
Multifunction Interface Connection Liberty MDrive CANopen 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 77 for details specific to the Absolute Encoder variant. -
Page 52: Signal Input Circuits
Liberty MDrive CANopen Signal Input Circuits Connecting the Cable The connector is a spring clamp type terminal strip. To interface: • Strip 0.25” (6.0 mm) insulation. • Use a small screwdriver to push in the designated pin’s spring clamp • Insert stripped wire into designated pin •... - Page 53 Signal Input Circuits Liberty MDrive CANopen 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 54 Liberty MDrive CANopen Signal Input Circuits 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 1 - 3 in that configuration.
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Page 55: Power Output Circuits
Power Output Circuits Liberty MDrive CANopen Refer to the Liberty 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=1, 0, 1 Set IN 1 as general purpose, active when high (switch closed) normally open IS=2, 0, 1... -
Page 56: Signal Output Circuit
Liberty MDrive CANopen Signal Output Circuit 1. Solid state relay Sinking Sourcing – – In + In − Output + Output + Output − Output − In + In − Load Load Power Power 2. LED indicator Sinking Sourcing – –... -
Page 57: Analog Input
Analog Input Liberty MDrive CANopen Analog Input ANALOG _ IN may be configured to detect one of three input types: • 0 - 5V • 0 - 10V • 0 - 20 mA ANALOG _ IN signal input: 10 kΩ Potentiometer ANALOG_IN LOGIC_GND Analog Input Wiring and Usage Examples... -
Page 58: Communications Interface Connection
Liberty MDrive CANopen Communications Interface Connection Communications Interface Connection P3 Connector - Service Interface Pin Assignments Signal Function — Reserved CAN_L CAN_L bus line (dominant low) CAN_GND CAN Ground — Reserved (CAN_SHLD) Optional CAN Shield (GND) Optional Ground CAN_H CAN_H bus line (dominant high) —... -
Page 59: Checking Wiring
Checking Wiring Liberty MDrive CANopen Setting the Address and BAUD Rate Each device on the network is identified by a unique, adjustable node ID which may be set using the CANopen Configuration Utility, which is part of the LSS, or by using CANopen Layer Setting Services as defined in CiA document DSP-305. -
Page 60: 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-LMDA5785_A... - Page 61 Liberty MDrive 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 62: Preparing For Configuration
Liberty MDrive 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 63: 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-LMDA5785_A... -
Page 64: Basics
Liberty MDrive 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 65 Basics Liberty MDrive 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 66: Canopen Dsp402 Operation Modes
Liberty MDrive CANopen CANopen DSP402 Operation Modes 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 CTRL Hold current delay time HCDT=[microseconds] CANopen DSP402 Operation Modes The LMD operates as a node on a CANopen network and is controlled by a CANopen master. - Page 67 CANopen DSP402 Operation Modes Liberty MDrive 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 68: Operation By Hmt Modes
Liberty MDrive CANopen Operation by hMT Modes Operation by hMT Modes The LMDCA, LMDCx, and LMDAx 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 69: I/O Operation
I/O Operation Liberty MDrive CANopen The device will use the run and hold current settings for bridge current. The following graphic shows a block diagram for a system with hMT enabled: hMT Logic Rotor actual Position position Compare Lead/Lag logic Register Stator commanded position... - Page 70 Liberty MDrive CANopen I/O Operation Inputs The general purpose inputs are +5 to +24 VDC tolerant optically isolated general purpose, homing, or limit inputs. Input 1 may additionally be configured as a capture input. Power Output NOTE: The absolute encoder variant includes a single power output, Output 1. The power outputs are 24 VDC, 100 mA optically isolated, over-current protected outputs which can be used as general purpose or configured as a brake output.
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Page 71: 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 is displayed by reading object 2019h Output h-bridge temperature options, subindex 01h. - Page 72 Liberty MDrive CANopen Operation State and Error Indication 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 CiA DR-303-3 Indicator specification.
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Page 73: 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-CC501-000 The communication converter kit contains a converter, a six foot cable, and a terminating resistor plug. -
Page 74: Appendix C: Service, Maintenance, And Disposal
UNINTENDED EQUIPMENT OPERATION • Do not open the MDrive housing for any reason. • Contact a Novanta IMS service representative if the product exhibits unexplained erratic or incorrect operation. Failure to follow these instructions can result in death or serious injury. -
Page 75: Service Address
Service Address If an error cannot be resolved from the information provided in this manual, contact a Novanta IMS service representative. Have the following details available: • Nameplate (type, identification number, serial number, DOM, ...) • Type of error (e.g., LED flash code, error number. etc.) •... -
Page 76: Shipping, Storage, And Disposal
Liberty MDrive CANopen Shipping, Storage, and Disposal Shipping, Storage, and Disposal Removal Removal procedure: • Switch off all power supplies, 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 77: 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 78: Icp0531 Encoder Back-Up Battery Pack
Liberty MDrive CANopen ICP0531 Encoder Back-up Battery Pack 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 79 ICP0531 Encoder Back-up Battery Pack Liberty MDrive CANopen Installing/Replacing the Batteries NOTE: Use only Energizer L91 1.5V AA Lithium batteries. WARNING FLASH OR FIRE RISK Do not load or transport lithium ion batteries if the packaging is damaged. A flammability hazard exists if package is damaged.
- Page 80 Liberty MDrive CANopen ICP0531 Encoder Back-up Battery Pack 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 81 ICP0531 Encoder Back-up Battery Pack Liberty MDrive CANopen 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+ J1– VBAT– J2-J6: up to 5 more LMD Devices J7:1 24VDC Low Level Advisory Output...
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Page 82: 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 83 Liberty MDrive CANopen 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 84 Liberty MDrive 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 85 Liberty MDrive CANopen 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 86 Warranty For the latest warranty and product information, visit: https://novantaims.com/warranty-and-disclaimer/ Document Revision History Liberty MDrive CANopen: IMS-MN-LMDA5785_A Date Revision Changes 02/16/2022 Document revision to new company name and format.
- Page 87 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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