Summary of Contents for Novanta IMS Liberty MDrive Motion Control
- Page 1 Hardware Manual Liberty MDrive Motion Control NEMA 23 (57 mm) & NEMA 34 (85 mm) with M12 Circular Connectors Publication IMS-MN-LMDM57-85C.pdf 04/2022 REACH IP/20IP65 LISTED...
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Page 2: Safety Information
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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 Source Documents and Software ..................9 Writing Conventions and Symbols ..................9 Documentation and Literature References ..............10 Website Directory ........................10 Documentation Feedback ......................10 Chapter 1: Introduction... - Page 4 Liberty MDrive Motion Control Table of Contents Chapter 4: Installation Electromagnetic Compatibility, EMC ................. 46 Mechanical Installation ......................47 Electrical Installation ........................ 49 Supply Voltage VDC Connection ..................49 Multifunction Interface Connection ..................51 Signal Input Circuits ........................52 Power Output Circuits ......................54 Signal Output Circuit .......................
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Page 5: Qualification Of Personnel
ABOUT THIS MANUAL Introduction Read and understand the material contained in this manual before working on Liberty MDrive (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 6: Source Documents And Software
LMD Motion Control Source Documents and Software 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 7: Documentation And Literature References
The latest version of this manual can be downloaded from: https://novantaims.com/dloads/ 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 8: 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 Conditions for UL 508C Name Plate Part Number Identification IMS-MN-LMDM57-85C.pdf... -
Page 9: About This Product
About this Product Liberty MDrive Motion Control About this Product This manual is valid for all Liberty MDrive Programmable Motion Control NEMA 23 and NEMA 34 rotary and linear products. This chapter lists the type code for this product. The type code can be used to identify whether your product is a standard product or a customized model. -
Page 10: Components And Interfaces
Liberty MDrive Motion Control Components and Interfaces Components and Interfaces NEMA 23 (57 mm) product 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) Service interface (F) Protective earth (G) LED indicators... - Page 11 Components and Interfaces Liberty MDrive Motion Control Interfaces Standard available interfaces connect using standard M12 circular connectors. DC power supply voltage The DC Power Interface connection supplies VDC and AUX power connections for the drive via a 4-position M12 (male, B-coded) connector (P1). The VDC connection provides power to the control electronics and power stage.
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Page 12: Conditions For Ul 508C
Liberty MDrive Motion Control Conditions for UL 508C 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 13: Name Plate
Name Plate Liberty MDrive Motion Control Name Plate The name plate has 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-LMDM57-85C.pdf... -
Page 14: Part Number Identification
Liberty MDrive Motion Control 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 M 57 Product LMD = standard torque motor = high torque motor Control type O = Open loop (no encoder) C = Closed loop (with encoder) - Page 15 Part Number Identification Liberty MDrive Motion Control LMD External Linear Actuators The following graphic displays a breakdown of the LMD external linear actuator part number identification. LMD O M 57 1 C -C S A 020 M NN Product LMD = standard torque motor Feedback O = Open loop (no encoder) C = Closed loop (with encoder)
- Page 16 Liberty MDrive Motion Control Part Number Identification LMD Electric Cylinders (eCylinders) The following graphic displays a breakdown of the LMD eCylinder part number identification. LMD O M 57 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 17: 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 the accessories. This chapter includes the following topics: Topic Page Certifications Environmental Conditions Mounting Data Mechanical Data Electrical Data... -
Page 18: Certifications
Liberty MDrive Motion Control Certifications 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... -
Page 19: Mounting Data
Mounting Data Liberty MDrive Motion Control 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 20 Liberty MDrive Motion Control Mounting Data Mounting (Rotary and External Linear Actuators) NEMA 23 (57 mm) Mounting Holes Mounting the LMDXA57XC 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 21 Mounting Data Liberty MDrive Motion Control 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 22: Mechanical Data
Liberty MDrive Motion Control Mechanical Data 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 23 Mechanical Data Liberty MDrive Motion Control 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)
- Page 24 Liberty MDrive Motion Control Mechanical Data 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 25 Mechanical Data Liberty MDrive Motion Control 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 26 Liberty MDrive Motion Control Mechanical Data 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 27: Electrical Data
Electrical Data Liberty MDrive Motion Control 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•57 and LMD•85 supply voltage information. LMD•57 LMD•85 Nominal voltage... - Page 28 Liberty MDrive Motion Control Electrical Data 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 29 Electrical Data Liberty MDrive Motion Control 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 30: Rotary Motor Data
Liberty MDrive Motion Control Rotary Motor Data 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) - Page 31 Rotary Motor Data Liberty MDrive Motion Control 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...
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Page 32: External Linear Actuator Data
Liberty MDrive Motion Control External Linear Actuator Data 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 33: Electric Cylinder Data
Electric Cylinder Data Liberty MDrive Motion Control 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... -
Page 34: 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 35: External Power Supply Units
External Power Supply Units Liberty MDrive Motion Control 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 36 Liberty MDrive Motion Control External Power Supply Units 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 37 External Power Supply Units Liberty MDrive Motion Control 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 38: Auxiliary Power Supply
Liberty MDrive Motion Control 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 outage. This supply will retain all system data. -
Page 39: Ground (Earth) Design
Ground (Earth) Design Liberty MDrive Motion Control 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 40: Monitoring Functions
Liberty MDrive Motion Control 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 41: 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 Signal Input Circuits IMS-MN-LMDM57-85C.pdf... - Page 42 Liberty MDrive Motion Control 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 43: Electromagnetic Compatibility, Emc
Electromagnetic Compatibility, EMC Liberty MDrive Motion Control 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 44: Mechanical Installation
Liberty MDrive Motion Control Mechanical Installation 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 45 Mechanical Installation Liberty MDrive Motion Control 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 46: Electrical Installation
Liberty MDrive Motion Control Electrical Installation 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 47 Supply Voltage VDC Connection Liberty MDrive Motion Control The connection for the DC supply voltage at the product does not have an inrush current limitation. If the voltage is switched on by means of switching the DC or hot plugging of contacts, damage to the contacts or contact welding may result.
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Page 48: Multifunction Interface Connection
Liberty MDrive Motion Control 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 74 for details specific to the Absolute Encoder variant. -
Page 49: Signal Input Circuits
Signal Input Circuits Liberty MDrive Motion Control 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 50 Liberty MDrive Motion Control Signal Input Circuits 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. 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 51: Power Output Circuits
Power Output Circuits Liberty MDrive Motion Control PNP sensors in a sourcing general purpose configuration The following graphic illustrates three (3) PNP sensors connected to the LMD inputs 1 - 3. These inputs are configured as general purpose and may be used in an MCode program to perform branch or call subroutine operations. - Page 52 Liberty MDrive Motion Control Signal Output Circuit Output Wiring and Usage Examples The Liberty MDrive NEMA 23 (57 mm) and NEMA 34 (85 mm) have two (2) 100 mA dry contact style power outputs which may be interfaced to a variety of devices such as LEDs, SSRs, electromechanical relays, solenoids, or PLC inputs.
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Page 53: Signal Output Circuit
Signal Output Circuit Liberty MDrive Motion Control Signal Output Circuit The signal output provides indication of trip condition(s). The condition(s) which will trigger this output are programmable. The output is galvanically isolated by means of an optic isolation. Signal output: COLLECTOR EMITTER PLC input or... -
Page 54: Communications Interface Connection
Liberty MDrive Motion Control Communications Interface Connection Communications Interface Connection P3 Connector - Service Interface Pin Assignments LED 1 LED 2 Chassis Signal Function TRANSMIT– Minus transmit or channel A– line TRANSMIT+ Plus transmit or channel A+ line RECEIVE+ Plus receive, or channel B+ line RECEIVE–... - Page 55 Communications Interface Connection Liberty MDrive Motion Control Setting the Address and BAUD Rate Each device on the network is identified by a unique, adjustable node address consisting of ASCII characters 0-9, a-z, A-Z for a total of 62 network nodes. Factory settings: •...
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Page 56: Checking Wiring
Liberty MDrive Motion Control Checking Wiring Checking Wiring Check the following before applying power to the device: • Are all the cables and connectors properly installed? • Are there any live, exposed cables? • Are the signal wires properly installed? IMS-MN-LMDM57-85C.pdf... -
Page 57: Chapter 5: Configuration
Chapter 5: Configuration 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. -
Page 58: Preparing For Configuration
Liberty MDrive Motion Control 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 59: 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 Software Operation Modes Operation by hMT Modes I/O Operation IMS-MN-LMDM57-85C.pdf... -
Page 60: Basics
Liberty MDrive Motion Control Basics Basics Modes of Operation The operational functionality of the LMD Motion Control is impacted by the selected mode of operation. It can operate independently as a pulse/direction input device, a variable torque controller, an variable speed controller or a constant velocity drive. The “LMD Motion Control”... - Page 61 Basics Liberty MDrive Motion Control 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...
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Page 62: Software Operation Modes
Liberty MDrive Motion Control Software 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 63 Software Operation Modes Liberty MDrive Motion Control Program Mode In program mode the device may operate as a standalone controller. The LMD will respond programmatically to inputs, set outputs based on flag states or register values, and send register values over the network as instructed by the programming of the device. Program mode functionality allows the device to be used to initiate and respond to process events in a distributed intelligence system.
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Page 64: Operation By Hmt Modes
Liberty MDrive Motion Control Operation by hMT Modes Operation by hMT Modes The LMDxM features 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 65 Operation by hMT Modes Liberty MDrive Motion Control 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 RS485 bus and processed through the hMT logic block.
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Page 66: I/O Operation
Liberty MDrive Motion Control I/O Operation I/O Operation The LMD Motion Control NEMA 23 (57 mm) and NEMA 34 (85 mm) feature the following I/O points: • Four general purpose inputs • Two power outputs • One 12-bit analog input •... -
Page 67: 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 68: Error Codes
LMD Motion Control Diagnostics and Troubleshooting Error codes Error codes may be read by querying the device via a terminal emulator using: PR ER The response will come in the form of the error code existing. For a listing of error codes refer to the LMD MCode manual, available for download from: www.novantaims.com/dloads/ IMS-MN-LMDM57-85C.pdf... -
Page 69: Appendix B: Accessories And Spare Parts
Appendix B: Accessories and Spare Parts Accessories Source Commissioning Software The latest version of Motion Control Interface, part of the LMD Software Suite, is available for download from https://novantaims.com/dloads/ Communications Converter Description Part number USB to RS-422/485 communication converter MD-CC405-000 Prototype development cordset (5-pin M12 to flying leads RS-422/485) The MD-CS600-000 is a 5-position, A-coded M12 male to flying leads cable used to interface RS-422/485 communications to the LMD. - Page 70 LMD Motion Control Accessories and Spare Parts Prototype development cordset (4-pin M12 to flying leads DC power The MD-CS620-000 is a 4-position, B-coded M12 female to flying leads cable used to interface DC power to the LMD. 9.8’ (3.0 m) 1.75”...
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Page 71: 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 72: 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 73: Shipping, Storage, And Disposal
Shipping, Storage, and Disposal Liberty MDrive Motion Control 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. •... -
Page 74: 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 75: Icp0531 Encoder Back-Up Battery Pack
ICP0531 Encoder Back-up Battery Pack Liberty MDrive Motion Control 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 76 Liberty MDrive Motion Control ICP0531 Encoder Back-up Battery Pack Installing/Replacing the Batteries NOTE: Use only Energizer L91 1.5V AA Lithium batteries. Do not load or transport lithium ion batteries if the packaging is damaged. A flammability hazard exists if package is damaged. Handle with care. Attention: If Lithium batteries are installed, provide proper package warning labels to all shipping containers as required by law.
- Page 77 ICP0531 Encoder Back-up Battery Pack Liberty MDrive Motion Control 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...
- Page 78 Liberty MDrive Motion Control 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+ J1– VBAT– J2-J6: up to 5 more LMD Devices J7:1 24VDC Low Level Advisory Output...
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Page 79: 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 80 Liberty MDrive Motion Control 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 81 Liberty MDrive Motion Control 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 82 Liberty MDrive Motion Control 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.
- Page 83 Warranty For the latest warranty and product information, visit: https://novantaims.com/warranty-and-disclaimer/ Document Revision History Liberty MDrive Motion Control: IMS-MN-LMDM57-85C.pdf Date Revision Changes 04/08/2022 Document revision to new company name and format.
- Page 84 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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