Novanta IMS Liberty MDrive CANopen User manual

Hardware Manual
Liberty MDrive CANopen
NEMA 17 (42 mm) with M12 Circular Connectors
Publication IMS-MN-LMDA42C_A.pdf
10/2021
REACH IP65
LISTED

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For information on the availability of products, go to https://novantaims.com/
The information contained in the present document is subject to change without notice. The
technical characteristics of the devices described in the present document also appear online.
The characteristics that are presented in the present document should be the same as those
characteristics that appear online. In line with our policy of constant improvement, we may
revise content over time to improve clarity and accuracy. If there is a difference between the
document and online information, use the online information as reference. All details provided
are technical data which do not constitute warranted qualities.
Some of the product designations are registered trademarks of their respective owners, even if
this is not explicitly indicated.
The information provided in this documentation contains general descriptions and/or technical
characteristics of the performance of the products contained herein. This documentation is
not intended as a substitute for and is not to be used for determining suitability or reliability
of these products for specific user applications. It is the duty of any such user or integrator to
perform the appropriate and complete risk analysis, evaluation and testing of the products with
respect to the relevant specific application or use thereof.
Neither Novanta IMS nor any of its affiliates or subsidiaries shall be responsible or liable for
misuse of the information contained herein. If you have any suggestions for improvements or
amendments or have found errors in this publication, please notify us.
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your own risk. All other rights are reserved.
All pertinent state, regional, and local safety regulations must be observed when installing
and using this product. For reasons of safety and to help ensure compliance with documented
system data, only the manufacturer should perform repairs to components.
When devices are used for applications with technical safety requirements, the relevant
instructions must be followed. Failure to use Novanta IMS software or approved software with
our hardware products may result in injury, harm, or improper operating results.
Failure to observe this information can result in injury or equipment damage.

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IMS-MN-LMDA42C_A.pdf
Table of Contents
Safety Information 5
Important Information...............................................................................................................5
Qualification of Personnel........................................................................................................5
Intended Use.................................................................................................................................5
Product Related...........................................................................................................................6
About this Manual 8
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 11
About this Product ....................................................................................................................12
Unit Overview ..............................................................................................................................12
Components and Interfaces...................................................................................................13
Conditions for UL 508C...........................................................................................................15
Name Plate....................................................................................................................................16
Part Number Identification..................................................................................................... 17
Chapter 2: Technical Data 20
Certifications................................................................................................................................21
Environmental Conditions ......................................................................................................21
Mounting Data.............................................................................................................................22
Mounting (Rotary and External Linear Actuators)....................................................... 23
Mechanical Data ........................................................................................................................ 25
Electrical Data ............................................................................................................................ 29
Rotary Motor Data .................................................................................................................... 32
External Linear Actuator Data ............................................................................................. 33
Electric Cylinder Data.............................................................................................................. 34
Chapter 3: Engineering 35
External Power Supply Units ................................................................................................ 36
Auxiliary Power Supply........................................................................................................... 39
Wiring and Shielding................................................................................................................ 39
Ground (Earth) Design............................................................................................................ 40
Monitoring Functions................................................................................................................41

4IMS-MN-LMDA42C_A.pdf
LMD CANopen
Chapter 4: Installation 42
Electromagnetic Compatibility, EMC................................................................................. 44
Mechanical Installation............................................................................................................ 45
Electrical Installation................................................................................................................ 47
Supply Voltage VDC Connection........................................................................................ 48
Multifunction Interface Connection.................................................................................... 50
Signal Input Circuits ..................................................................................................................51
Signal Output Circuit ............................................................................................................... 54
Analog Input ............................................................................................................................... 54
Communications Interface Connection ............................................................................ 55
Checking Wiring .........................................................................................................................57
Chapter 5: Configuration 58
Preparing for Configuration .................................................................................................. 60
Configuration via Layer Setting Services......................................................................... 60
Chapter 6: Operation 61
Basics............................................................................................................................................. 62
CANopen DSP402 Operation Modes ................................................................................ 64
Operation by hMT Modes....................................................................................................... 66
I/O Operation.............................................................................................................................. 69
Appendix A: Diagnostics and Troubleshooting 70
Operation State and Error Indication ................................................................................ 70
Appendix B: Accessories and Spare Parts 71
Accessories................................................................................................................................... 71
Appendix C: Service, Maintenance, and Disposal 73
Service Address ..........................................................................................................................74
Maintenance .................................................................................................................................74
Replacing Units ...........................................................................................................................74
Shipping, Storage, and Disposal...........................................................................................75
Appendix D: LMD with Absolute Encoder 76
Overview....................................................................................................................................... 76
Unboxing Procedure ................................................................................................................ 76
Connection of the Multifunction Interface ...................................................................... 76
ICP0531 Encoder Back-up Battery Pack ...........................................................................77
Glossary 81

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IMS-MN-LMDA42C_A.pdf
SAFETY INFORMATION
Important Information
Notice
Read these instructions carefully, and look at the equipment to become familiar with the device before
trying to install, operate, service, or maintain it. The following special messages may appear throughout
this documentation or on the equipment to warn of potential hazards or to call attention to information that
clarifies or simplifies a procedure.
The addition of this symbol to a “Danger” or “Warning” safety label or message
indicates that an electrical hazard exists which will result in personal injury if the
instructions are not followed.
This is the safety alert symbol. It is used to alert of potential personal injury hazards.
Obey all safety messages and labels that follow this symbol to avoid possible injury or
death.
DANGER
DANGER indicates a hazardous situation which, if not avoided, will result in death or serious injury.
WARNING
WARNING indicates a hazardous situation which, if not avoided, could result in death or serious injury.
CAUTION
CAUTION indicates a hazardous situation which, if not avoided, could result in minor or moderate injury.
NOTICE
NOTICE is used to address practices not related to physical injury.
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.
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.
Since the product is used as a component in an entire system, ensure the safety of persons by
means of the design of this entire system (e.g., machine design).
Operate the product only with the specified cables and accessories. Use only genuine
accessories and spare parts.