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Liberty* Motion Module
LMM 1.5 A CANopen Module
Liberty Motion Module CANopen 1.5A RMS programmable controller and driver module offers 1.5 A RMS (2.1 A peak) output current with 48 VDC input voltage. Starter kit available for rapid application development.
*Previously Lexium
Specifications
| General | ||
|---|---|---|
| Control Type | — | CANopen |
| Communications Interface | — | CAN |
| Communications Features | — | DS301, DSP 402, PDO, SDO, Heaartbeat, Node Guarding |
| Operating Temperature | [°C] | 85 |
| Humidity | [%] non-condensing | 95 |
| Electrical | ||
|---|---|---|
| Input Supply voltage | [+VDC] | +12 to +48 |
| Logic Supply voltage | [+VDC] | +5 |
| Output Current | [A] RMS (Peak) | 1.5 (2.1) |
| Power Supply Current Requirement | [A] | 1.25 |
California Residents – Click here for Proposition 65 warning| I/O | ||||
|---|---|---|---|---|
| Spec | Notes | Value | ||
| Min | Typ | Max | ||
| Inputs 1-4, Axis_Select 1_4, SPI | ||||
| Input voltage (VIN) | [VDC] | -0.3 | 3.3 | 3.6 |
| Voltage High Level (VIH) | [VDC] | 2.64 | – | – |
| Voltage Low Level (VIL) | [VDC] | – | – | 0.66 |
| Analog Input | ||||
| Input voltage (VIN) | [VDC] | -0.3 | 3.3 | 3.6 |
| Bridge Enable, Encode Ch A, Ch B, Index | ||||
| Input voltage (VIN) | [VDC] | -0.5 | 3.3 | 3.75 |
| Voltage High Level (VIH) | [VDC] | 2.0 | – | – |
| Voltage Low Level (VIL) | [VDC] | – | – | 0.66 |
| UART Recieve input | ||||
| Voltage High Level (VIH) | [VDC] | 2.64 | – | – |
| Voltage Low Level (VIL) | [VDC] | – | – | 0.66 |
| Reset input | ||||
| Voltage High Level (VIH) | [VDC] | 2.31 | – | – |
| Voltage Low Level (VIL) | [VDC] | – | 0.66 | 0.99 |
| Pull-up Resisitance (RPU) | kΩ | 2.49 | – | 2.85 |
| Min pulse width | μSec | 1 | – | – |
| Glitch immunity | nSec | – | 100 | – |
| Reset delay | nSec | – | 200 | – |
| Output 2-1, UART TX, SPI | ||||
| Voltage High Level (VOH) | [VDC] | 2.8 | – | – |
| Voltage Low Level (VOH) | [VDC] | – | – | 0.5 |
| Current High Level (IOH) | [mA] | – | 2 | 4 |
| Current Low Level (IOL) | [mA] | – | 2 | 4 |
| Output 3 (Trip Output) | ||||
| Voltage High Level (VOH) | [VDC] | 2.9 | – | – |
| Voltage Low Level (VOH) | [VDC] | – | – | 0.4 |
| Current High Level (IOH) | [mA] | – | – | 0.6 |
| Current Low Level (IOL) | [mA] | – | – | 0.6 |
| Motion | ||
|---|---|---|
| Open loop | ||
| Microstep resolution | [steps/rev] 1.8° motor | 1 … 51200 |
| Counter | Position register | 32-bit |
| Max Edge rate [MHz] | 5 | |
| Velocity range | [steps/sec (RPM)] | ± 2560000 (± 3000 ) |
| Velocity resolution | [steps/sec] | 0.5961 |
| Accel/Decel range | [steps/sec2] | 1.5 X 109 |
| Accel/Decel resolution | [steps/sec2] | 90.9 |
| with Encoder | ||
| Encoder type | – | User defined |
| Encoder resolution | [Lines / Edges] | User defined |
| Counter type | [32-bit] | Encoder |
| Encoder functions | Encoder connected and configured | Stall detect, position maintenance and find index |
| Software | |||
|---|---|---|---|
| CANopen | |||
| CiA Standards Compliance | |||
| Application Layer | DS301: CANopen application layer and communication profile | ||
| Profile | DSP402: CANopen device profile for drives and motion control | ||
| Connectivity | DR303-1: Cabling and connector pin assignment | ||
| Commisioning | DS305: CANopen layer setting services (LSS) and protocols | ||
| General features | |||
| Setup Parameters | Storable to NVM | ||
| Transmit PDOs | 4 Dynamically Mappable | ||
| Receive PDOs | 4 Dynamically Mappable | ||
| Manufacturer Specific Objects | I/O Configuration, Run/Hold Current | ||
| Modes of Operation | Profile Position, Homing Mode, Profile Velocity, Cyclic Synchronous Position | ||
| Input functions | General purpose, home, limit | ||
| Output functions | General purpose, braking | ||
Mechanical dimensions
Part Number/Accessories
| Accessories | |
|---|---|
| Liberty Motion Module | LMM-15-A |
| Starter kit | LMM-KIT2 |
| Single axis development board | LMM-INT1-A |
| Four axis development board | — |
| Communications converter | MD-CC501-000 |
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