Description
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.
| Parameter | Unit | LMM 1.5 A CANopen Module |
|---|---|---|
| Control type | CANopen | |
| Communications interface | CAN | |
| Communications features | DS301, DSP 402, PDO, SDO, Heaartbeat, Node Guarding | |
| Operating temperature | °C | max. 85 |
| Humidity | % non-condensing | 95 |
| 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 |
Closed Loop / Absolute Encoder
Closed Loop / Absolute Encoder
| Value | Unit | – |
|---|---|---|
| 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 |
| Counter resolution | bit | 32 |
Software Specifications
Software Specifications
| Value | – |
|---|---|
| CANopen application layer | DS301: CANopen application layer and communication profile |
| CANopen profile | DSP402: CANopen device profile for drives and motion control |
| CANopen connectivity | DR303-1: Cabling and connector pin assignment |
| CANopen commisioning | DS305: CANopen layer setting services (LSS) and protocols |
| Parameter storage | Setup 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, Profile Torque1, Cyclic Synchronous Position |
| Input functions | General purpose, home, limit |
| Output functions | General purpose, braking |
I/O Specifications
| I/O Specifications | Unit | LMM 1.5 A CANopen Module |
|---|---|---|
| I/O functions | Programmable I/Os | |
| UART Recieve input Voltage low level (VIL) | VDC | – |
| Reset input Voltage High Level (VIH) | VDC | – |
| Reset input Voltage Low Level (VIL) | VDC | 0.66 |
| Pull-up Resisitance (RPU) | kΩ | – |
| Min pulse width | μSec | – |
| Glitch immunity | nSec | 100 |
| Reset delay | nSec | 200 |
| Output 2-1, UART TX, SPI voltage high level (VOH) | VDC | – |
| Output 2-1, UART TX, SPI voltage low level (VOH) | VDC | – |
| Output 2-1, UART TX, SPI current high level (IOH) | mA | 2 |
| Inputs 1-4, Axis_Select 1_4, SPI input voltage (VIN) | VDC | 3.3 |
| Output 2-1, UART TX, SPI current low level (IOL) | mA | 2 |
| Output 3 (Trip Output) voltage high level (VOH) | VDC | – |
| Output 3 (Trip Output) voltage low level (VOH) | VDC | – |
| Output 3 (Trip Output) current high level (IOH) | mA | – |
| Output 3 (Trip Output) current low level (IOL) | mA | – |
| Inputs 1-4, Axis_Select 1_4, SPI voltage high level (VIH) | VDC | – |
| Inputs 1-4, Axis_Select 1_4, SPI voltage low level (VIL) | VDC | – |
| Analog Input voltage (VIN) | VDC | 3.3 |
| Bridge Enable, Encode Ch A, Ch B, Index input voltage (VIN) | VDC | 3.3 |
| Bridge Enable, Encode Ch A, Ch B, Index voltage high level (VIH) | VDC | – |
| Bridge Enable, Encode Ch A, Ch B, Index voltage low level (VIL) | VDC | – |
| UART Recieve input voltage high level (VIH) | VDC | – |
Parameter settings
| Parameter settings | Unit | LMM 1.5 A CANopen Module |
|---|---|---|
| Microstep resolution | steps/rev 1.8° motor | 1 … 51200 |
| Counter position register | bit | 32 |
| Counter edge rate | MHz (max.) | 5 |
| Velocity range | steps/sec | RPM | ± 2560000 | ± 3000 |
| Velocity resolution | steps/sec | 0.5961 |
| Accel/Decel range | steps/sec2 | 1.5 X 10^9 |
| Accel/Decel resolution | steps/sec2 | 90.9 |
Technical specifications are for guidance only, as the individual drives and motors are configured for specific applications. Subject to technical and visual changes.
