Name: LMD42 NEMA 17 - KOCO MOTION
SKU: LMD42 NEMA 17

Closed Loop / Absolute Encoder

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Software Specifications

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General Specifications

Parameter	Unit	LMD42 NEMA 17 CANopen IP20	LMD42 NEMA 17 CANopen IP65	LMD42 NEMA 17 Ethernet TCP/IP IP20	LMD42 NEMA 17 Ethernet TCP/IP IP65	LMD42 NEMA 17 Programmable Motion Control IP20	LMD42 NEMA 17 Programmable Motion Control IP65	LMD42 NEMA 17 Pulse/direction IP20	LMD42 NEMA 17 Pulse/direction IP65
Control type		CANopen	CANopen	Ethernet TCP/IP	Ethernet TCP/IP	Programmable Motion	Programmable Motion	Pulse/direction input	Pulse/direction input
Aux-logic supply voltage	+VDC	12 … 24	12 … 24	12 … 24	12 … 24	12 … 24	12 … 24	12 … 24	12 … 24
Aux-logic Supply Current	mA max	194	194	194	194	194	194	194	194
Communications interface		CAN Bus 2.0B	CAN Bus 2.0B	Ethernet TCP/IP	Ethernet TCP/IP	RS-422/485	RS-422/485	RS-422/485	RS-422/485
Communications features		CANopen DS301, DSP402	CANopen DS301, DSP402	EtherNet/IP, Modbus/TCP, Profinet I/O, MCode OS	EtherNet/IP, Modbus/TCP, Profinet I/O, MCode OS	MCode OS	MCode OS	Configuration Interface (MCode OS)	Configuration Interface (MCode OS)
NEMA size		17 (42×42 mm)	17 (42×42 mm)	17 (42×42 mm)	17 (42×42 mm)	17 (42×42 mm)	17 (42×42 mm)	17 (42×42 mm)	17 (42×42 mm)
Torque range	Nm	0,31 … 0,62	0,31 … 0,62	0,31 … 0,62	0,31 … 0,62	0,31 … 0,62	0,31 … 0,62	0,31 … 0,62	0,31 … 0,62
Temperature heatsink (short-time)	°C	max. 85	max. 85	max. 85	max. 85	max. 85	max. 85	max. 85	max. 85
IP rating		IP20	IP65	IP20	IP65	IP20	IP65	IP20	IP65
Input voltage	+VDC	+12 to +48	+12 to +48	+12 to +48	+12 to +48	+12 to +48	+12 to +48	+12 to +48	+12 to +48
Power supply current requirement	A	2.0	2.0	2.0	2.0	2.0	2.0	2.0	2.0

I/O Specifications

Parameter	Unit	LMD42 NEMA 17 CANopen IP20	LMD42 NEMA 17 CANopen IP65	LMD42 NEMA 17 Ethernet TCP/IP IP20	LMD42 NEMA 17 Ethernet TCP/IP IP65	LMD42 NEMA 17 Programmable Motion Control IP20	LMD42 NEMA 17 Programmable Motion Control IP65	LMD42 NEMA 17 Pulse/direction IP20	LMD42 NEMA 17 Pulse/direction IP65
I/O functions		Programmable I/Os	Programmable I/Os	Programmable I/Os	Programmable I/Os	Programmable I/Os	Programmable I/Os	Logic and I/O	Logic and I/O
Signal output voltage open-emitter	+VDC	7	7	7	7	7	7	7	7
Signal output current open-collector	mA	5.5	5.5	5.5	5.5	5.5	5.5	5.5	5.5
Signal output current open-emitter	mA	5.5	5.5	5.5	5.5	5.5	5.5	5.5	5.5
Signal output isolation		Galvanic	Galvanic	Galvanic	Galvanic	Galvanic	Galvanic	Galvanic	Galvanic
Analog input availability		Not available on LMD models with absolute encoder	Not available on LMD models with absolute encoder	Not available on LMD models with absolute encoder	Not available on LMD models with absolute encoder	Not available on LMD models with absolute encoder	Not available on LMD models with absolute encoder	Not available on LMD models with absolute encoder	Not available on LMD models with absolute encoder
Analog input voltage mode	0 … 5 VDC	0 … 5	0 … 5	0 … 5	0 … 5	0 … 5	0 … 5	0 … 5	0 … 5
Analog input voltage mode	0 … 10 VDC	0 … 5	0 … 5	0 … 5	0 … 5	0 … 5	0 … 5	0 … 5	0 … 5
Analog input current loop mode	mA	0 … 20	0 … 20	0 … 20	0 … 20	0 … 20	0 … 20	0 … 20	0 … 20
Analog input resolution	Bits	12	12	12	12	12	12	12	12
Analog input isolation		None	None	None	None	None	None	None	None
Signal input voltage range	+VDC	5 … 24	5 … 24	5 … 24	5 … 24	5 … 24	5 … 24	5 … 24	5 … 24
Signal input current	mA @ +5 VDC	8.7	8.7	8.7	8.7	8.7	8.7	8.7	8.7
Signal input current	mA @ +24 VDC	8.7	8.7	8.7	8.7	8.7	8.7	8.7	8.7
Signal input frequency	kHz	5	5	5	5	5	5	5	5
Signal input isolation		Galvanic	Galvanic	Galvanic	Galvanic	Galvanic	Galvanic	Galvanic	Galvanic
Signal input protection class		III	III	III	III	III	III	III	III
Signal output current	mA	1 … 5.5	1 … 5.5	1 … 5.5	1 … 5.5	1 … 5.5	1 … 5.5	1 … 5.5	1 … 5.5
Signal output voltage open-collector	+VDC	60	60	60	60	60	60	60	60

Parameter settings

Parameter	Unit	LMD42 NEMA 17 CANopen IP20	LMD42 NEMA 17 CANopen IP65	LMD42 NEMA 17 Ethernet TCP/IP IP20	LMD42 NEMA 17 Ethernet TCP/IP IP65	LMD42 NEMA 17 Programmable Motion Control IP20	LMD42 NEMA 17 Programmable Motion Control IP65	LMD42 NEMA 17 Pulse/direction IP20	LMD42 NEMA 17 Pulse/direction IP65
Microstep resolution	# of settings	20	20	20	20	20	20	20	20
Microstep resolution	Range steps/rev	20	20	20	20	20	20	20	20
Counter type	32-bit	Position	Position	Position	Position	Position	Position	Position	Position
Counter edge rate	MHz (max.)	5	5	5	5	5	5	5	5
Velocity range	steps/sec \| RPM	± 2560000 \| ± 3000	± 2560000 \| ± 3000	± 2560000 \| ± 3000	± 2560000 \| ± 3000	± 2560000 \| ± 3000	± 2560000 \| ± 3000	± 2560000 \| ± 3000	± 2560000 \| ± 3000
Velocity resolution	steps/sec	0.5961	0.5961	0.5961	0.5961	0.5961	0.5961	0.5961	0.5961
Accel/Decel range	steps/sec2	1.5 X 10^9	1.5 X 109	1.5 X 10^9	1.5 X 10^9	1.5 X 10^9	1.5 X 10^9	1.5 X 10^9	1.5 X 10^9
Accel/Decel resolution	steps/sec2	90.9	90.9	90.9	90.9	90.9	90.9	90.9	90.9

Motor Characteristics

Name	Unit	Single Length	Double Length	Triple Length
Holding torque	Ncm	31	41	62
Rotor inertia	kgcm2	0.038	0.057	0.082
Detent Torque	Ncm	1.2	1.5	2.7
Radial load limit	kg	3.8	3.8	3.8
Axial Load Limit	kg	4.5	4.5	4.5
Weight	g	385	454	522

Technische Angaben dienen als Orientierungswerte, da die einzelnen Antriebe und Motoren anwendungsbezogen konfiguriert werden. Technische und optische Änderungen vorbehalten.

LMD42 NEMA 17 CANopen IP20

lmd-17-web-dimensions.png (png, 11.19K)

Mechanical drawing

LMD42 NEMA 17 CANopen IP65

lmd-17-web-dimensions.png (png, 11.19K)

Mechanical drawing

LMD42 NEMA 17 Ethernet TCP/IP IP20

lmd-17-web-dimensions.png (png, 11.19K)

Mechanical drawing

LMD42 NEMA 17 Ethernet TCP/IP IP65

lmd-17-web-dimensions.png (png, 11.19K)

Mechanical drawing

LMD42 NEMA 17 Programmable Motion Control IP20

lmd-17-web-dimensions.png (png, 11.19K)

Mechanical drawing

LMD42 NEMA 17 Programmable Motion Control IP65

lmd-17-web-dimensions.png (png, 11.19K)

Mechanical drawing

LMD42 NEMA 17 Pulse/direction IP20

lmd-17-web-dimensions.png (png, 11.19K)

Mechanical drawing

LMD42 NEMA 17 Pulse/direction IP65

lmd-17-web-dimensions.png (png, 11.19K)

Mechanical drawing

Nehmen Sie Kontakt auf

+49 7720 995858-0 info@kocomotion.de

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General Specifications

Parameter	Unit	LMD42 NEMA 17 CANopen IP20
Control type		CANopen
Aux-logic supply voltage	+VDC	12 … 24
Aux-logic Supply Current	mA max	194
Communications interface		CAN Bus 2.0B
Communications features		CANopen DS301, DSP402
NEMA size		17 (42×42 mm)
Torque range	Nm	0,31 … 0,62
Temperature heatsink (short-time)	°C	max. 85
IP rating		IP20
Input voltage	+VDC	+12 to +48
Power supply current requirement	A	2.0

Closed Loop / Absolute Encoder

Value	Unit	–
Encoder type		Internal, magnetic
Encoder resolution	Lines / Edges	1000 / 4000
Absolute encoder: data retention on internal power	days	max. 30
Absolute encoder: data retention on internal power with battery pack	years	5
Counter resolution	bit	32
hMTechnology OFF, encoder ON		Position maintenance, find index, stall detect
hMTechnology ON, encoder OFF		Anti-stall, variable current control, torque mode

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	LMD42 NEMA 17 CANopen IP20
I/O functions		Programmable I/Os
Signal output voltage open-emitter	+VDC	7
Signal output current open-collector	mA	5.5
Signal output current open-emitter	mA	5.5
Signal output isolation		Galvanic
Analog input availability		Not available on LMD models with absolute encoder
Analog input voltage mode	0 … 5 VDC	0 … 5
Analog input voltage mode	0 … 10 VDC	0 … 10
Analog input current loop mode	mA	0 … 20
Analog input resolution	Bits	12
Analog input isolation		None
Signal input voltage range	+VDC	5 … 24
Signal input current	mA @ +5 VDC	8.7
Signal input current	mA @ +24 VDC	14.6
Signal input frequency	kHz	5
Signal input isolation		Galvanic
Signal input protection class		III
Signal output current	mA	1 … 5.5
Signal output voltage open-collector	+VDC	60

Parameter settings

Parameter settings	Unit	LMD42 NEMA 17 CANopen IP20
Microstep resolution	# of settings	20
Microstep resolution	Range steps/rev	200 … 51200
Counter type	32-bit	Position
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

Motor Characteristics

Name	Unit	Single Length	Double Length	Triple Length
Holding torque	Ncm	31	41	62
Rotor inertia	kgcm2	0.038	0.057	0.082
Detent Torque	Ncm	1.2	1.5	2.7
Radial load limit	kg	3.8	3.8	3.8
Axial Load Limit	kg	4.5	4.5	4.5
Weight	g	385	454	522

Technische Angaben dienen als Orientierungswerte, da die einzelnen Antriebe und Motoren anwendungsbezogen konfiguriert werden. Technische und optische Änderungen vorbehalten.

LMD42 NEMA 17 CANopen IP20

lmd-17-web-dimensions.png (png, 11.19K)

Mechanical drawing

LMD42 NEMA 17 CANopen IP20

LMD-CANOPEN_REV-E.pdf (pdf, 5.66M)

IMS-MN-LMDA42_A.pdf (pdf, 5.08M)

IMS-PO-LMDA-42R_A.pdf (pdf, 558.74K)

LMD_backup_battery_Oct.pdf (pdf, 637.47K)

LMD-Suite-Setup_v1_1_0_0.zip (zip, 7.44M)

Handbuch

LMD-SWSuite-REV-J-NOVA.pdf (pdf, 6.68M)

LMD42 NEMA 17

Liberty_MDrive_Nema_17.png (png, 4.51M)

Nehmen Sie Kontakt auf

+49 7720 995858-0 info@kocomotion.de

Dieses Feld dient zur Validierung und sollte nicht verändert werden.

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General Specifications

Parameter	Unit	LMD42 NEMA 17 CANopen IP65
Control type		CANopen
Aux-logic supply voltage	+VDC	12 … 24
Aux-Logic Supply Current	mA max	194
Communications interface		CAN Bus 2.0B
Communications features		CANopen DS301, DSP402
NEMA size		17 (42×42 mm)
Torque range	Nm	0,31 … 0,62
Temperature heatsink (short-time)	°C	max. 85
IP rating		IP65
Input voltage	+VDC	+12 to +48
Power supply current requirement	A	2.0

Closed Loop / Absolute Encoder

Value	Unit	–
Encoder type		Internal, magnetic
Encoder resolution	Lines / Edges	1000 / 4000
Absolute encoder: data retention on internal power	days	max. 30
Absolute encoder: data retention on internal power with battery pack	years	5
Counter resolution	bit	32
hMTechnology OFF, encoder ON		Position maintenance, find index, stall detect
hMTechnology ON, encoder OFF		Anti-stall, variable current control, torque mode

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	LMD42 NEMA 17 CANopen IP65
I/O functions		Programmable I/Os
Signal output voltage open-emitter	+VDC	7
Signal output current open-collector	mA	5.5
Signal output current open-emitter	mA	5.5
Signal output isolation		Galvanic
Analog input availability		Not available on LMD models with absolute encoder
Analog input voltage mode	0 … 5 VDC	0 … 5
Analog input voltage mode	0 … 10 VDC	0 … 10
Analog input current loop mode	mA	0 … 20
Analog input resolution	Bits	12
Analog input isolation		None
Signal input voltage range	+VDC	5 … 24
Signal input current	mA @ +5 VDC	8.7
Signal input current	mA @ +24 VDC	14.6
Signal input frequency	kHz	5
Signal input isolation		Galvanic
Signal input protection class		III
Signal output current	mA	1 … 5.5
Signal output voltage open-collector	+VDC	60

Parameter settings

Parameter settings	Unit	LMD42 NEMA 17 CANopen IP65
Microstep resolution	# of settings	20
Microstep resolution	Range steps/rev	200 … 51200
Counter type	32-bit	Position
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 109
Accel/Decel resolution	steps/sec2	90.9

Motor Characteristics

Name	Unit	Single Length	Double Length	Triple Length
Holding torque	Ncm	31	41	62
Rotor inertia	kgcm2	0.038	0.057	0.082
Detent Torque	Ncm	1.2	1.5	2.7
Radial load limit	kg	3.8	3.8	3.8
Axial Load Limit	kg	4.5	4.5	4.5
Weight	g	385	454	522

Technische Angaben dienen als Orientierungswerte, da die einzelnen Antriebe und Motoren anwendungsbezogen konfiguriert werden. Technische und optische Änderungen vorbehalten.

LMD42 NEMA 17 CANopen IP65

lmd-17-web-dimensions.png (png, 11.19K)

Mechanical drawing

LMD42 NEMA 17 CANopen IP65

LMD-CANOPEN_REV-E.pdf (pdf, 5.66M)

IMS-PO-LMDA-42R_A.pdf (pdf, 558.74K)

LMD-Suite-Setup_v1_1_0_0.zip (zip, 7.44M)

Handbuch

LMD-SWSuite-REV-J-NOVA.pdf (pdf, 6.68M)

LMD42 NEMA 17

Liberty_MDrive_Nema_17.png (png, 4.51M)

Nehmen Sie Kontakt auf

+49 7720 995858-0 info@kocomotion.de

Instagram

Dieses Feld dient zur Validierung und sollte nicht verändert werden.

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General Specifications

Parameter	Unit	LMD42 NEMA 17 Ethernet TCP/IP IP20
Control type		Ethernet TCP/IP
Aux-logic supply voltage	+VDC	12 … 24
Aux-Logic Supply Current	mA max	194
Communications interface		Ethernet TCP/IP
Communications features		EtherNet/IP, Modbus/TCP, Profinet I/O, MCode OS
NEMA size		17 (42×42 mm)
Torque range	Nm	0,31 … 0,62
Temperature heatsink (short-time)	°C	max. 85
IP rating		IP20
Input voltage	+VDC	+12 to +48
Power supply current requirement	A	2.0

Closed Loop / Absolute Encoder

Value	Unit	–
Encoder type		Internal, magnetic
Encoder resolution	Lines / Edges	1000 / 4000
Absolute encoder: data retention on internal power	days	max. 30
Absolute encoder: data retention on internal power with battery pack	years	5
Counter resolution	bit	32
hMTechnology OFF, encoder ON		Position maintenance, find index, stall detect
hMTechnology ON, encoder OFF		Anti-stall, variable current control, torque mode

Software Specifications

Value	Unit	–
MCode OS program storage	Type	Flash
MCode OS program storage	Bytes	11.120
User registers	Integer	4
User registers	Floating Point	8
User registers	Length [Bits]	32
Math		+, -, x, ÷, >, <, =, <=, >=
Logic		AND, OR, XOR, NOT
Trigonometric		ABS, COS, ACOS, LOG2, LOG10, PI, SIN, ASIN, SQRT, TAN, ATAN
Branch functions		Branch & call
Input functions		Home, limit plus, limit minus, go, stop, pause, jog plus, jog minus, general purpose, capture
Output functions		Moving, error, velocity change, stall, locked rotor, moving position, hMT active, make-up active, encoder A, encoder B, trip, attention. general purpose,
Trip functions		Trip on input, trip on position, trip on time, trip capture, trip on relative position, trip on main power loss
Encoder functions1		hMTechnology, stall detection, position maintenance, find index
EtherNet/IP (ODVA Confomance Checked) Object model	0x01	Identity object
EtherNet/IP (ODVA Confomance Checked) Object model	0x04	Assembly object (parameters mappable)
EtherNet/IP (ODVA Confomance Checked) Object model	0xF5	TCP object
EtherNet/IP (ODVA Confomance Checked) Object model	0xF6	Ethernet object
EtherNet/IP Manufacturer specific object classes	0x64	Setup instructions
EtherNet/IP Manufacturer specific object classes	0x65	Miscellaneous instructions and flags
EtherNet/IP Manufacturer specific object classes	0x66	Motion instructions and flags
EtherNet/IP Manufacturer specific object classes	0x67	I/O instruction variables and flags
EtherNet/IP Manufacturer specific object classes	0x68	Position related instructions and flags
EtherNet/IP Manufacturer specific object classes	0x69	Encoder related instructions and flags1
EtherNet/IP Manufacturer specific object classes	0x6A	hMTechnology specific instructions1
Modbus/TCP Device ID	43/14d (0x2B/0x0E)	Read device identification
Modbus/TCP Public function codes	02d (0x02)	Read digital inputs
Modbus/TCP Public function codes	01d (0x01)	Read coils (digital outputs)
Modbus/TCP Public function codes	05d (0x05)	Write single coil (digital output)
Modbus/TCP Public function codes	03d (0x03)	Read holding register
Modbus/TCP Public function codes	16d (0x10)	Write multiple registers
Modbus/TCP Manufacturer specific function codes	65d (0x41)	Read I/O and trip configuration and parameters
Modbus/TCP Manufacturer specific function codes	66d (0x42)	Write I/O and trip configuration and parameters, enter upgrade mode.
Modbus/TCP Profinet IO	Output	Slot 1
Modbus/TCP Profinet IO	Size	128 Bytes
Modbus/TCP Profinet IO	Registers	38
Modbus/TCP Profinet IO	Input	Slot 2
Modbus/TCP Profinet IO	Registers	34
Modbus/TCP Profinet IO	Register mapping	Variable, user defined

I/O Specifications

I/O Specifications	Unit	LMD42 NEMA 17 Ethernet TCP/IP IP20
I/O functions		Programmable I/Os
Signal output voltage open-emitter	+VDC	7
Signal output current open-collector	mA	5.5
Signal output current open-emitter	mA	5.5
Signal output isolation		Galvanic
Analog input availability		Not available on LMD models with absolute encoder
Analog input voltage mode	0 … 5 VDC	0 … 5
Analog input voltage mode	0 … 10 VDC	0 … 10
Analog input current loop mode	mA	0 … 20
Analog input resolution	Bits	12
Analog input isolation		None
Signal input voltage range	+VDC	5 … 24
Signal input current	mA @ +5 VDC	8.7
Signal input current	mA @ +24 VDC	14.6
Signal input frequency	kHz	5
Signal input isolation		Galvanic
Signal input protection class		III
Signal output current	mA	1 … 5.5
Signal output voltage open-collector	+VDC	60

Parameter settings

Parameter settings	Unit	LMD42 NEMA 17 Ethernet TCP/IP IP20
Microstep resolution	# of settings	20
Microstep resolution	Range steps/rev	200 … 51200
Counter type	32-bit	Position
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

Motor Characteristics

Name	Unit	Single Length	Double Length	Triple Length
Holding torque	Ncm	31	41	62
Rotor inertia	kgcm2	0.038	0.057	0.082
Detent Torque	Ncm	1.2	1.5	2.7
Radial load limit	kg	3.8	3.8	3.8
Axial Load Limit	kg	4.5	4.5	4.5
Weight	g	385	454	522

Technische Angaben dienen als Orientierungswerte, da die einzelnen Antriebe und Motoren anwendungsbezogen konfiguriert werden. Technische und optische Änderungen vorbehalten.

LMD42 NEMA 17 Ethernet TCP/IP IP20

lmd-17-web-dimensions.png (png, 11.19K)

Mechanical drawing

LMD42 NEMA 17 Ethernet TCP/IP IP20

LMD-EIP_REV-F.pdf (pdf, 3.39M)

LMD-SWSuite-REV-J-NOVA.pdf (pdf, 6.68M)

LMD-MODBUS-REV-D.pdf (pdf, 1.6M)

IMS-MN-LMDE42_A.pdf (pdf, 5.1M)

LMD-Suite-Setup_v1_1_0_0.zip (zip, 7.44M)

Handbuch

IMS-PO-LMDE-42R_A.pdf (pdf, 497.58K)

LMD42 NEMA 17

Liberty_MDrive_Nema_17.png (png, 4.51M)

Nehmen Sie Kontakt auf

+49 7720 995858-0 info@kocomotion.de

Name

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General Specifications

Parameter	Unit	LMD42 NEMA 17 Ethernet TCP/IP IP65
Control type		Ethernet TCP/IP
Aux-logic supply voltage	+VDC	12 … 24
Aux-Logic Supply Current	mA max	194
Communications interface		Ethernet TCP/IP
Communications features		EtherNet/IP, Modbus/TCP, Profinet I/O, MCode OS
NEMA size		17 (42×42 mm)
Torque range	Nm	0,31 … 0,62
Temperature heatsink (short-time)	°C	max. 85
IP rating		IP65
Input voltage	+VDC	+12 to +48
Power supply current requirement	A	2.0

Closed Loop / Absolute Encoder

Value	Unit	–
Encoder type		Internal, magnetic
Encoder resolution	Lines / Edges	1000 / 4000
Absolute encoder: data retention on internal power	days	max. 30
Absolute encoder: data retention on internal power with battery pack	years	5
Counter resolution	bit	32
hMTechnology OFF, encoder ON		Position maintenance, find index, stall detect
hMTechnology ON, encoder OFF		Anti-stall, variable current control, torque mode

Software Specifications

Value	Unit	–
MCode OS program storage	Type	Flash
MCode OS program storage	Bytes	11.120
User registers	Integer	4
User registers	Floating Point	8
User registers	Length [Bits]	32
Math		+, -, x, ÷, >, <, =, <=, >=
Logic		AND, OR, XOR, NOT
Trigonometric		ABS, COS, ACOS, LOG2, LOG10, PI, SIN, ASIN, SQRT, TAN, ATAN
Branch functions		Branch & call
Input functions		Home, limit plus, limit minus, go, stop, pause, jog plus, jog minus, general purpose, capture
Output functions		Moving, error, velocity change, stall, locked rotor, moving position, hMT active, make-up active, encoder A, encoder B, trip, attention. general purpose,
Trip functions		Trip on input, trip on position, trip on time, trip capture, trip on relative position, trip on main power loss
Encoder functions1		hMTechnology, stall detection, position maintenance, find index
EtherNet/IP (ODVA Confomance Checked) Object model	0x01	Identity object
EtherNet/IP (ODVA Confomance Checked) Object model	0x04	Assembly object (parameters mappable)
EtherNet/IP (ODVA Confomance Checked) Object model	0xF5	TCP object
EtherNet/IP (ODVA Confomance Checked) Object model	0xF6	Ethernet object
EtherNet/IP Manufacturer specific object classes	0x64	Setup instructions
EtherNet/IP Manufacturer specific object classes	0x65	Miscellaneous instructions and flags
EtherNet/IP Manufacturer specific object classes	0x66	Motion instructions and flags
EtherNet/IP Manufacturer specific object classes	0x67	I/O instruction variables and flags
EtherNet/IP Manufacturer specific object classes	0x68	Position related instructions and flags
EtherNet/IP Manufacturer specific object classes	0x69	Encoder related instructions and flags1
EtherNet/IP Manufacturer specific object classes	0x6A	hMTechnology specific instructions1
Modbus/TCP Device ID	43/14d (0x2B/0x0E)	Read device identification
Modbus/TCP Public function codes	02d (0x02)	Read digital inputs
Modbus/TCP Public function codes	01d (0x01)	Read coils (digital outputs)
Modbus/TCP Public function codes	05d (0x05)	Write single coil (digital output)
Modbus/TCP Public function codes	03d (0x03)	Read holding register
Modbus/TCP Public function codes	16d (0x10)	Write multiple registers
Modbus/TCP Manufacturer specific function codes	65d (0x41)	Read I/O and trip configuration and parameters
Modbus/TCP Manufacturer specific function codes	66d (0x42)	Write I/O and trip configuration and parameters, enter upgrade mode.
Modbus/TCP Profinet IO	Output	Slot 1
Modbus/TCP Profinet IO	Size	128 Bytes
Modbus/TCP Profinet IO	Registers	38
Modbus/TCP Profinet IO	Input	Slot 2
Modbus/TCP Profinet IO	Registers	34
Modbus/TCP Profinet IO	Register mapping	Variable, user defined

I/O Specifications

I/O Specifications	Unit	LMD42 NEMA 17 Ethernet TCP/IP IP65
I/O functions		Programmable I/Os
Signal output voltage open-emitter	+VDC	7
Signal output current open-collector	mA	5.5
Signal output current open-emitter	mA	5.5
Signal output isolation		Galvanic
Analog input availability		Not available on LMD models with absolute encoder
Analog input voltage mode	0 … 5 VDC	0 … 5
Analog input voltage mode	0 … 10 VDC	0 … 10
Analog input current loop mode	mA	0 … 20
Analog input resolution	Bits	12
Analog input isolation		None
Signal input voltage range	+VDC	5 … 24
Signal input current	mA @ +5 VDC	8.7
Signal input current	mA @ +24 VDC	14.6
Signal input frequency	kHz	5
Signal input isolation		Galvanic
Signal input protection class		III
Signal output current	mA	1 … 5.5
Signal output voltage open-collector	+VDC	60

Parameter settings

Parameter settings	Unit	LMD42 NEMA 17 Ethernet TCP/IP IP65
Microstep resolution	# of settings	20
Microstep resolution	Range steps/rev	200 … 51200
Counter type	32-bit	Position
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

Motor Characteristics

Name	Unit	Single Length	Double Length	Triple Length
Holding torque	Ncm	31	41	62
Rotor inertia	kgcm2	0.038	0.057	0.082
Detent Torque	Ncm	1.2	1.5	2.7
Radial load limit	kg	3.8	3.8	3.8
Axial Load Limit	kg	4.5	4.5	4.5
Weight	g	385	454	522

Technische Angaben dienen als Orientierungswerte, da die einzelnen Antriebe und Motoren anwendungsbezogen konfiguriert werden. Technische und optische Änderungen vorbehalten.

LMD42 NEMA 17 Ethernet TCP/IP IP65

lmd-17-web-dimensions.png (png, 11.19K)

Mechanical drawing

LMD42 NEMA 17 Ethernet TCP/IP IP65

LMD-EIP_REV-F.pdf (pdf, 3.39M)

LMD-SWSuite-REV-J-NOVA.pdf (pdf, 6.68M)

LMD-MODBUS-REV-D.pdf (pdf, 1.6M)

IMS-MN-LMDE42_A.pdf (pdf, 5.1M)

LMD-Suite-Setup_v1_1_0_0.zip (zip, 7.44M)

Handbuch

IMS-PO-LMDE-42R_A.pdf (pdf, 497.58K)

LMD42 NEMA 17

Liberty_MDrive_Nema_17.png (png, 4.51M)

Nehmen Sie Kontakt auf

+49 7720 995858-0 info@kocomotion.de

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General Specifications

Parameter	Unit	LMD42 NEMA 17 Programmable Motion Control IP20
Control type		Programmable Motion
Aux-logic supply voltage	+VDC	12 … 24
Aux-Logic Supply Current	mA max	194
Communications interface		RS-422/485
Communications features		MCode OS
NEMA size		17 (42×42 mm)
Torque range	Nm	0,31 … 0,62
Temperature heatsink (short-time)	°C	max. 85
IP rating		IP20
Input voltage	+VDC	+12 to +48
Power supply current requirement	A	2.0

Closed Loop / Absolute Encoder

Value	Unit	–
Encoder type		Internal, magnetic
Encoder resolution	Lines / Edges	1000 / 4000
Absolute encoder: data retention on internal power	days	max. 30
Absolute encoder: data retention on internal power with battery pack	years	5
Counter resolution	bit	32
hMTechnology OFF, encoder ON		Position maintenance, find index, stall detect
hMTechnology ON, encoder OFF		Anti-stall, variable current control, torque mode

Software Specifications

Value	–
MCode OS program storage	Type Flash
MCode OS program storage	11120 Bytes
Multidrop addresses	62
User registers (Integer)	4
User registers (Floating point)	8
User registers length	32 bit
Math	+, -, x, ÷, >, <, =, <=, >=
Logic	AND, OR, XOR, NOT
Trigonometric	ABS, COS, ACOS, LOG2, LOG10, PI, SIN, ASIN, SQRT, TAN, ATAN
Branch functions	Branch & call
Input functions	Home, limit plus, limit minus, go, stop, pause, jog plus, jog minus, general purpose, capture
Output functions	Moving, error, velocity change, stall, locked rotor, moving position, hMT active, make-up active, encoder A, encoder B, trip, attention. general purpose,
Trip functions	Trip on input, trip on position, trip on time, trip capture, trip on relative position, trip on main power loss
Encoder functions1	hMTechnology, stall detection, position maintenance, find index

I/O Specifications

I/O Specifications	Unit	LMD42 NEMA 17 Programmable Motion Control IP20
I/O functions		Programmable I/Os
Signal output voltage open-emitter	+VDC	7
Signal output current open-collector	mA	5.5
Signal output current open-emitter	mA	5.5
Signal output isolation		Galvanic
Analog input availability		Not available on LMD models with absolute encoder
Analog input voltage mode	0 … 5 VDC	0 … 5
Analog input voltage mode	0 … 10 VDC	0 … 10
Analog input current loop mode	mA	0 … 20
Analog input resolution	Bits	12
Analog input isolation		None
Signal input voltage range	+VDC	5 … 24
Signal input current	mA @ +5 VDC	8.7
Signal input current	mA @ +24 VDC	14.6
Signal input frequency	kHz	5
Signal input isolation		Galvanic
Signal input protection class		III
Signal output current	mA	1 … 5.5
Signal output voltage open-collector	+VDC	60

Parameter settings

Parameter settings	Unit	LMD42 NEMA 17 Programmable Motion Control IP20
Microstep resolution	# of settings	20
Microstep resolution	Range steps/rev	200 … 51200
Counter type	32-bit	Position
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

Motor Characteristics

Name	Unit	Single Length	Double Length	Triple Length
Holding torque	Ncm	31	41	62
Rotor inertia	kgcm2	0.038	0.057	0.082
Detent Torque	Ncm	1.2	1.5	2.7
Radial load limit	kg	3.8	3.8	3.8
Axial Load Limit	kg	4.5	4.5	4.5
Weight	g	385	454	522

Technische Angaben dienen als Orientierungswerte, da die einzelnen Antriebe und Motoren anwendungsbezogen konfiguriert werden. Technische und optische Änderungen vorbehalten.

LMD42 NEMA 17 Programmable Motion Control IP20

lmd-17-web-dimensions.png (png, 11.19K)

Mechanical drawing

LMD42 NEMA 17 Programmable Motion Control IP20

IMS-PO-LMDM-42R_A.pdf (pdf, 552.53K)

LMD-Suite-Setup_v1_1_0_0.zip (zip, 7.44M)

Handbuch

LMD-SWSuite-REV-J-NOVA.pdf (pdf, 6.68M)

LMD42 NEMA 17

Liberty_MDrive_Nema_17.png (png, 4.51M)

Nehmen Sie Kontakt auf

+49 7720 995858-0 info@kocomotion.de

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General Specifications

Parameter	Unit	LMD42 NEMA 17 Programmable Motion Control IP65
Control type		Programmable Motion
Aux-logic supply voltage	+VDC	12 … 24
Aux-Logic Supply Current	mA max	194
Communications interface		RS-422/485
Communications features		MCode OS
NEMA size		17 (42×42 mm)
Torque range	Nm	0,31 … 0,62
Temperature heatsink (short-time)	°C	max. 85
IP rating		IP65
Input voltage	+VDC	+12 to +48
Power supply current requirement	A	2.0

Closed Loop / Absolute Encoder

Value	Unit	–
Encoder type		Internal, magnetic
Encoder resolution	Lines / Edges	1000 / 4000
Absolute encoder: data retention on internal power	days	max. 30
Absolute encoder: data retention on internal power with battery pack	years	5
Counter resolution	bit	32
hMTechnology OFF, encoder ON		Position maintenance, find index, stall detect
hMTechnology ON, encoder OFF		Anti-stall, variable current control, torque mode

Software Specifications

Value	–
MCode OS program storage	Type Flash
MCode OS program storage	11120 Bytes
Multidrop addresses	62
User registers (Integer)	4
User registers (Floating point)	8
User registers length	32 bit
Math	+, -, x, ÷, >, <, =, <=, >=
Logic	AND, OR, XOR, NOT
Trigonometric	ABS, COS, ACOS, LOG2, LOG10, PI, SIN, ASIN, SQRT, TAN, ATAN
Branch functions	Branch & call
Input functions	Home, limit plus, limit minus, go, stop, pause, jog plus, jog minus, general purpose, capture
Output functions	Moving, error, velocity change, stall, locked rotor, moving position, hMT active, make-up active, encoder A, encoder B, trip, attention. general purpose,
Trip functions	Trip on input, trip on position, trip on time, trip capture, trip on relative position, trip on main power loss
Encoder functions1	hMTechnology, stall detection, position maintenance, find index

I/O Specifications

I/O Specifications	Unit	LMD42 NEMA 17 Programmable Motion Control IP65
I/O functions		Programmable I/Os
Signal output voltage open-emitter	+VDC	7
Signal output current open-collector	mA	5.5
Signal output current open-emitter	mA	5.5
Signal output isolation		Galvanic
Analog input availability		Not available on LMD models with absolute encoder
Analog input voltage mode	0 … 5 VDC	0 … 5
Analog input voltage mode	0 … 10 VDC	0 … 10
Analog input current loop mode	mA	0 … 20
Analog input resolution	Bits	12
Analog input isolation		None
Signal input voltage range	+VDC	5 … 24
Signal input current	mA @ +5 VDC	8.7
Signal input current	mA @ +24 VDC	14.6
Signal input frequency	kHz	5
Signal input isolation		Galvanic
Signal input protection class		III
Signal output current	mA	1 … 5.5
Signal output voltage open-collector	+VDC	60

Parameter settings

Parameter settings	Unit	LMD42 NEMA 17 Programmable Motion Control IP65
Microstep resolution	# of settings	20
Microstep resolution	Range steps/rev	200 … 51200
Counter type	32-bit	Position
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

Motor Characteristics

Name	Unit	Single Length	Double Length	Triple Length
Holding torque	Ncm	31	41	62
Rotor inertia	kgcm2	0.038	0.057	0.082
Detent Torque	Ncm	1.2	1.5	2.7
Radial load limit	kg	3.8	3.8	3.8
Axial Load Limit	kg	4.5	4.5	4.5
Weight	g	385	454	522

Technische Angaben dienen als Orientierungswerte, da die einzelnen Antriebe und Motoren anwendungsbezogen konfiguriert werden. Technische und optische Änderungen vorbehalten.

LMD42 NEMA 17 Programmable Motion Control IP65

lmd-17-web-dimensions.png (png, 11.19K)

Mechanical drawing

LMD42 NEMA 17 Programmable Motion Control IP65

IMS-PO-LMDM-42R_A.pdf (pdf, 552.53K)

LMD-Suite-Setup_v1_1_0_0.zip (zip, 7.44M)

Handbuch

LMD-SWSuite-REV-J-NOVA.pdf (pdf, 6.68M)

LMD42 NEMA 17

Liberty_MDrive_Nema_17.png (png, 4.51M)

Nehmen Sie Kontakt auf

+49 7720 995858-0 info@kocomotion.de

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General Specifications

Parameter	Unit	LMD42 NEMA 17 Pulse/direction IP20
Control type		Pulse/direction input
Communications interface		RS-422/485
Communications features		Configuration Interface (MCode OS)
NEMA size		17 (42×42 mm)
Torque range	Nm	0,31 … 0,62
Temperature heatsink (short-time)	°C	max. 85
IP rating		IP20
Input voltage	+VDC	+12 to +48
Power supply current requirement	A	2.0

Closed Loop / Absolute Encoder

Value	Unit	–
Encoder type		Internal, magnetic
Encoder resolution	Lines / Edges	1000 / 4000
Counter resolution	bit	32
hMTechnology OFF, encoder ON		Position maintenance, find index, stall detect
hMTechnology ON, encoder OFF		Anti-stall, variable current control, torque mode

Software Specifications

Value	Unit	–
Microstep resolution	[steps/rev]	200 … 51200
Run current	[%]	1 … 100
Holding current	[%]	0 … 100
Hold current delay	[mSec]	0 … 65535
Clock modes		Step/dir, Quadrature, CW/CCW
Motion input filter	[kHz … MHz]	38.8 … 10
Enable input		Active state/filter
Advanced operating modes		Pulse/direction, Speed Control, Commanded Velocity,Torque Control
Advanced parameters	Common	RS-422/485
Advanced parameters	Mode specific	I/O, Motion,Analog input, velocity
hMT modes		hMT OFF, fixed current, Variable current, Torque
Operation		Make-up position,Torque %

I/O Specifications

I/O Specifications	Unit	LMD42 NEMA 17 Pulse/direction IP20
I/O functions		Logic and I/O
Analog input voltage mode	0 … 5 VDC	0 … 5
Analog input voltage mode	0 … 10 VDC	0 … 10
Analog input current loop mode	mA	0 … 20
Analog input resolution	Bits	12
Analog input isolation		None
Signal output current	mA	1 … 5.5
Signal output voltage open-collector	+VDC	60
Signal output voltage open-emitter	+VDC	7
Signal output current open-collector	mA	5.5
Signal output current open-emitter	mA	5.5
Signal input voltage range	+VDC	5 … 24
Signal output isolation		Galvanic
Signal input current	mA @ +5 VDC	8.7
Signal input current	mA @ +24 VDC	14.6
Signal input frequency pulse (step)	MHz	2.56
Signal input frequency quadrature	MHz	1.25
Signal input frequency enable	MHz (max.)	5
Signal input isolation		Galvanic
Signal input protection class		III

Parameter settings

Parameter settings	Unit	LMD42 NEMA 17 Pulse/direction IP20
Microstep resolution	# of settings	20
Microstep resolution	Range steps/rev	200 … 51200
Counter type	32-bit	Position
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

Motor Characteristics

Name	Unit	Single Length	Double Length	Triple Length
Holding torque	Ncm	31	41	62
Rotor inertia	kgcm2	0.038	0.057	0.082
Detent Torque	Ncm	1.2	1.5	2.7
Radial load limit	kg	3.8	3.8	3.8
Axial Load Limit	kg	4.5	4.5	4.5
Weight	g	385	454	522

Technische Angaben dienen als Orientierungswerte, da die einzelnen Antriebe und Motoren anwendungsbezogen konfiguriert werden. Technische und optische Änderungen vorbehalten.

LMD42 NEMA 17 Pulse/direction IP20

lmd-17-web-dimensions.png (png, 11.19K)

Mechanical drawing

LMD42 NEMA 17 Pulse/direction IP20

IMS-PO-LMDP-42R_A.pdf (pdf, 533.59K)

LMD-Suite-Setup_v1_1_0_0.zip (zip, 7.44M)

Handbuch

LMD-SWSuite-REV-J-NOVA.pdf (pdf, 6.68M)

LMD42 NEMA 17

Liberty_MDrive_Nema_17.png (png, 4.51M)

Nehmen Sie Kontakt auf

+49 7720 995858-0 info@kocomotion.de

Comments

Dieses Feld dient zur Validierung und sollte nicht verändert werden.

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General Specifications

Parameter	Unit	LMD42 NEMA 17 Pulse/direction IP65
Control type		Pulse/direction input
Communications interface		RS-422/485
Communications features		Configuration Interface (MCode OS)
NEMA size		17 (42×42 mm)
Torque range	Nm	0,31 … 0,62
Temperature heatsink (short-time)	°C	max. 85
IP rating		IP65
Input voltage	+VDC	+12 to +48
Power supply current requirement	A	2.0

Closed Loop / Absolute Encoder

Value	Unit	–
Encoder type		Internal, magnetic
Encoder resolution	Lines / Edges	1000 / 4000
Counter resolution	bit	32
hMTechnology OFF, encoder ON		Position maintenance, find index, stall detect
hMTechnology ON, encoder OFF		Anti-stall, variable current control, torque mode

Software Specifications

Value	Unit	–
Microstep resolution	[steps/rev]	200 … 51200
Run current	[%]	1 … 100
Holding current	[%]	0 … 100
Hold current delay	[mSec]	0 … 65535
Clock modes		Step/dir, Quadrature, CW/CCW
Motion input filter	[kHz … MHz]	38.8 … 10
Enable input		Active state/filter
Advanced operating modes		Pulse/direction, Speed Control, Commanded Velocity,Torque Control
Advanced parameters	Common	RS-422/485
Advanced parameters	Mode specific	I/O, Motion,Analog input, velocity
hMT modes		hMT OFF, fixed current, Variable current, Torque
Operation		Make-up position,Torque %

I/O Specifications

I/O Specifications	Unit	LMD42 NEMA 17 Pulse/direction IP65
I/O functions		Logic and I/O
Analog input voltage mode	0 … 5 VDC	0 … 5
Analog input voltage mode	0 … 10 VDC	0 … 10
Analog input current loop mode	mA	0 … 20
Analog input resolution	Bits	12
Analog input isolation		None
Signal output current	mA	1 … 5.5
Signal output voltage open-collector	+VDC	60
Signal output voltage open-emitter	+VDC	7
Signal output current open-collector	mA	5.5
Signal output current open-emitter	mA	5.5
Signal input voltage range	+VDC	5 … 24
Signal output isolation		Galvanic
Signal input current	mA @ +5 VDC	8.7
Signal input current	mA @ +24 VDC	14.6
Signal input frequency pulse (step)	MHz	2.56
Signal input frequency quadrature	MHz	1.25
Signal input frequency enable	MHz (max.)	5
Signal input isolation		Galvanic
Signal input protection class		III

Parameter settings

Parameter settings	Unit	LMD42 NEMA 17 Pulse/direction IP65
Microstep resolution	# of settings	20
Microstep resolution	Range steps/rev	200 … 51200
Counter type	32-bit	Position
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

Motor Characteristics

Name	Unit	Single Length	Double Length	Triple Length
Holding torque	Ncm	31	41	62
Rotor inertia	kgcm2	0.038	0.057	0.082
Detent Torque	Ncm	1.2	1.5	2.7
Radial load limit	kg	3.8	3.8	3.8
Axial Load Limit	kg	4.5	4.5	4.5
Weight	g	385	454	522

Technische Angaben dienen als Orientierungswerte, da die einzelnen Antriebe und Motoren anwendungsbezogen konfiguriert werden. Technische und optische Änderungen vorbehalten.

LMD42 NEMA 17 Pulse/direction IP65

lmd-17-web-dimensions.png (png, 11.19K)

Mechanical drawing

LMD42 NEMA 17 Pulse/direction IP65

IMS-PO-LMDP-42R_A.pdf (pdf, 533.59K)

LMD-Suite-Setup_v1_1_0_0.zip (zip, 7.44M)

Handbuch

LMD-SWSuite-REV-J-NOVA.pdf (pdf, 6.68M)

LMD42 NEMA 17

Liberty_MDrive_Nema_17.png (png, 4.51M)

Nehmen Sie Kontakt auf

+49 7720 995858-0 info@kocomotion.de

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