Lexium Controller
Contents
1. O 75 2 95 1 3 z al h E a 5 5 20 Paes 5 5 i S Trot 0 22 0 79 0 79 0 22 ar CON 1 Leave sufficient space for the connectors used Installation recommendations e Install the unit vertically 50 mm e Leave at least 50 mm 2 in free space above and below the device to allow for cooling 2 in e Max ambient temperature LMC10 60 C LMC20 50 C e Protect from condensation and keep away from any heat sources 50 mm 2 in Hardware setup Grounding General recommendations for fieldbus connectivities e Twisted cable needs to be used to cancel minimize the EMC effects Shield connection between the controller and the drive must be connected to the ground on both ends In the control cabinet the ground clamp needs to be used to connect the shield to the panel ground On the LMC end the connector shell needs to be connected to the shield conductor for grounding e Equipotential bonding conductor needs to be used if the drives are located at the remote cabinet from that of the LMC Recommendations on Fieldbus specific requirements for LMC CanOpen Motion Bus and DeviceNet The Can High DeviceNet High signal line and Can Low DeviceNet Low signal line2. 1 Install interference suppressors on inductive circuits such as relays dd A prefabricated connection cable with two HE10 connectors can be used to connect the Lexium Controller and the Telefast sub base ABF T26B050 0 5 m 1 64 ft e ABF T26B100 1 m 3 28 ft ABF T26B200 2 m 6 56 ft 17 Hardware setup Connecting the CANopen 9 way SUB D connector Refer to the EasyMotion and MotionPro software online help Male SUB D connector Terminal Description 1 not connected CAN_L CAN_GND not connected not connected CAN_GND CAN_H not connected not connected CANopen CO N oA oF RB A N Speed and length of the CANopen bus It is essential to make sure that all devices connected to the CANopen bus operate at the same transmission speed The maximum length of the CANopen bus depends on the transmission speed on this bus The table below indicates the maximum lengths permitted according to the transmission speed Transmission speed 50 kbps 125 kbps 250 kbps 500 kbps 1 Mbps Max length of bus 1 000 m 500 m 250 m 100 m 20 m 3 281 ft 1 640 ft 820 ft 328 ft 66 ft Connecting the RJ45 Ethernet connector Refer to the Ethernet User s Manual View from sub base side Terminal Description 1 TD TD RD not connected not connected RD not connected Co N oA A o
3. Nominal current mA 500 Input limit values Voltage v 5 5 DC Current mA 12 Input impedance kQ 2 for nominal U Isolation Vv 2500 Incremental encoder Type of signal la A B B Z Z Maximum operating frequency 250 kHz per input x 4 or 1 MHz for counting SSI serial absolute encoder Number of bits 32 with configurable frame number of turns number of bits turn binary or gray format parity etc Clock frequency 200 Clock voltage an 11 Hardware setup Encoder power supply Use the connector supplied in the bag Max connectable cross section 1 5 mm AWG 16 Max tightening torque 0 3 Nm 2 65 Ib in 2 Terminal Function Power 1 24V Depends on the type 2 5V of encoder used oO 3 OV zZ WW Example circuits 110 240 VAC 110 240 V AC 24 V power supply ABL7 RE2402 i i T i Acoma T f i a vV OV 1 24v OV 1 8 5V OV 8 15 L 4 Fha L al i a E eee Pws ENC PWS ENCODER ENC PWS ENCODER l 12 Hardware setup Connecting the Motion bus 9 way SUB D connector Male SUB D connector Terminal Description 1 not connected CAN_L CAN_GND not connected not connected CAN_GND CAN_H not connected not connected MOTION BUS CO CO N G amp D oF eA Ww DY The CANopen connection dedicated to
4. Motion bus connector Connector for logic I O 10 Equipment grounding conductor connection 11 24 V power supply terminals 12 Connector for PROFIBUS on LMC20A1307 DeviceNet on LMC20A1309 13 CANopen connector 14 Address configuration switches Hardware setup On receipt e Check that the device reference marked on the label is the same as that on the delivery note corresponding to the purchase order Open the packaging and check that the device has not been damaged in transit e Check that the device is complete The packaging must contain The Lexium Controller A bag containing three removable connectors 24 V power supply encoder power supply I O ACD ROM containing the documentation A quick reference guide A WARNING DAMAGED CONTROLLER EQUIPMENT Do not operate or install any controller that appears damaged Failure to follow these instruction can result in death serious injury or additional equipment damage Mounting Fasten using M5 screws or on DIN rail 35 mm 1 38 in Dimensions in mm in LMC10 LMC20 LMC20A E 136 7 40 74 1 5 35 1 57 E S 2 91 T ols g gt E ma A U li YUUUUUUUUUUUUUUUU 140 5 51 151 5 94 4 6 51 151 6 94 OO00D ie Hege qop h g F J E
5. long encoder supply fault etc On Lexium Controller hardware fault or serious application fault watchdog etc Lexium Controller off PROFIBUS LMC20A 1307 LEDs Refer to the PROFIBUS User s Manual DeviceNet LMC20A 1309 LEDs Refer to the DeviceNet User s Manual Lexium Controller on 21 30072 452 86 08 2008
6. F13M03 Cordsets and connection cables Description Use No Length Reference From To m Cordset with LMC Lexium 05 5 1 VW3 M3 805R010 one 9 way female SUB D connector Lexium controller Tap and TCS CTN023F13M03 one RJ45 connector with line terminator CANopen cordsets 1 with Tap Tap 7 0 3 TSX CAN CARR 03 one RJ45 connector at each end TCS CTN023F13M03 TCS CTN023F13M03 CANopen IP 20 cables 1 14 Standard cables CE marking 50 TSX CAN CA 50 Low smoke emission halogen free Flame retardant IEC 60332 1 100 TSX CAN CA 100 300 TSX CAN CA 300 UL certification CE marking 14 50 TSX CAN CB 50 Flame retardant IEC 60332 2 100 TSX CAN CB 100 300 TSX CAN CB 300 Cable for harsh environment 2 or mobile installation CE marking 14 50 TSX CAN CD 50 Low smoke emission halogen free Flame retardant IEC 60332 1 100 TSX CAN CD 100 300 TSX CAN CD 300 1 Please refer to the catalog 2 Harsh environment Resistance to hydrocarbons industrial oils detergents solder splashes Relative humidity up to 100 Saline atmosphere Significant temperature variations Operating temperature between 10 C and 70 C 3 Available 4th quarter 2007 15 Hardware setup Connecting the I O Controller Female connector male connector plug side view Description Terminal Ter
7. Lexium Controller Installation Manual Axis controller Retain for future use 30072 452 86 Schneider Contents Important information Documentation structure Introduction Presentation Description of LMC10 LMC20 Description of LMC20A Hardware setup On receipt Mounting Connecting the power supply Characteristics of the power supplies OODNWMAWAA NODADD Oo A Connection to a master encoder Connecting the Motion bus 9 way SUB D connector Connecting the I O I O connection example Connecting the CANopen 9 way SUB D connector Connecting the RJ45 Ethernet connector Connecting the Modbus RJ45 connector or graphic display terminal Connecting the PROFIBUS bus 9 way SUB D connector LMC20A1307 Connecting the DeviceNet terminals LMC20A1309 Diagnostics LEDs While every precaution has been taken in the preparation of this document Schneider Electric assumes no liability for any omissions or errors it may contain nor for any damages resulting from the application or use of the information herein The products and options described in this document may be changed or modified at any time either from a technical point of view or in the way they are operated Their description can in no way be considered contractual Important information PLEASE NOTE Please read these instructions carefully and examine the equ
8. N not connected ETHERNET 18 Hardware setup Connecting the Modbus RJ45 connector or graphic display terminal Refer to the Modbus User s Manual or the Graphic Display Terminal User s Manual View from sub base side Terminal Description 1 not connected not connected not connected B signal RS485 V1 signal Modbus A signal RS485 VO signal Modbus not connected NN OD of AU N Modbus VP signal MODBUS converter or a graphic display terminal 12 V DC power supply provided by the Motion Controller only for supplying an RS485 RS232 8 Modbus common signal OV Connecting the PROFIBUS bus 9 way SUB D connector LMC20A1307 Refer to the PROFIBUS User s Manual Female SUB D connector Terminal Description 1 not connected not connected RxD TxD N Reception Transmission not connected DGND ground VP 5 volts not connected RxD TxD P Reception Transmission not connected CO CO N amp oF eA Ww PY Connecting the DeviceNet terminals LMC20A1309 Refer to the DeviceNet User s Manual 1 2 3 4 5 RSA SALSA SA 3 4 Terminal Name Color Function 1 V black common 2 CAN_L blue signal 3 SHIELD none shielding 4 CAN_H white signal 5 V red power supply 19 Diagnostics Status LEDs _ Motion bus status CANopen bus sta
9. RNING LOSS OF CONTROL The designer of any control scheme must consider the potential failure modes of control paths and for certain critical control functions must provide a means to achieve a safe state during and after a path failure Examples of critical control functions are emergency stop and overtravel stop Separate or redundant control paths must be provided for critical control functions System control paths may include communication links Consideration must be given to the implications of unanticipated transmission delays or failures of the link Each implementation of a Lexium Motion Controller must be individually and thoroughly tested for proper operation before being placed into service Failure to follow these instructions can result in death serious injury or equipment damage 1 For additional information refer to NEMA ICS 1 1 latest edition Safety Guidelines for the Application Installation and Maintenance of Solid State Control Documentation structure This manual is part of a series describing the Lexium Motion Controller LMC The following manuals may be downloaded at www us telemecanique com Installation Manual This manual describes e How to install the controller How to connect the controller Optional Graphic Display Terminal User s Manual This manual describes e How to install the graphic display terminal e How to connect the graphic display terminal How to p
10. ipment in order to familiarize yourself with the device before installing operating or carrying out any maintenance work on it The following special messages that you will come across in this document or on the device are designed to warn you about potential risks or draw your attention to information that will clarify or simplify a procedure in injury if the instructions are not followed This is a safety warning symbol It warns you of the potential risk of injury You must comply with all safety messages that A The addition of this symbol to a Danger or Warning safety label indicates that there is an electrical risk that will result A follow this symbol in order to avoid the risk of injury or death A DANGER DANGER indicates an imminently hazardous situation which if not avoided will result in death serious injury or equipment damage A WARNING WARNING indicates a potentially hazardous situation which if not avoided can result in death serious injury or equipment damage A CAUTION CAUTION indicates a potentially hazardous situation which if not avoided can result in injury or equipment damage PLEASE NOTE Electrical equipment should be installed operated serviced and maintained only by qualified personnel No responsibility is assumed by Schneider Electric for any consequences arising out of the use of this material BLMT00011 2008 Schneider Electric All rights reserved A WA
11. minal Description Logic input DIO 26 25 Logic output DOO Logic input DI1 24 E 23 Logic output DO1 Logic input DI2 22 21 Logic output DO2 7 o Logic input DI3 20 19 Logic output DO3 5 Logic input D14 18 O 17 Logic output DO4 E ie Logic input DIS 16 E 15 Logic output DOS 3 8 Logic input DI6 14 E 13 Logic output DO6 2 Logic input DI7 12 8 11 Logic output DO7 z D Position capture TP1 10 D 9 24V 2 S Position capture TP2 8 ORKO 7 24V 9 Event input El 6 S 5 24V Event input El2 4 3 OV OV 2 1 OV Input characteristics Type of base LMC10 LMC20 Number of channels 8 Nominal voltage 24 V DC positive logic Voltage limits 19 V 30 V DC Nominal input current 7 mA Impedance 3 kQ Filtering time At state 1 15 us At state 0 70 us Position capture input filtering At state 1 1 us time At state 0 0 5 us Isolation No isolation between channels isolation with internal logic via opto isolators Output characteristics Type of base LMC10 LMC20 Number of channels 8 x 24 V DC open collector source logic outputs compatible with level 1 PLC standard IEC 65A 68 Maximum switching voltage 30 V Nominal voltage 24 V DC positive logic Limit voltages 19 V 30 VDC Output current 0 2 A per channel Filtering time At state 1 150 us At state 0 250 us 16 Hardware setup I O connection example Using a Telefast sub base ABE 7B20MPN22
12. must be isolated from the system ground The Can GND DeviceNet GND should be connected to the shield conductor to bring it to the same potential as the system ground e Profibus The RxD and TxD signal lines A1 B1 and A2 B2 must be isolated from the system ground A DANGER ELECTRIC SHOCK This product and associated equipment must be grounded according to the above recommendations Failure to follow these instructions will result in death or serious injury Connecting the power supply Use the connector supplied in the bag Max connectable cross section 1 5 mm AWG 16 Max tightening torque 0 3 Nm 2 66 Ib in gt Terminal Function 3 OV 2 not connected gt 1 24 V G N Characteristics of the power supplies LMC10 LMC20 LMC20A Nominal voltage 24 V DC 24 V DC 24 V DC Voltage limit including ripple 19 30 V DC 19 30 V DC 19 30 V DC Nominal input current 0 3 A 0 4 A 0 5A Hardware setup Example circuit 100 240 V AC 24V power supply ABL7 RE2402 Boe aS aces A mies JI 24V ov l a a 1 PWS LMCee Ee Note If the LMC controller is left without a power supply for around 20 days the clock will have to be reset A CAUTION INCONSISTENT EQUIPMENT OPERATION Ensure that the power supply does not exceed the specified voltage limits Excessive ripple or exceeding the voltage limits will cau
13. peed and position Linear and circular interpolation 22D Master axis via external encoder Distance measurement and position capture on high speed discrete input 30 us It can be easily integrated into the standard architectures available on the market It can be connected directly via the Modbus CANopen Ethernet PROFIBUS DP and DeviceNet communication ports Models References Number Number of Integrated communication of logic inputs logic outputs Modbus CANopen Ethernet network Third party bus LMC 10 8 24 V DC 8 24 V DC Yes LMC 20 8 24 V DC 8 24 V DC Yes Yes Yes LMC 20A1307 8 24 V DC 8 24 V DC Yes Yes Yes PROFIBUS LMC 20A1309 8 24 V DC 8 24 V DC Yes Yes Yes DeviceNet Description of LMC10 LMC20 1 Signaling and diagnostic LEDs 2 Ethernet connector LMC 20 only 3 Encoder power supply 4 Reset button 5 Master encoder input 6 Modbus or graphic display terminal connector 7 Motion bus connector 8 Connector for logic I O 9 Equipment grounding conductor connection 10 24 V power supply terminals 11 CANopen connector LMC 20 only Introduction Description of LMC20A 1 3 5 2 A Z 4A 9 13 Li 8 9 Signaling and diagnostic LEDs Ethernet connector Encoder power supply Reset button Master encoder input Modbus or graphic display terminal connector LEDs for PROFIBUS on LMC20A1307 DeviceNet on LMC20A1309
14. rogram the controller via the graphic display terminal EasyMotion Programming Manual Not available in the USA Supplied preinstalled in the Lexium Controller the application model associated with EasyMotion mode is a user friendly tool that can be used for Rapid axis configuration Use of Manual Automatic mode Creating positioning tasks Editing cam profiles Backup and recovery of the machine parameters Diagnostics of the motion controller and the various axes This programming manual also contains a table of the parameters that can be accessed via the communication protocols MotionPro Programming Manual The MotionPro Programming Manual is included in the software online help This online help describes e The software interface IEC 1131 programming e The function libraries standard functions motion control functions application functions The Lexium controller configuration screens Modbus Ethernet PROFIBUS DP and DeviceNet manuals These manuals describe e Connection to the bus or network e Diagnostics Software setup e The protocol communication services Introduction Presentation The Lexium Controller performs axis synchronization and coordination via fieldbuses for applications requiring control of up to 8 synchronized axes It includes the following standard motion control functions Speed control Relative and absolute positioning Cam profiles Electronic gearing function for s
15. se inconsistent operation and may damage the LMC Failure to follow these instructions can result in injury or equipment damage 10 Hardware setup Connection to a master encoder The Lexium Controller has a 15 way female HD SUB D connector for connecting an encoder The VW3M4701 option to be ordered separately consists of a male connector with a 1 meter cable with no connector on the other end and can be used to connect the encoder to an intermediate screw terminal block The master encoder input is compatible with encoders e RS422 5 V push pull 5 V open collector e SSI Female SUB D connector Description Encoder terminal Pin VW3M4701 option wire colors A 1 red white X A 2 brown LU Z 4 orange Q Incremental encoder g O Z 5 yellow O B 10 white B T1 iu purple SSI data 1 red white SSI data 2 brown Absolute encoder CLKSSI 6 green CLKSSI 14 light brown 5V 15 light purple 5 V encoder 9 pu p OV 8 pink 24V 7 blue 24 V encoder OV 8 pink Encoder power supply Supply return 13 light green feedback 1 black shielding 1 For monitoring the encoder power supply and the presence of the encoder cable The Lexium Controller trips on a fault if the encoder power supply feedback is missing Characteristics of the master encoder input Power supply Nominal voltage v 5 DC or 24 DC
16. the Motion bus provides the option of connecting up to 8 Lexium 05 and or Lexium 15 servo drives and or SD328 stepper drives The Motion bus is used to control the movement of these 8 axes The network cycle allows that the position setpoints to be updated for axis synchronization LMC 10 LMC 20 and LMC 20A130 Lexium Controllers integrate the CANopen protocol dedicated to the Motion bus as standard For the best performance of the Motion bus it is advisable to set it up in a daisy chain formation without any tap offs our range of connection accessories has been extended with this in mind Example of architecture with the CANopen machine bus dedicated to the Motion bus aD LMC 0 or LMC 204130 p Lexium controller l iatan bus p Ol OL ri ti Le A Lexium 15 Lexium 15 13 Hardware setup Examples of connection to the Motion bus For Lexium 05 and Lexium 15 and SD328 for customer assembly LMC 0 or LMC 20A130 Lexium Controller 38 m CD en A ce A Lexium 05 SD328 o0 Lexium 15 For Lexium 05 SD328 prewired LMC 0 or LMC 20A130 Lexium 05 Lexium 05 SD328 Hardware setup Connection accessories Connectors and junction boxes Description Use No Reference Connector 9 way female SUB D with line Connection of Lexium 15 1 VW3 M3 802 terminator Tap 3 with 3 RJ45 connectors Daisy chain connection of Lexium 05 2 TCS CTN023
17. tus Lexium Controller status Motion bus status LEDs Status Off Marking No CAN master configured Meaning Flashing The Motion bus is in initialization phase 1 flash per second The Motion bus is stopped On The Motion bus is operational ERR Red Off No Motion bus fault Flashing Motion bus fault 20 Diagnostics CANopen bus status LEDs Marking Status Off Meaning No CAN master configured Flashing The CANopen bus is in initialization phase 1 flash per second The CANopen bus is stopped On Off The CANopen bus is operational No CANopen fault Flashing CANopen configuration not valid 1 flash per second Alarm threshold exceeded too many errors 2 flashes per second A Node Guarding or Heartbeat event has occurred On Lexium Controller status LEDs Marking Status Off The CANopen bus is stopped BUS OFF Meaning The Lexium Controller is not configured application missing invalid or incompatible Flashing The Lexium Controller is in STOP state or locked by a software error The application program is not executed On Off The Lexium Controller is in RUN state The application program is executed No fault Flashing Minor Lexium Controller fault or application fault event triggered task cycle time too
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