Drive and Controller

LMM 1.5 A CANopen Module

Lexium 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.

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) 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

dimensions in inches (mm)
Accessories
Lexium 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
   

Recommended motors

NEMA 17Stepper Motor
32 to 75 oz-in (23 to 53 N-cm) holding torque
NEMA 14 Stepper Motor
12.5 oz-in (8.8 N-cm) holding torque
NEMA 11 Stepper Motor
12.9 to 24.1 oz-in (9.1 to 17 N-cm) holding torque