Lexium Controller

Axis controller

Installation Manual
Retain for future use

Contents
Important information _________________________________________________________________________________________ 4 Documentation structure_______________________________________________________________________________________ 5 Introduction _________________________________________________________________________________________________ Presentation _____________________________________________________________________________________________ Description of LMC10/LMC20________________________________________________________________________________ Description of LMC20Apppp _________________________________________________________________________________ 6 6 6 7

Hardware setup _____________________________________________________________________________________________ 8 On receipt _______________________________________________________________________________________________ 8 Mounting ________________________________________________________________________________________________ 8 Connecting the power supply ________________________________________________________________________________ 9 Characteristics of the power supplies __________________________________________________________________________ 9 Connection to a master encoder_____________________________________________________________________________ 10 Connecting the Motion bus 9-way SUB-D connector _____________________________________________________________ 13 Connecting the I/O _______________________________________________________________________________________ 16 I/O connection example ___________________________________________________________________________________ 17 Connecting the CANopen 9-way SUB-D connector ______________________________________________________________ 18 Connecting the RJ45 Ethernet connector______________________________________________________________________ 18 Connecting the Modbus RJ45 connector or graphic display terminal_________________________________________________ 19 Connecting the PROFIBUS bus 9-way SUB-D connector (LMC20A1307) ____________________________________________ 19 Connecting the DeviceNet terminals (LMC20A1309) _____________________________________________________________ 19 Diagnostics ________________________________________________________________________________________________ 20 LEDs __________________________________________________________________________________________________ 20

While every precaution has been taken in the preparation of this document, Schneider Electric SA 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 equipment 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.

The addition of this symbol to a "Danger" or "Warning" safety label indicates that there is an electrical risk that will result 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 follow this symbol in order to avoid the risk of injury or death.

DANGER
DANGER indicates an imminently hazardous situation which, if not avoided, will result in death, serious injury or equipment damage.

WARNING
WARNING indicates a potentially hazardous situation which, if not avoided, can result in death, serious injury or equipment damage.

CAUTION
CAUTION indicates a potentially hazardous situation which, if not avoided, can result in injury or equipment damage.

PLEASE NOTE:
Only qualified staff are authorized to carry out maintenance work on electrical equipment. Schneider Electric accepts no responsibility for the consequences of using this device. This document does not constitute an instruction manual for inexperienced personnel. 2008 Schneider Electric. All rights reserved.

Documentation structure

Installation Manual
This manual describes: How to install the controller How to connect the controller

Optional Graphic Display Terminal User's Manual

This manual describes: How to install the graphic display terminal How to connect the graphic display terminal How to program the controller via the graphic display terminal

Easy Motion - Programming Manual

Supplied preinstalled in the Lexium Controller, the application model associated with Easy Motion 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.

Motion Pro - Programming Manual

The Motion Pro Programming Manual is included in the software online help. This online help describes: The software interface IEC 1131 programming 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: Connection to the bus or network Diagnostics Software setup 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 speed and position Linear and circular interpolation (2D) Master axis via external encoder Distance measurement and position capture on high-speed discrete input (30 s) 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 of logic inputs 8 24 V c 8 24 V c 8 24 V c 8 24 V c Number of logic outputs 8 24 V c 8 24 V c 8 24 V c 8 24 V c Modbus Yes Yes Yes Yes Integrated communication CANopen Ethernet network Yes Yes Yes Yes Yes Yes Third-party bus PROFIBUS DeviceNet

LMC 10 LMC 20 LMC 20A1307 LMC 20A1309

Description of LMC10/LMC20

1 3 2

1 Signaling and diagnostic LEDs 2 Ethernet connector (LMC 20 only) 3 Encoder power supply 4 4 Reset button

5 Master encoder input 6 Modbus or graphic display terminal connector 7 Motion bus connector 6 8 Connector for logic I/O 9 Equipment grounding conductor connection 7 10 24 V power supply terminals 11 CANopen connector (LMC 20 only)

8 9 10 11

Introduction
Description of LMC20Apppp
1 Signaling and diagnostic LEDs 1 3 2 2 Ethernet connector 3 Encoder power supply 4 Reset button 4 5 5 Master encoder input 6 Modbus or graphic display terminal connector 7 LEDs for: - PROFIBUS on LMC20A1307 - DeviceNet on LMC20A1309 8 Motion bus connector 9 Connector for logic I/O 8 9 10 11 13 12 14 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

6 7

Hardware setup

On receipt
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. 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) - A CD-ROM containing the documentation - A quick reference guide

CAUTION
DAMAGED EQUIPMENT
Do not install or operate any controller that appears damaged. Failure to follow this instruction can result in equipment damage.

Mounting
Fasten using M5 screws, or on 5 rail (35 mm) Dimensions in mm (in) LMC10, LMC20
136 (5.35) 40 (1.57)

LMC20Apppp
74 (2.91) = =

(1)

5 (0.20)

75 (2.95)

25,6 (1.01)

(1) Leave sufficient space for the connectors used.

Installation recommendations
Install the unit vertically. u 50 mm (2 in) Leave at least 50 mm (2 in) free space above and below the device to allow for cooling. Max. ambient temperature: LMC10: 60C LMC20: 50C Protect from condensation and keep away from any heat sources.

u 50 mm (2 in)

(1)

2 x 5,5 (0.22)

140 (5.51) 151 (5.94)

20 20 (0.79) (0.79)

3 x 5,5 (0.22)

140 (5.51) 151 (5.94)

6 (0.24)

Hardware setup

Connecting the power supply

Use the connector supplied in the bag: - Max. connectable cross-section: 1.5 mm2 - AWG 16 - Max. tightening torque: 0.3 Nm 0V 3 2 24 V 1 PWS

Terminal 3 2 1

Function 0V not connected + 24 V

Characteristics of the power supplies

LMC10 Nominal voltage Voltage limit (including ripple) Nominal input current 24 V c 19 ... 30 V c 0.3 A LMC20 24 V c 19 ... 30 V c 0.4 A LMC20A pppp 24 V c 19 ... 30 V c 0.5 A

Example circuit
100 ... 240 V AC

N +

L -

24 V power supply ABL7 RE2402

24 V

0V

PWS

Note: If the LMCppp controller is left without a power supply for around 20 days, the clock will have to be reset.

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 : RS422 5 V push-pull 5 V open collector SSI Female SUB-D connector Description Encoder terminal A+ AZ+ ZB+ BSSI data + SSI data CLKSSI + CLKSSI +5V 0V + 24 V 0V Supply return Pin 1 2 4 5 10 11 1 2 6 14 15 8 7 8 13 VW3M4701 option - wire colors red/white brown orange yellow white purple red/white brown green light brown light purple pink blue pink light green 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.

ENCODER

15 10 5

Incremental encoder

11 6

Absolute encoder

5 V encoder 24 V encoder Encoder power supply feedback (1)

Characteristics of the master encoder input

Power supply Nominal voltage Nominal current Input limit values Voltage Current Input impedance for nominal U Isolation Incremental encoder Type of signal Maximum operating frequency SSI serial absolute encoder Number of bits Clock frequency Clock voltage kHz V V mA V mA k V 5 c or 24 c 500 5.5 c 12 2 2500 _ _ _ A, A , B, B , Z, Z 250 kHz per input x 4, or 1 MHz for counting 32, with configurable frame (number of turns, number of bits/turn, binary or gray format, parity, etc) 200 5

10

Hardware setup

Encoder power supply

Use the connector supplied in the bag: - Max. connectable cross-section: 1.5 mm2 - AWG 16 - Max. tightening torque: 0.3 Nm PWS 24 V 1 2 3

ENC

Example circuits
Incremental encoder 5 V - RS422 or Push-Pull output
24V

0V

Terminal 1 2 3

Function + 24 V +5V 0V

5V

Power Depends on the type of encoder used

Power Supply
110..240V AC to 5V DC
L N 5V 0V

LMC
A+ 1 A- 2 B+ 10 B- 11 Z+ 4 Z- 5 24V 1 5V 2 0V 3 5V 15 return 13 0V 8

Encoder
A+ AB+ BZ+ Z5V return option 0V

Shield 0V

Incremental encoder 5 V - Open collector A, B, Z

24V

Power Supply
110..240V AC to 24V DC
L N 24V 0V

LMC
A+ 1 A- 2 B+ 10 B- 11 Z+ 4 Z- 5 5V 2 24V 1 0V 3 5V 15 return 13 0V 8

Encoder
A B Z 5V return option 0V

Shield 0V

11

Hardware setup

Incremental encoder 24 V - RS422 output

24V

Power Supply
110..240V AC to 24V DC
L N 24V 0V

LMC
A+ 1 A- 2 B+ 10 B- 11 Z+ 4 Z- 5 5V 2 24V 1 0V 3 24V 7 return 13 0V 8

Encoder
A+ AB+ BZ+ Z24V return option 0V

Shield 0V

SSI encoder 24 V - RS422 output

24V

Power Supply
110..240V AC to 24V DC
L N 24V 0V

LMC
SSI data+ 1 SSIdata- 2 SSI clk+ 6 SSI clk- 14

Encoder
data+ dataclk+ clk-

5V 2 24V 1 0V 3

24V 7 return 13 0V 8

24V return option 0V

Shield 0V

12

Hardware setup

Connecting the Motion bus 9-way SUB-D connector

Male SUB-D connector. Terminal 1 2 3 4 5 6 7 8 9 Description not connected CAN_L CAN_GND not connected not connected CAN_GND CAN_H not connected not connected

The CANopen connection dedicated to the Motion bus provides the option of connecting up to 8 Lexium 05, Lexium 15 and SD328 servo drives. The Motion bus is used to control the movement of these 8 axes. The network cycle ensures the position setpoints are updated for axis synchronization. LMC 10, LMC 20 and LMC 20A130p Lexium Controllers integrate the CANopen protocol dedicated to the Motion bus as standard. To guarantee the 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

LMC p0 or LMC 20A130p Lexium controller Motion bus

Lexium 05

MOTION BUS
Lexium 05

SD328

SD328

Lexium 15 Lexium 15

13

Hardware setup

Examples of connection to the Motion bus

For Lexium 05, Lexium 15 and SD328 for customer assembly
LMC p0 or LMC 20A130p Lexium Controller
14 5 1 14

Lexium 05

SD328

Lexium 15

For Lexium 05, SD328 prewired

LMC p0 or LMC 20A130p Lexium Controller
5 2 7 7

Lexium 05

Lexium 05

SD328

14

Hardware setup

Connection accessories
Connectors and junction boxes
Description Connector, 9-way female SUB-D with line terminator Tap (3) with 3 RJ45 connectors Use Connection of Lexium 15 No. Reference VW3 M3 802 TCS CTN023F13M03

Daisy-chain connection of Lexium 05, SD328 2

Cordsets and connection cables

Description Use From Cordset with one 9-way female SUB-D connector and one RJ45 connector with line terminator CANopen cordsets (1) with one RJ45 connector at each end CANopen IP 20 cables (1) Standard cables, e marking Low smoke emission, halogen-free Flame retardant (IEC 60332-1) UL certification, e marking Flame retardant (IEC 60332-2) LMC Lexium controller To Lexium 05, SD328 5 Tap TCS CTN023F13M03 No. Length m 1 VW3 M3 805R010 Reference

Tap Tap 7 TCS CTN023F13M03 TCS CTN023F13M03

0.3

TSX CAN CARR 03

14
50 100 300 TSX CAN CA 50 TSX CAN CA 100 TSX CAN CA 300 TSX CAN CB 50 TSX CAN CB 100 TSX CAN CB 300 TSX CAN CD 50 TSX CAN CD 100 TSX CAN CD 300

14

50 100 300

Cable for harsh environment (2) or mobile installation, e marking Low smoke emission, halogen-free Flame retardant (IEC 60332-1)

14

50 100 300

(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 - 10C and + 70C (3) Available 4th quarter 2007

15

Hardware setup

Connecting the I/O

Controller male connector Description Logic input DI0 Logic input DI1 Logic input DI2 Logic input DI3 Logic input DI4 Logic input DI5 Logic input DI6 Logic input DI7 Position capture TP1 Position capture TP2 Event input EI1 Event input EI2 0V Terminal 26 24 22 20 18 16 14 12 10 8 6 4 2 Female connector plug side view Terminal 25 23 21 19 17 15 13 11 9 7 5 3 1 Description Logic output DO0 Logic output DO1 Logic output DO2 Logic output DO3 Logic output DO4 Logic output DO5 Logic output DO6 Logic output DO7 + 24 V + 24 V + 24 V 0V 0V

25 23 21 19 17 15 13 11 9 7 5 3 1

26 24 22 20 18 16 14 12 10 8 6 4 2

26 24

25 23 21 19 17 15 13 11 9 7 5 3 1

INPUTS/OUTPUTS

22 20 18 16 14 12 10 8 6 4 2

Input characteristics
Type of base Number of channels Nominal voltage Voltage limits Nominal input current Impedance Filtering time "Position capture" input filtering time Isolation At state 1 At state 0 At state 1 At state 0 LMC10 8 24 V c (positive logic) 19 V ... 30 V c 7 mA 3 k 15 s 70 s 1 s 0.5 s No isolation between channels, isolation with internal logic via opto-isolators LMC20

Output characteristics
Type of base Number of channels LMC10 LMC20 8 x 24 V c open collector (source) logic outputs, compatible with level 1 PLC, standard IEC 65A-68 Maximum switching voltage: 30 V 24 V c (positive logic) 19 V ... 30 V c 0.2 A per channel At state 1 At state 0 150 s 250 s

Nominal voltage Limit voltages Output current Filtering time

16

Hardware setup

I/O connection example

Using a Telefast sub-base ABE 7B20MPN22:
BJ 1 24 V 1 2 0V 3 4 HE10 J1

J1_26

J1_25

J1_24

J1_23

J1_22

J1_21

J1_20

J1_19

J1_18

J1_17

J1_16

J1_15

J1_14

J1_13

J1_12

J1_11

J1_10

J1_8

1 2 3 4 5 6 7 8 9 10 11 12 13 14 15 16 17 18 19 20 21 22 23 24 25 26 J1_6 BJ2_13 21

BJ2_15

BJ2_16

BJ2_17

BJ2_18

BJ2_19

BJ2_20

BJ2_21

BJ2_10

BJ2_22

BJ2_11

BJ2_12

BJ 2 1 2 BJ 3 1 0 V + 24 V I0 BJ 2 1 2 1 CI0 3 2 4 5 3 6 4 7 5 8 6 9 7 10 8 11 9 12 10 13 1 14 15 2 3 16 4 17 5 18 6 19 7 20 21 8 22 23 BJ 4 24 2 I1 3 I2 4 I3 5 I4 6 I5 7 I6 8 I7 9 I8 10 I9 1 2 3 Q0 4 Q1 5 Q2 6 Q3 7 Q4 8 Q5 9 Q6 10 Q7 0 V + 24 V 3 4 5 6 7 8 9 10 11 12 13 14 15 16 17 18 19 20 22 23 BJ 4 24

I10 I11

BJ 3

9 10

CI1 CI2 CI3 CI4 CI5 CI6 CI7 CI8 CI9 CI10 CI11 CQ0 CQ1 CQ2 CQ3 CQ4 CQ5 CQ6 CQ7

(1)

(1)

(1) Install interference suppressors on inductive circuits such as relays.

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 ABF T26B100 1 m ABF T26B200 2 m

BJ2_14

BJ2_3

BJ2_4

BJ2_5

BJ2_6

BJ2_7

BJ2_8

BJ2_9

J1_4

17

Hardware setup

Connecting the CANopen 9-way SUB-D connector

Refer to the Easy Motion and Motion Pro software online help. Male SUB-D connector Terminal 1 2 3 4 5 6 7 8 9 Description not connected CAN_L CAN_GND not connected not connected CAN_GND CAN_H not connected not connected

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 Max. length of bus 50 kbps 1,000 m 125 kbps 500 m 250 kbps 250 m 500 kbps 80 m 1 Mbps 15 m

Connecting the RJ45 Ethernet connector

Refer to the Ethernet User's Manual. View from sub-base side 1.......................8

CANopen

Terminal 1 2 3 4 5 6 7 8

Description TD+ TDRD+ not connected not connected RDnot connected 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 1.......................8

Terminal 1 2 3 4 5 6 7

Description not connected not connected not connected B signal (RS485) = V1 signal (Modbus) A signal (RS485) = V0 signal (Modbus) not connected Modbus VP signal 12 V DC power supply provided by the Motion Controller (only for supplying an RS485/RS232 converter or a graphic display terminal) Modbus common signal 0V

MODBUS 8

Connecting the PROFIBUS bus 9-way SUB-D connector (LMC20A1307)

Refer to the PROFIBUS User's Manual. Female SUB-D connector Terminal 1 2 3 4 5 6 7 8 9 Description 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

Connecting the DeviceNet terminals (LMC20A1309)

Refer to the DeviceNet User's Manual.

Terminal 1 2 3 4 5

Name VCAN_L SHIELD CAN_H V+

Color black blue none white red

Function common signal shielding signal power supply

19

Diagnostics

LEDs

RUN RUN ERR ERR

RUN ERR PWS

Motion bus status RUN Run Green ERR Fault Red

CANopen bus status RUN Run Green ERR Fault Red

Lexium Controller status RUN Run Green ERR Fault Red PWS On Yellow

Motion bus status LEDs

RUN RUN ERR ERR

RUN ERR PWS

LED RUN Green

Status Off Flashing

Meaning No CAN master configured

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 Flashing No Motion bus fault Motion bus fault

20

Diagnostics

CANopen bus status LEDs

RUN RUN ERR ERR

RUN ERR PWS

LED RUN Green

Status Off Flashing

Meaning No CAN master configured

The CANopen bus is in initialization phase 1 flash per second The CANopen bus is stopped On The CANopen bus is operational ERR Red Off Flashing No CANopen fault 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 The CANopen bus is stopped (BUS OFF)

Lexium Controller status LEDs

RUN RUN ERR ERR

RUN ERR PWS

LED RUN Green

Status Off Flashing On

Meaning The Lexium Controller is not configured (application missing, invalid or incompatible) The Lexium Controller is in STOP state or locked by a software error. The application program is not executed. The Lexium Controller is in RUN state. The application program is executed. No fault Minor Lexium Controller fault or application fault (event-triggered task cycle time too long, encoder supply fault, etc.). Lexium Controller hardware fault or serious application fault (watchdog, etc.) Lexium Controller off Lexium Controller on

ERR

Red

Off Flashing On

PWS

Yellow

Off On

PROFIBUS (LMC20A 1307) LEDs

Refer to the PROFIBUS User's Manual

DeviceNet (LMC20A 1309) LEDs

Refer to the DeviceNet User's Manual.

21

Lexium_Controller_EN_V2 2008-03