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Motion control
up to 4
motors
(Servo and/or Stepper)
Up to 6
digital
IN + 4 digital OUT
high-speed
photo-coupled
Remote module
for DIN guide
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LEOMATIC P58S
is a
motion
control for 2 Servo motors
(Brushless/DC/AC-Inverter) plus 2
Stepper
motors.
It's a high performance unit; the frequency output signal can reach 2
MHz.
P58S has
3
incremental Encoder inputs, for position loop-back or to acquire
a "master" position.
It may also acquire an absolute
Gray
encoder, when connected to its integrated digital inputs or to a
Leomatic P59 (remote
digital I/O).
Its
integrated high-speed digital I/O (6 inputs and/or 4 outputs) may be
used to trigger some programmable fast "events" and related
"actions".
Available motion
functions: calibration, jog, go-to, interpolation, gear,
electronic cam
with respect to another axis or to an external "master".
Internal control algorithms are of type PID plus Feed-Forward, with
programmable parameters.
You may change via SW any kinematic and control
parameter also while axes are moving.
Calibration of an axis may be self-performed when a
reference proximity is reached or when the encoder zero-signal is
also present. This operation is handled by the hardware, so
you can command it at any time, also while the axis is moving at its
maximum speed.
P58S has an internal third axis (virtual axis),
with the same functions of the major two, but it has no outputs; so
it is usually used as "master" related to the external encoder.
P58S may be connected to other
SYSTEM5
modules by mean of a parallel bus (local) or in a CANBus
network architecture (remote).
Up to 16 P58S modules
on the same system (4
dip-switches to set address) for a
total of 32 physical axes.
It is possible to ask Leomatic
for a customized Firmware version.
Technical
characteristics.pdf
Brochure of introduction to SYSTEM5.pdf
• Position,
speed, acceleration, deceleration of each axis are kept in 32 bits
registers.
• The
parameters of internal axes controls are fully programmable:
• Sampling
time range:
20
µs
... 5 ms
• Encoder
type and direction
• Transmission
ratio
• Software
limits for positions and accelerations.
• Position modulus for
periodical or rotative axes.
• Signal
polarity of the reference proximity (Positive/Negative edge).
• An
oversampling
of the internal counters
can be configured, obtaining a mathematical resolution of
x4, x16,
x32 or x64.
• Internal
control algorithms of each axis are of type PID plus Feed-Forward,
with programmable parameters.
• Calibration
of an axis may be self-performed, also while moving at the maximum
speed, when a reference proximity is reached or when the
encoder zero-signal is also present.
• Execution
of continuous (Jog) or in-position (GoTo)
movements.
• Execution
of interpolations,
gears, electronic cams
with respect to another axis or to an external "master".
• Linear
or circular interpolations; up to 6 axes at the same time, with
side-track option or tangential constraint along the trajectory.
• You
may change via software (by PLC logic or by PC control) any
kinematic and control parameter, also while axes are moving.
• Handling of fast
"events" (I/O edge, position targets, start/stop of a
movement, ...) and associated "actions" (I/O
set/clear, start/stop of another movement, ...),
with typical response time of 10 µs.
• Tracing
advanced functionalities allow synchronous monitoring of a definable set of internal variables (like
an oscilloscope).
• On-board
firmware has auto-diagnostic functions (system error conditions).
• The
on-board
firmware, stored on Flash memory, may be changed
(downloaded) also on-field through a dedicated software utility (PncTool).
• In
case of malfunctions, you may activate a special
boot firmware, stored on
a protected page of flash memory.
It grants a
recovery startup: some functions are reduced but the Leomatic
protocol on
third CANBus port
is fully operative, so you can run the
software tool in order to download the on-board firmware or to test
the card itself.
• Leomatic
supplies P53S modules with a free-of-charge SW suite,
including technical manuals and utilities, such as:
- PncTool,
to configure/inspect/test a whole SYSTEM5 or its single
modules.
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Technical Characteristics |
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Hardware
• DSP
microprocessor at 400 MHz + FPGA
• Complete
control of 2 independent Stepper motors in a very short time
(typical 100
µs)
• 2
analog outputs ± 10 Vdc as commands for 2 Servo
drivers
• 2
pairs of digital signal (0...+5 Vdc) as commands for 2 Stepper drivers:
• Frequency
and Direction
or
• Phase
quadrature or
• PWM
• Frequency
output:
• up
to 2 MHz
• Pulses
width: 30 µs up to 16 kHz; with a 50% duty-cycle
for higher frequencies
• Up
to 6
high-speed (10 kHz) digital inputs, photo-coupled
• Up
to 4
digital outputs, photo-coupled.
Output sections
use solid-state components, granting protection against
short-circuits, over-temperatures, overloads, inversions of
filed-power polarities.
• 3 incremental
encoders (5...12 Vdc) with differential or single outputs,
line-driver or open collector type, and a zero-signal. On each
encoder connector is available a +5 Vdc supply.
• Reference
proximities for calibration may be signals at 12...30 Vdc,
photo-coupled; they may be directly connected to any digital input.
• Parallel
bus for high-speed local connection to
CPU P51S /
P51 and/or to other
SYSTEM5
modules with the same bus
(P53S,
P57S).
• 2 CANBus
ports for remote connection to other
SYSTEM5
modules or to a host device (PC, User's panel, ...).
Electrical
• Power
requirements:
+24 Vdc nominal (min. +15 Vdc, max. +30 Vdc)
100 mA on +24 Vdc
• Digital I/O:
• Galvanic
insulation of the field-ground and the logic-ground
(so insuring the maximum protection from electrical noises or
accidental damages).
Field-power requirements:
+24 Vdc nominal (min. +15, max. +30 Vdc)
• Up
to 6 Digital inputs: PnP, photo-coupled, +24 Vdc nominal
• Up
to 4 Digital outputs: PnP, photo-coupled, +24 Vdc nominal
(each output acts as
"current source" with a maximum fan-out of 500 mA)
Mechanical
• The
module is ready to mount on a standard DIN guide.
• Dimensions:
101 × 120 × 22,5 mm
• Front
panel is a transparent, elevating cover, so allowing the view of
on-board leds and the access to the configuration dip-switches.
• 4 leds
to monitor module status and communication activities.
• Removable
clips:
- spring type: for I/O, drivers, encoder and communication ports;
- screw type: for power supply.
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