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P58S: motion control up to 4  Servo/Stepper motors
 

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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

 

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

 

Functions

 

    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.

Technical Characteristics

 

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.

    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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