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P63: P.A.C. for one Stepper motor with integrated driver (up to 7A) 

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Programmable Automation Controller
for one
Stepper motor
with i
ntegrated driver
(up to 7A)


up to 10 digital IN     and
up to   8 digital OUT
       high-speed photo-coupled

2 analog IN  (0...5 V)

LEOMATIC P63 is a Programmable Automation Controller (PAC) for 1 Stepper motor, with an integrated driver (bipolar chopper millistep).  

This electronic module offers all the functions of a CPU and of a high-performance motion-control, furthermore it has an integrated power driver for a stepper motor.

P63 may be easily connected to most external host devices like a PC and/or an Operator Panel, through its rich set of communication channels:
- a serial port
may be configured as RS232,RS422,RS485
  and according to various protocols (ModBus, ...);

- a
CANBus port allows to connect a P63 in a CAN network
 
to
other LEOMATIC-SYSTEM5 modules;
- a
CANopen port allows to add one or more P63, as slave
  nodes
, in a CANopen network
;
- an USB port allows to connect a PC to configure,
  program, monitor, inspect P63 variables also in run-time.

P63 has some integrated high-speed digital I/O (up to 10 inputs and up to 8 outputs) and 2 analog inputs.

An on-board Flash memory (micro-SD) allows to store up to 16 different software applications. The single application (recipe data, machine parameters, PLC logic program) may be simple selected through 4 dedicated dip-switches.

P63 has 1 incremental Encoder input, to acquire a "master" position for synchronized movements (follower, gear) or for position loop-back.

The on-board firmware performs axis control algorithms of type PID plus Feed-Forward, with programmable parameters. It can handle follower and gear activities with respect to the "master" encoder.

You may change via software (by PLC logic or by PC control) any kinematic and control parameter, also while axis is moving.

Calibration of the 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.

Control signals may be sent only to the integrated driver or also to an external driver (through a dedicated connector). This feature allows to control a second twin motor from the same P63 module.

Several P63 modules may be connected on the same network (RS485, CANBus or CANopen), so increasing the number of motors, digital and analog I/O along a line.
Network address
is definable inside a file in the micro-SD.

It is possible to ask Leomatic for a customized Firmware version.

A P63 module is very suitable for compact applications with 1 stepper motor plus some I/O; for more complex applications you may use (or easily port your SW on) Leomatic modular systems based on P51S Cpu and P53S / P58S axes control modules

 Technical characteristics.pdf

Brochure of introduction to SYSTEM5.pdf

 

Functions

   PLC logic is fully programmable by the user.
It offers quite the same functions as the P51/P51S one.
It's possible to debug your own PLC also in run-time.

   Configuration, start-up, test and diagnostic operations are all allowed through freeware SW tools.

   Test and diagnostic functions, also in run-time, for on-field technical assistance with a standard PC and the SW utility PncTool.

   Calendar and clock functions.

   Retentive data are stored on a battery backed-up memory.

   Data and parameters storing on micro-SD Flash: machine data, user data, recipes,  ...

   A set of up to 16 different applications may be stored, each with its own data (recipes,  machine and configuration parameters, PLC program).

   The single application (recipe data, machine parameters, PLC logic program) may be simple selected through 4 dedicated dip-switches.

   Some of P63 communication channels support various protocols, software selectable, such as LEOMATIC XFer, ModBus RTU-slave, MewToCol, ... so allowing the connection to other LEOMATIC SYSTEM5 modules or to external devices (PC Host, operator panel, ...).

   It is possible to ask Leomatic for a customized on-board Firmware version or for new communication protocols.

   Tracing advanced functionalities allow synchronous monitoring of a definable set of internal variables (like an oscilloscope).

   The on-board firmware has auto-diagnostic functions (system error conditions and test of internal power values).

   The on-board firmware, stored on Flash memory, may be changed (downloaded) also on field through a dedicated software utility (PncTool).

   Position, speed, acceleration, deceleration are kept in 32 bits registers.

   The parameters of internal axis controls are fully programmable:

   Sampling time range: 200 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 the 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 or gears with respect to another axis or to an external "master".

   You may change via software (by PLC logic or by PC control) any kinematic and control parameter, also while axis is moving.

   Micro-stepping mode is supported.

   Motor current phase and steps/revolution may be directly set through dedicated dip-switches.

   It's possible to enable an automatic reduction of the current whenever the motor is stopped.

   Leomatic supplies P63 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

    ARM-STM32 microprocessor + FPGA.

    Micro-SD "mass-storage" memory to store data, configuration parameters, recipes, PLC program.

    Back-up battery, rechargeable type, to save retentive data for a long time.

    Complete control of the stepper motor in a very short time (typical 500 µs).

    1 pair of digital signals (0...+5 Vdc) as commands for the integrated driver (they may be copied also on a clip to connect a 2nd external driver):

    Frequency and Direction      or

    Phase quadrature

    with the following characteristics:

    up to 390 KHz

    Pulses width: 30 µs up to 16 kHz;  with a 50% duty-cycle for higher frequencies.

    Up to 10  high-speed (10 kHz) digital inputs, photo-coupled.

    Up to 8 digital outputs, photo-coupled.
Output sections use solid-state components, granting protection against short-circuits, over-temperatures, overloads, inversions of filed-power polarities.

    2 analog inputs, in a range of  0 ...+5 Vdc
On the analog inputs clip is also present an auxiliary +5 Vdc supply on the analog I/O connector, useful to directly connect a potentiometer.

    incremental encoder (+5 Vdc, up to 1 MHz ) with output and zero signals  line-driver type,  single-ended o differential.
On the encoder clip is also available a +5 Vdc supply.

    Reference proximity for calibration may be a signal at 12...30 Vdc, photo-coupled; it may be directly connected to any digital input.

    1 serial port configurable as RS232,RS422,RS485 for connections to other SYSTEM5 modules or to external devices (host PC and/or User's Panel).
The signals of different electrical level are carried out on different clips/pins.

    1 CANBus port for remote connection to other SYSTEM5 modules (via LEOMATIC XFer protocol).

    1 CANopen port, with DS301/DS402 protocols. 

    1 USB-device port for a direct "mass-storage" access from an external PC.

    Integrated driver for a two-phases stepper motor with 4 or 6 or 8 wires (inductance from 0,5 mH to 15 mH).

    Driving modes (through dedicated dip-switches):
200, 400, 500, 800, 1000, 2000, 4000 steps/revolution (for 1,8° motor).

    Motor current phase may be directly set through dedicated dip-switches.

 

Electrical

   Control power requirements:
+24 Vdc nominal (min. +15 Vdc, max. +30 Vdc)
  100
mA max  on +24 Vdc

   Driver power requirements:
  alternate: min.   24 Vac, max.    90 Vac
  or direct:  min. +20 Vdc, max. +130 Vdc
(it's possible to supply several drivers in parallel)

   Motor current: min. 1,5 A, max 7 A

   Protection against short-circuit between the motor phases and between any phase and Ground.

   Operating temperature: 5 °C ... 45 °C

   Protection against over-temperature (max. 90 °C).

   Analog inputs range: 0 ... +5 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 10 Digital inputs:   PnP, photo-coupled, +24 Vdc nominal

   Up to 8 Digital outputs: PnP, photo-coupled, +24 Vdc nominal
(each output acts as "current source" with a fan-out max of 500 mA)
 

Mechanical

   The module is ready to mount on a standard DIN guide.

   Reduced dimensions: 140 × 106 × 35 mm

   1 USB mini-B port

   1 adapter for a micro-SD card.

   2 banks of dip-switches (10 + 8) for a quick and easy configuration.  

   Removable clips:
- spring type: for I/O, encoder, communication ports and external auxiliary driver;
- screw type: for power supplies and motor phases.

   5 leds to monitor module status and communication activities.

   1 bi-color led to monitor status of integrated driver.

 

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