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P68: P.A.C. up to 3 axes for servo or stepper motors 

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Programmable Automation Controller
up to 3 axes for
servo or
stepper motors

with differential digital outputs to the external drivers

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


up to 4 analog IN and up to 6 analog OUT

LEOMATIC P68 is a Programmable Automation Controller (PAC) for up to 3 axes, servo (Brushless/DC/AC-Inverter) or stepper motors.

This electronic module offers all the functions of a CPU and of a high-performance motion-control, furthermore it has many digital and analog I/O on board.

P68 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
RS232 and a serial port RS485 may may be 
  configured according to various protocols (ModBus, ...);

- a
CANBus port allows to connect a P68 in a CAN network
 
to
other LEOMATIC-SYSTEM5 modules;
- a
CANopen port allows to add one or more P68, as slave
  nodes
, in a CANopen network
;
- an USB port allows to connect a PC to configure,
  program, monitor, inspect P68 variables also in run-time
.

P68 has some integrated high-speed digital I/O (up to 10 inputs and up to 8 outputs) and some integrated analog I/O (up to 4 Inputs and up to 6 Outputs).
It is anyway possible to expand both digital and analog I/O by simply connecting some P59 and/or P57S modules through a CANBus network.

An on-board Flash memory (micro-SD) allows to store recipe data, machine parameters, PLC logic program.

P68 has 3 incremental Encoder inputs; each of them can be used as position loop-back, as auxiliary position check for stepper motors, as "master" position for synchronized movements (follower, gear).

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

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

A P68 module is very suitable for compact applications up to 3 axes; 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.

   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,  ...

 Some of P68 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
.

   Leomatic supplies P68 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.


Top of page

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 3 axes in a very short time (typical 200 µs).

   Control digital signals (+5 Vdc), single-ended or differential types:

    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 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.

   Up to 4 analog inputs    (range of  0 ...+5 Vdc).
Up to 6 analog outputs
(range -10 ... +10 Vdc).
+10 Vdc
supply on the analog I/O connector, useful to directly connect a potentiometer.

   3 incremental encoder (+5 Vdc, up to 1 MHz ) with output and zero signals ine-driver type,  single-ended o differential.
On each encoder clip is also 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.

   A serial port RS232 and a serial port RS485 may may be configured according to various protocols (ModBus, ...).

   A CANBus port allows to connect a P68 in a CAN network to other LEOMATIC-SYSTEM5 modules (trhough the LEOMATIC XFer proprietary protocol).

   A CANopen port, with DS301/DS402 protocols, allows to connect a P68 to a CANopen network.

   1 USB-device port allows access from an external Host (PC, operator panel, ...) as virtual com, or access to the micro-SD as mass-storage.

Elettriche

   Alimentazione unica: +24 Vdc nominali
                      (min. +15 Vdc, max. +30 Vdc)
Consumo: 100 mA max su +24 Vdc

   I/O digitali:

   Alimentazione di campo galvanicamente separata (+24 Vdc nominali)

   Fino a 10 ingressi optoisolati, PnP, +24 Vdc nominali
(min. +15, max. +30 Vdc).

   Fino a 8 uscite optoisolate,   PnP, +24 Vdc nominali
(fan-out di 500 mA su ciascuna uscita).

 

   I/O analogici:

   Fino a 4 ingressi, range  0 ...  +5 Vdc

   Fino a 6 uscite, range -10 ... +10 Vdc
 

Fisiche

   Modulo per montaggio rapido su guida DIN.

   Ridotte dimensioni: 101 × 120 × 22,5 mm.

   Frontale ispezionabile per un facile accesso ai dip-switch di configurazione.

   1 connettore a slitta per l’alloggiamento di una memoria micro-SD.

   Un banco di 4 dip-switch per una rapida e chiara configurazione.

   Morsettiere sezionabili con innesto a molla per porte di comunicazione e campo (motori, encoder, I/O); con innesto a vite per alimentazione.

   6 led di segnalazione per monitorare lo stato della sezione di controllo e le attivitą di comunicazione.

 

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