for stepper motor with integrated drive (up to 7A)
Up to 10 IN, up to 8 OUT digital "fast" optoisolated
2 Analog voltage inputs (0...5 V)
TheLeomatic P63-COM7 module is a Programmable Automation Controller with integrated drive (bipolar chopper millistep) for a stepper motor. All functionalities of a CPU, a high-performance motion controller and the power interface to the motor are concentrated in a single device.
The wide range of communication ports facilitates interfacing with external host devices, such as PCs and Operator Panels. It is possible to connect with the modules of the family LeomaticSYSTEM5 through a dedicated CANBus port. The presence of an additional CANopen port allows the insertion of the P63 modules in CANopen networks, as slave nodes.
It is equipped with digital I/O (up to 10 inputs and up to 8 outputs) and 2 analogue inputs. It has a mass memory on micro-SD to store more applications on the same device. The selection of a specific application (data, recipes, settings and PLC logic) is made through dedicated dip-switches. It has a dedicated input for the acquisition of an auxiliary incremental encoder that can be used as a master axis for synchronized movements or for feedback on the motor itself. The on-board firmware implements a parameterizable PID and Feed-Forward algorithm and is able to manage the tracking and electrical axis activities, with respect to the auxiliary encoder (machine master).
All kinematic and control parameters can be programmed and modified even during axis operation. Calibration on the reference micro and possibly also on the zero pulse of the encoder is guaranteed, even during movements at maximum speed. The axis control signals can be sent both to the integrated drive and to a possible external drive, which can be connected through a dedicated terminal board. This makes it possible to control, for example, twin stepper motors using a single P63 module.
It is possible to extend the number of motor-axes, digital and analog I/Os at will, simply by connecting several P63 modules on a network (RS-485, CANBus or CANopen). The network address can be defined in the file present on the micro-SD. On request it is possible to customize the application firmware.
possibility of debugging the PLC logic also during machine operation.
Configuration and fine-tuning operations can be carried out using the special software tools supplied free of charge.
Clock and calendar functions.
Retentive data retention in buffered memory.
Storage of parameters, data and PLC logic on mass memory(micro-SD).
Possibility of managing up to 16 different applications, each with its own specific data(recipes, machine and configuration parameters, PLC logic).
Application selection via 4 dedicated dip-switches .
Communication with the LeomanticSYSTEM5 modules and with external devices (e.g. a Host PC or an Operator Panel) through software selectable protocols: proprietary LEOMATIC XFer or standard such as ModBus RTU-slave, MewToCol, and other functionalities.
Possibility, on request, to customize the application firmware and/or to implement new communication protocols.
Advanced tracing capabilities allow you to synchronously monitor a settable set of internal variables ( oscilloscope tool).
Self-diagnostic and voltage monitoring functions implemented in the onboard firmware.
Firmware resident on flash memory, upgradeable from PC also in the field.
Position, velocity, axis acceleration and deceleration on 32-bit registers.
Programming of all parameters related to the control-axis, including:
sampling time, from 200 µs to 5 ms
presence of the encoder
position modularity for periodic axes
zero micro polarity
maximum speed and acceleration
Possibility of adjusting the resolution of the internal count, increasing it by a factor of 4, 16, 32 or 64.
Axis control in position with PID algorithm and parameterizable Feed-Forward.
Execution of self-calibration cycles on reference micro and possibly also on the encoder zero pulse.
Performing continuous(Jog) or positional(GoTo) movements.
Execution of tracking and electrical axes with respect to the auxiliary encoder.
Possibility to vary on-the-fly the main kinematic and control parameters both from PLC logic and directly from PC.
Setting of motor phase current and steps/revolution by dip-switch.
Possibility of automatic current reduction when the motor is stopped.
Leomatic provides a free SW suite, including technical manuals, examples and utilities such as PncTool, to configure, program and test an entire SYSTEM5 or one of its single modules.