P.A.C. P63
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)
Up to 10 IN, up to 8 OUT digital "fast" optoisolated
2 Analog voltage inputs (0...5 V)
The Leomatic 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 Leomatic SYSTEM5 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.
P.A.C. P63
Stepper Axis Control + Driveproduct information
- Fully user programmable PLC logic with:
- functions very similar to the PLC on P51S.
- 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 Leomantic SYSTEM5 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
- gear ratio
- end-of-stroke software
- 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.
- Micro-steppingoperation.
- 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.
Hardware
- ARM-STM32 microprocessor + FPGA.
- Mass memory on micro-SD for data, configuration parameters, recipes and PLC logic.
- Rechargeable, long-life backup battery for maintaining retentive data.
- Control of 1 stepper motor in 200 µs.
- 1 pair of +5 Vdc digital signals towards the integrated drive (they can also be copied on auxiliary terminals for an eventual second external driver):
- Frequency and direction or, phase quadrature, with the following characteristics:
-
- up to 390 KHz;
pulse width: 30 µs up to 16 kHz; with 50% duty-cycle above 16 kHz.
- up to 390 KHz;
- Up to 10 opto-isolated digital inputs.
- Up to 8 opto-isolated digital outputs, with output stages protected against short-circuits, over-temperature, inversion of the external supply voltage.
- 2 analogue voltage inputs with range 0 ... +5 Vdc.
Power supply +5 Vdc, available on the analog inputs terminal block. - 1 input for incremental optical encoder, up to 1 MHz (on +5 Vdc) with line-driver, single-ended or differential signals and zero pulse.
Power supply +5 Vdc, available on encoder terminal board. - Reference micro can be connected directly to one of the digital inputs.
- One multi-standard serial port usable as RS232/422/485 for connection to external host devices (PC, HMI, CPU).
- One CAN port for connection to other SYSTEM5 modules (with proprietary Leomatic XFer protocol).
- One CANopen port (with DS301/DS402protocols ).
- One USB-device port for connection with Host in virtual com mode (PC, operator panel, ...) or access to micro-SD in mass-storage mode.
- Integrated drive for 4-, 6-, 8-wire two-phase stepper motors (inductance from 0.5 mH to 15 mH).
- Operating modes settable at: 200, 400, 500, 800, 1000, 2000, 4000 steps/revolution (1.8° motors).
- Current on motor settable by dedicated dip-switch.
Electric
- Control section power supply:
- +24 Vdc nominal (min. +15 Vdc, max. +30 Vdc);
- 100 mA max on +24 Vdc - Power section power supply:
- alternating: min. 24 Vac / max. 90 Vac
- continuous: min. +20 Vdc/ max. +130 Vdc (possibility of supplying several drives in parallel). - Motor current: min 1.5 A, max 7 A
- Short-circuit protection between motor phases and between phase and earth.
- Operating temperature: 5 °C to 45 °C
- Over-temperature protection (max. 90 °C).
- Analog voltage inputs in the range: 0 ... +5 Vdc
- Digital I/O:
- Galvanically separated field power supply (+24 Vdc nominal)
- Up to 10 opto-isolated inputs, PnP, +24 Vdc nominal (min. +15, max. +30 Vdc).
- Up to 8 opto-isolated outputs, PnP, +24 Vdc nominal( 500 mAfan-out on each output).
Physics
- Metal housing designed for DIN rail or cabinet wall mounting
- Small size: 140 × 106 × 35 mm.
- 1 mini-B USB port.
- 1 slide connector to accommodate a micro-SDmemory.
- Two banks of dip-switches (10 + 8) for quick and clear configuration.
- Sectional terminal blocks with spring clutch for communication and field ports (motors, encoders, I/O); with screw clutch for power supply and phase-motor.
- 5 signalling leds to monitor the status of the control section and communication activities.
- 1 bi-colour led to monitor the status of the driver (power section).