PAC-P71

P.A.C. P71

Programmable Automation Controller up to 3 axes for servo or stepper motors
Opto-isolated digital I/O: up to 10 Inputs and/or 8 Outputs
Analog I/O: up to 4 Inputs and/or 6 Outputs

The Leomatic P71 module is a Programmable Automation Controller that can manage up to 3 axes, each of servo (Brushless/DC/AC-Inverter) or stepper type. All the functions of a CPU, a high-performance motion controller and analogue and digital I/O management 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 Sistemi P.A.C. through a dedicated CANBus port. The presence of a CANopen port allows the insertion of the P68 modules in CANopen networks, as slave nodes.

It is equipped with fast digital I/O (up to 10 In and up to 8 Out) and analog I/O (up to 4 In and up to 6 Out). You can still extend the number of digital and analog I/O at will simply by connecting CANBus modules P59 and P57S. It has a mass memory on micro-SD to store data, recipes, settings and PLC logic. It has 3 dedicated inputs for the acquisition of incremental encoders, which can be used as feedback of the physical axes, as auxiliary position control also for stepper axes, or as master axis for synchronized movements.

The on-board firmware implements PID and Feed-Forward algorithms that can be parameterized and manages the activities of electric axis (Gear), electronic cam with respect to an axis declared as master (physical or virtual), as well as multi-axis interpolations. On request it is possible to customize the application firmware.

All kinematic and control parameters are programmable and modifiable even during axis operation. Self-calibration is managed on a reference micro and possibly also on the zero pulse of the encoder, even during movements at maximum speed.

The P68 module is ideal for compact applications up to 3 axes; for more complex applications it can easily migrate to modular systems based on P51S CPU and P53S and/or P58S motion control modules.

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P.A.C. P71

Axis Control

product information

  • Fully user programmable PLC logic.
    It has functions very similar to PLC on P51S.
    Possibility to debug the PLC logic also during the 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).
  • Communication with the Leomatic SYSTEM5 modules and with external devices (e.g. a Host PC or an Operator Panel) via software selectable protocols: proprietary LEOMATIC XFer or standard such as ModBus RTU-slave, MewToCol, ...
  • 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;
    • transmission ratio;
    • software limit switch;
    • 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.
  • Leomatic provides a free SW suite, which includes technical manuals, examples and utilities such as:
    •  PncTool, to configure, program, 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.
  • 3-axis motor control in 200 µs (typical).
  • Control outputs (+5 Vdc digital signals, single-ended or differential type):
  • Frequency and Direction 0 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 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.
  • Up to 4 analogue inputs (range 0 ... +5 Vdc).
    Up to 6 analogue outputs (range -10 ... +10 Vdc).
    Power supply +10 Vdc, available on the analog I/O terminal block.
  • 3 inputs for incremental optical encoders, up to 1 MHz (on +5 Vdc) with line-driver, single-ended or differential signals and zero pulse.
    Power supply +5 Vdc, available on the terminal board of each encoder.
  • Reference microswitches that can be connected directly to one of the on-board digital inputs.
  • One RS232 serial port and one RS485 serial port with selectable protocol for connection to external devices.
  • One CAN port for connection to other SYSTEM5 modules (with proprietary Leomantic 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.

Electric

  • Single power supply: +24 Vdc nominal (min. +15 Vdc, max. +30 Vdc)
    Consumption: 100 mA max on +24 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).
  • Analog I/O:
    • Up to 4 inputs, range 0 ... +5 Vdc
    • Up to 6 outputs, range -10 ... +10 Vdc

Physics

  • Module for quick mounting on DIN rail.
  • Small size: 101 × 120 × 22.5 mm.
  • Inspectionable front panel for easy access to configuration dip-switches.
  • 1 slide connector to accommodate a micro-SDmemory.
  • A bank of 4 dip-switches for quick and clear configuration.
  • Sectional terminal blocks with spring-loaded connection for communication and field ports (motors, encoders, I/O); with screw connection for power supply.
  • 6 signalling leds to monitor the status of the control section and communication activities.

Related Products

Information documents

In connection with the product sheet just described, the following documentation is available: