P38: Motion control
Motion control for 2 axes Servo and/or Stepper
IPC bus
IPC bus
- Precision control for MOTOR types: BRUSHLESS, DC, AC (Inverter), Stepper; the latter also with encoder.
- Kinematic and control parameters can be modified by software, even with moving axes.
- Interpolation, electronic cams and gearing (electric axes), also with virtual axis.
- Management of actions associated with programmable events.
- High-speed synchronous serial link (Link 10 Mbit/sec) with other axes for interpolation, tracking, sending messages.
- Autozero cycles on micro or encoder signal even at maximum speed.
- User programmable PID + Feed-Forward control algorithms.
- Up to 16 P38 cards can be installed simultaneously, for a total of 32 motor-axes.
- Presence of an expansion connector for installation of the additional P39 fast digital I/O module.
- Possibility of customized Firmware.
Leomatic supplies the P38 boards with a software library that allows all their potentialities to be managed and the interface for applications to be created. The accompanying software also includes some "demo" source files, which illustrate the use of the library in various programming languages.
Leomatic is available for customised versions of the motion control firmware.
P38: Motion control
Motion control for 2 axes Servo and/or Stepperproduct information
- Use of 40 MHz DSP microprocessor.
- Possibility of signalling terminated movement via interrupt, selectable between 2 different IRQs via jumpers.
- Possibility of generating a periodic interrupt (with period from 100 µs to 6 s), selectable between 2 different IRQs via jumpers.
- Analogue output ± 10 Vdc (D/A 12 bit conv.).
- Management of incremental optical encoders (5...12 Vdc) with differential or single line-driver or open collector outputs and reference pulse.
- Maximum encoder frequency: 1 MHz.
- Management of the "cam" micro for self-clocking (15...30 Vdc signal, opto-isolated, PNP or NPN).
- A +5 Vdc power supply for external encoder is available on the connector.
- Frequency output (for Stepper motors): up to 32 KHz, or up to 8 KHz with division by 4; pulse width: 18 µs.
- Position range: ± 231 counts (32 bits).
- Speed range: 1/256 to 256 counts/Tsample.
- Acceleration and deceleration range: 1/65536 to 1 count/Tsample2.
- Digital I/O expansion possible, via P39 module (16 In + 8 Out fast, typical response time: 50 µs).
- High-speed synchronous serial connection (Link 10 Mbit/s) with other P38 cards.
- Coexistence of 16 P38 cards (4 address jumpers), for 32 simultaneous axes.
- Programming of the type of motor connected to each axis (BRUSHLESS, DC, AC, Stepper).
- Programming of PID control algorithm parameters plus speed and acceleration feedforward.
- Programming of sampling time, from 50 µs to 2 ms.
- Programming of continuous and positional movements, with programmable speed, acceleration and deceleration, even during execution of the movements.
- Programming an axis in OPEN-LOOP.
- Software limit switch programming.
- Programming the polarity of the "cam" (Positive Front or Negative Front).
- Programming of encoder direction and speed reference.
- Scaling factor on current speed and acceleration, programmable from 0 to 200%.
- Linear and circular interpolations, tangency, electronic cams and gearing.
- Interpolation on a moving plane.
- Programming the module by periodic axes.
- Generation of a timed hardware interrupt. programmable from 0.1 to 25 ms.
- Internal board diagnostics (alarm detection).
- Programming and management of ACTIONS associated with EVENTS, with typical reaction times of 10 µs.
- EUROCARD format 100 x 160 mm.
- Front Panel: 4 TE.
- 2 female 15-pin D-SUB connectors (for connection to drivers and encoders).
- 1 x 34-pole male connector (for P39 expansion modules).
- 1 x 10-pin male connector (for linking with other P38 cards).
- Consumption on IPC bus:
- 200 mA on + 5 Vdc;
- 30 mA on +12 Vdc;
- 10 mA at -12 Vdc.
- Coincidence of an axis with a programmed position.
- End of a movement.
- Positive or negative edge of an input signal.
- Reception of a message via Synchronous Serial Link.
- Launch of an absolute or relative movement of an axis.
- Stopping a movement in progress.
- Sends an Interrupt to the supervisory CPU.
- Set/Clear an output signal.
- Sending a message via Synchronous Serial Link.
- P48: Motion control for ISA bus.
- P48-104: motion control in PC-104 format.
- P39: Additional fast digital I/O module.