Control of 2 Stepper motors
12 IN + 4 OUT digital fast
Remote module for DIN rail
The LEOMATIC P53S module is a high-performance motion controller for two frequency-controlled stepper motors up to 2 MHz.
It has a dedicated input for the acquisition of an incremental encoder, which can be used as a master axis for synchronized movements or for feedback on one of the two axes. It is possible to manage an absolute encoder(gray) with similar functionalities, connecting it to the integrated digital inputs or to a P59 module (Remote Digital I/O). The equipment of fast digital I/O (12 inputs and 4 outputs) can be used also for the synchronization of programmable "events" and "actions". It is also possible to manage a third axis ( virtual axis) with the same functionalities of those physically carried on the outputs.
The on-board firmware implements a parameterizable PID and Feed-Forward algorithm and is able to manage the activities of tracking, electric axis, interpolation, electronic cam, with respect to an axis declared as master (physical or virtual). It is also predisposed for the recognition of programmable fast events and execution of associated actions. All the kinematic and control parameters are programmable and modifiable also during the axes activity.
Calibration on the zero micro and possibly also on the encoder reference pulse is guaranteed, even at maximum speed. Connectivity with the other modules of the SYSTEM5 family is ensured by the presence of a high-speed parallel bus interface and two CANBus (proprietary) serial ports for remote connections.
A maximum of 16 P53S modules (for a total of 32 axis-motors) can coexist both using the parallel bus in concentrated architectures and on a CANBus network in distributed architectures.
The application firmware can be customized on request.
Position, velocity, axis acceleration and deceleration on 32-bit registers.
Programming of all parameters related to axle control, including:
sampling time, from 20 µs to 5 ms;
presence and type of encoder;
software limit switch;
position modularity for periodic axes;
zero micro polarity.
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 zero micro and possibly also on the encoder reference pulse.
Performing continuous or positional movements.
Execution of electronic cams, chases, electric axes, with respect to an axis declared as master (physical or virtual).
Linear and circular interpolations; up to 6 simultaneous axes with options for junction and tangency constraints on the trajectory.
Possibility to vary on-the-fly the main kinematic and control parameters both from PLC logic and directly from PC.
Management of programmable fast "events":
in front of a digital I/O;
change of a status bit;
and "actions" associated with the events themselves, including:
Set/Reset of digital I/O (one or more);
Set/Reset of an event enable
Storing the position of an axis
Start of an absolute or relative movement
Stopping a running movement
Advanced tracing capabilities with on-board storage allow you to synchronously monitor a settable set of internal variables.
Self-diagnostic features implemented in the on-board firmware.
Firmware on board resident on flash memory , upgradable from PC also in the field through utily software supplied free of charge.
In case of failures or malfunctions a special boot firmware residing on flash memory (with reduced functionality and management of a security protocol) always allows to start in recovery mode to download the application firmware from PC. Leomatic) always allows to start in recovery mode to download the application firmware from PC.
Configuration and tuning operations can be carried out by means of the special software utility PncToolsupplied free of charge.