Leomatic System5 P53

System5 P53S:

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.

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System5 P53S

Control of 2 Stepper motors

product information

  • 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;
    • transmission ratio;
    • 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 PncTool supplied free of charge.

Hardware

  • 400 MHz DSP microprocessor + FPGA.
  • Control of 2 independent stepper motors in 100 µs (typical).
  • 2 pairs of +5 Vdc digital signals to the motor drives:
    • Frequency and direction or
    • Phase quadrature or
    • PWM
  • Frequency output:
    • up to 2 MHz;
    • 30 µs pulse width up to 16 kHz, with 50% duty-cycle above 16 kHz.
  • 12 opto-isolated fast digital inputs (10 kHz).
  • 4 opto-isolated digital outputs with output stages protected against short-circuits, over-temperature, inversion of the external supply voltage.
  • 1 input for incremental optical encoder, up to 1 MHz (on +5 Vdc) with differential line-driver or single-ended outputs and reference pulse.
  • Power supply +5 Vdc, available on the encoder terminal board.
  • Micro zeroes that can be connected directly to the digital inputs.
  • Connectivity on two CANBus serial ports (proprietary) for connection to host PC, Operator Panel or other remote modules.
  • Connectivity on parallel bus for fast local connection to CPU P51 / P51S and/or to other SYSTEM5 modules equipped with the same interface(P58S, P57S).

Electric

  • Single power supply at +24 Vdc nominal (min. +15 Vdc, max. +30 Vdc).
  • Consumption: 80 mA on +24 Vdc.
  • Digital I/O:
    • Galvanically separated field power supply (+24 Vdc nominal);
    • 12 opto-isolated inputs, PnP, +24 Vdc nominal;
    • 4 opto-isolated outputs, PnP, +24 Vdc nominal( 500 mAfan-out on each output).

Physics

  • DIN rail mounting module, quick.
  • Small size: 101 × 120 × 22.5 mm.
  • Inspectionable front panel for easy access to configuration dip-switches.
  • 4 signalling leds on the front panel to monitor device status and communication activities.
  • Sectional terminal blocks with spring-loaded connection for communication and field ports (motors, encoders, I/O); with screw connection for power supply.

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