Galil - Using galil motion controllers to tune high precision stages presentation 2011

Using Galil Motion Controllers to Tune High Precision Stages

Toll Free Phone: 877-378-0240Toll Free Fax: 877-378-0249

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About the Products

• Leading Edge– 32 bit microcomputer with high-speed processing– On-board program memory with multitasking

• Easy to Use– 2 letter, English-like instructions– Software tools for servo tuning, ActiveX Tools

• Cost Effective– 100 qty price guarantee; as low as $100/axis

• Flexible– Available in 1 through 8-axis configurations– Configurable for steppers and servos on any axis– Box-level or card-level; PCI, RS232, and Ethernet– Integrated Drives for stand-alone products for up to 8-axes

• Easy to Customize– Firmware & hardware customized to specifications


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Features- Handles any Mode of Motion

• Point-to-Point Positioning• Position Tracking• Jogging• Linear and Circular Interpolation• Tangential Following• Helical• Electronic Gearing • Electronic Cam• PVT Mode ---New!• Teach and Playback


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Features – High Speed

• Encoder frequencies up to 22 MHz for servos

• Outputs pulses for steppers up to 6 MHz

• Servo loop updates as low as 31 µsec/axis

• 40 µsec command processing for application programs


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Features – Intelligent Programming

• On-board, non-volatile memory for storing application programs, variables and arrays frees host

• Programmable event triggers including At time, At position, At input, At speed

• Multitasking for simultaneous execution of up to eight application programs

• Conditional JUMPS and IF/THEN/ELSE/Constructs

• Arithmetic and trigonometric functionsToll Free Phone: 877-378-0240

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Features – Variety of Formats

• Available in 1-through 8-axis formats• Box-level or card-level; Bus-based or stand-alone• PCI cards or Ethernet/RS232 or USB• “Mix-n-Match” motor types: User-configurable for

steppers, servos and piezo ceramic motors on any combination of axes

• Variety of plug-in amplifier options• Custom solutions available


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Galil Product Line

• ACCELERA Controllers & Drives– DMC-40x0 Ethernet/RS232– DMC-18x6 PCI

• ECONO Controllers & Drives– DMC-41x3 Ethernet/USB – New!– DMC-21x3 Ethernet/RS232– DMC-18x2 PCI

• Single-Axis Controllers & Drives– DMC-14x5 Ethernet/RS232– CDS-3310 Ethernet/RS232

• Pocket PLC I/O Controllers– RIO-47xxx Ethernet/RS232

• Software Tools– GalilTools Servo Tuning and Analysis software– Ladder Interface Converts ladder program into RIO code


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Accelera - Sizzling Speed. Fully Loaded

Top- 4 axis unit Bottom-8 axis unit


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ACCELERA – Sizzling Speed. Fully Loaded.

• Introduced in 2006• Galil’s latest generation motion controller family• RISC processor for high-speed performance and

processing power• Accepts encoder inputs up to 22 MHz for servos• Servo updates as fast as 31 µsec/axis• Command processing time as low as 40 µsec• 2000 lines x 80 chr program memory• 16,000 array elements; 510 user defined variables• Enhanced instruction set• Available in 1- through 8-axis formats• PCI: DMC-18x6 • Ethernet/RS232: DMC-40x0


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New Servo Drives with Sine Commutation

1. AMP-43540 4-axis 600 Watt 2. AMP-43640 4-axis 20 Watt3. Sinusoidal commutation minimizes

torque ripple. Ideal for linear motors4. No Hall sensors are required5. Available for DMC-40x0 and DMC-41x3


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Position Control Systems

BLOCK DIAGRAM

HOSTCOMPUTER

MOTIONCONTROLLER DRIVER

POSITIONSENSOR

MOTOR AND LOAD


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COMMAND R X

+-

V

C

Σ

P

POSITIONDECODER

PROFILEGENERATOR FILTER

FUNCTIONSDecode Position FeedbackGenerate Desired Position R( t )Close the Position LoopStability Compensation

Motion Controller Functions


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Proportional P(k) = KP · X(k)Derivative D(k) = KD · [X(k) - X(k-1)]Integral I(k) = KI · X(k) + I(k-1)

Functions:Proportional For speed of responseDerivative For stability and dampingIntegral For accuracy - slow response

Filter Operation


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FILTER

R X

+-

C

YΣ

P M

G DAC

POSITIONDECODER

DESIREDPOSITION

GENERATORAMP

System Elements


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Filter


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Controller Features for High Precision Linear Motors

• Update Rates as low as 32.25us • Sine / Cosine encoder

– interpolation from x32 to x1024• PID with Feed-forward Acceleration and Velocity.• Dual PID and frictional bias• Integration Limit• Pole and Notch Filters to assist with mechanical

vibrations• Profile filter to eliminate high-frequency, or select low-

frequency resonances• New PVT mode provides motion profiles that don’t

have velocity discontinuities.


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Amplifier Features for High Precision Linear Motors

• New AMP-43540 600W Sinusoidal Amplifier• Current loop update of 33 kHz –

– Capable of providing a closed loop current loop bandwidth greater than 3 kHz

• 16 bits of current resolution– Critical for small adjustments and reducing settling times.– Linear Zero-Crossing, no dead-band or hysteresis around

zero.• Settable current loop gains allows for support of a

wide variety of motors using standard product • Enhanced PWM control to deliver space vector PWM

with sine commutation


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Customization

• Galil has performed over 2300 customizations of the past 25 years.

• Most have been strictly firmware, or a combination of firmware and hardware– Identify requirements of system and, if needed,

can provide custom solution to meet customer requirements.

• Over 50 completely custom hardware solutions


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Demo


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Date post:	24-Dec-2014
Category:	Technology
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Galil - Using galil motion controllers to tune high precision stages presentation 2011

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