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Using Galil Motion Controllers to Tune High Precision Stages

Using Galil Motion Controllers to Tune High Precision Stages. 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

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Using Galil Motion Controllers to Tune High Precision Stages

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  1. Using Galil Motion Controllers to Tune High Precision Stages

  2. 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

  3. 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

  4. 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

  5. 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 functions

  6. 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

  7. 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

  8. Accelera - Sizzling Speed. Fully Loaded Top- 4 axis unit Bottom-8 axis unit

  9. 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

  10. New Servo Drives with Sine Commutation • AMP-43540 4-axis 600 Watt • AMP-43640 4-axis 20 Watt • Sinusoidal commutation minimizes torque ripple. Ideal for linear motors • No Hall sensors are required • Available for DMC-40x0 and DMC-41x3

  11. Position Control Systems

  12. Motion Controller Functions

  13. Filter Operation 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 response Derivative For stability and damping Integral For accuracy - slow response

  14. System Elements

  15. Filter

  16. 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.

  17. 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

  18. 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

  19. Demo

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