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Galil using galil motion controllers to tune high precision stages presentation 2011
1. Using Galil Motion Controllers to Tune High
Precision Stages
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2. About the Products
⢠Leading Edge
â 32 bit microcomputer with high-speed processing
â On-board program memory with multitasking
⢠Easy to Use
â 2 letter, English-like instructions
â Software tools for servo tuning, ActiveX Tools
⢠Cost Effective
â 100 qty price guarantee; as low as $100/axis
⢠Flexible
â Available in 1 through 8-axis configurations
â Configurable for steppers and servos on any axis
â Box-level or card-level; PCI, RS232, and Ethernet
â Integrated Drives for stand-alone products for up to 8-axes
⢠Easy to Customize
old & Serviced By: â Firmware & hardware customized to specifications
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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!
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⢠Teach and Playback
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4. Features â 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 ¾sec/axis
⢠40 ¾sec command processing for application programs
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5. Features â 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
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⢠Arithmetic and trigonometric functions
ELECTROMATE
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6. Features â 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
⢠âMix-n-Matchâ 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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ELECTROMATE
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9. ACCELERA â Sizzling Speed. Fully Loaded.
⢠Introduced in 2006
⢠Galilâs 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 ¾sec/axis
⢠Command processing time as low as 40 ¾sec
⢠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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ELECTROMATE
Toll Free Phone (877) SERVO98
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10. New Servo Drives with Sine Commutation
1. AMP-43540 4-axis 600 Watt
2. AMP-43640 4-axis 20 Watt
3. Sinusoidal commutation minimizes
torque ripple. Ideal for linear motors
4. No Hall sensors are required
5. Available for DMC-40x0 and DMC-41x3
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11. Position Control Systems
BLOCK DIAGRAM
HOST MOTION MOTOR
DRIVER
COMPUTER CONTROLLER AND LOAD
POSITION
SENSOR
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12. Motion Controller Functions
COMMAND R X V
PROFILE
GENERATOR +
ÎŁ FILTER
-
C
POSITION
DECODER
FUNCTIONS
Decode Position Feedback
Generate Desired Position R( t )
Close the Position Loop
P
Stability Compensation
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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
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14. System Elements
FILTER
DESIRED R X Y
POSITION
+
ÎŁ G DAC AMP
GENERATOR -
C
POSITION
DECODER
P M
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16. Controller Features for High Precision Linear
Motors
⢠Update Rates as low as 32.25us
⢠Sine / Cosine encoder
â 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 donât
have velocity discontinuities.
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17. Amplifier Features for High Precision Linear
Motors
⢠New AMP-43540 600W Sinusoidal Amplifier
⢠Current loop update of 33 kHz â
â Capable of providing a closed loop current loop bandwidth
greater than 3 kHz
⢠16 bits of current resolution
â Critical for small adjustments and reducing settling times.
â 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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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
â 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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ELECTROMATE
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