Galil using galil motion controllers to tune high precision stages presentation 2011
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The document discusses Galil Motion Controllers and their use in tuning high precision stages. It describes the key features of Galil controllers including their leading-edge 32-bit microprocessors, easy-to-use programming, cost effectiveness, flexibility to support various motor types and axis configurations, and intelligent programming capabilities. It also provides details on Galil's product lines, servo drives, motion controller functions, and filter operations.
![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
old & Serviced By:
ELECTROMATE
Toll Free Phone (877) SERVO98
Toll Free Fax (877) SERV099
13 www.electromate.com
sales@electromate.com](https://image.slidesharecdn.com/galil-usinggalilmotioncontrollerstotunehighprecisionstagespresentation2011-111111140459-phpapp01/85/Galil-using-galil-motion-controllers-to-tune-high-precision-stages-presentation-2011-13-320.jpg)
Galil using galil motion controllers to tune high precision stages presentation 2011
- 1. Using Galil Motion Controllers to Tune High Precision Stages old & Serviced By: ELECTROMATE Toll Free Phone (877) SERVO98 Toll Free Fax (877) SERV099 www.electromate.com sales@electromate.com
- 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 old & Serviced By: – Firmware & hardware customized to specifications ELECTROMATE Toll Free Phone (877) SERVO98 Toll Free Fax (877) SERV099 2www.electromate.com sales@electromate.com
- 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! old & Serviced By: • Teach and Playback ELECTROMATE Toll Free Phone (877) SERVO98 Toll Free Fax (877) SERV099 3www.electromate.com sales@electromate.com
- 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 old & Serviced By: ELECTROMATE Toll Free Phone (877) SERVO98 Toll Free Fax (877) SERV099 4www.electromate.com sales@electromate.com
- 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 old & Serviced By: • Arithmetic and trigonometric functions ELECTROMATE Toll Free Phone (877) SERVO98 Toll Free Fax (877) SERV099 5www.electromate.com sales@electromate.com
- 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 old & Serviced By: ELECTROMATE Toll Free Phone (877) SERVO98 Toll Free Fax (877) SERV099 6www.electromate.com sales@electromate.com
- 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 old & Serviced By: ELECTROMATE Toll Free Phone (877) SERVO98 Toll Free Fax (877) SERV099 7www.electromate.com sales@electromate.com
- 8. Accelera - Sizzling Speed. Fully Loaded Top- 4 axis unit Bottom-8 axis unit old & Serviced By: ELECTROMATE Toll Free Phone (877) SERVO98 Toll Free Fax (877) SERV099 8www.electromate.com sales@electromate.com
- 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 old & Serviced By: ELECTROMATE Toll Free Phone (877) SERVO98 Toll Free Fax (877) SERV099 9www.electromate.com sales@electromate.com
- 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 old & Serviced By: ELECTROMATE Toll Free Phone (877) SERVO98 Toll Free Fax (877) SERV099 10 www.electromate.com sales@electromate.com
- 11. Position Control Systems BLOCK DIAGRAM HOST MOTION MOTOR DRIVER COMPUTER CONTROLLER AND LOAD POSITION SENSOR old & Serviced By: ELECTROMATE Toll Free Phone (877) SERVO98 Toll Free Fax (877) SERV099 11 www.electromate.com sales@electromate.com
- 12. Motion Controller Functions COMMAND R X V PROFILE GENERATOR + Σ FILTER - C POSITION DECODER FUNCTIONS Decode Position Feedback Generate Desired Position R( t ) Close the Position Loop P Stability Compensation old & Serviced By: ELECTROMATE Toll Free Phone (877) SERVO98 Toll Free Fax (877) SERV099 12 www.electromate.com sales@electromate.com
- 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 old & Serviced By: ELECTROMATE Toll Free Phone (877) SERVO98 Toll Free Fax (877) SERV099 13 www.electromate.com sales@electromate.com
- 14. System Elements FILTER DESIRED R X Y POSITION + Σ G DAC AMP GENERATOR - C POSITION DECODER P M old & Serviced By: ELECTROMATE Toll Free Phone (877) SERVO98 Toll Free Fax (877) SERV099 14 www.electromate.com sales@electromate.com
- 15. Filter old & Serviced By: ELECTROMATE Toll Free Phone (877) SERVO98 Toll Free Fax (877) SERV099 15 www.electromate.com sales@electromate.com
- 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. old & Serviced By: ELECTROMATE Toll Free Phone (877) SERVO98 Toll Free Fax (877) SERV099 16 www.electromate.com sales@electromate.com
- 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 old & Serviced By: ELECTROMATE Toll Free Phone (877) SERVO98 Toll Free Fax (877) SERV099 17 www.electromate.com sales@electromate.com
- 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 old & Serviced By: ELECTROMATE Toll Free Phone (877) SERVO98 Toll Free Fax (877) SERV099 18 www.electromate.com sales@electromate.com
- 19. Demo old & Serviced By: ELECTROMATE Toll Free Phone (877) SERVO98 Toll Free Fax (877) SERV099 19 www.electromate.com sales@electromate.com