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Galil presentation advanced motion control techniques for nanopositioning applications 2009

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  • 1. Advanced Motion Control Techniques for Nanopositioning Applications October 2009old & Serviced By: ELECTROMATE Toll Free Phone (877) SERVO98 Toll Free Fax (877) SERV099 www.electromate.com sales@electromate.com
  • 2. Agenda • Company and Product Overview • System Elements • Galil Control Filter • Advanced Control Features • Tuning – GalilTools and WSDK • Adding IO to Motion Control Systems • GalilTools API and LabView • Medical/Biotech Sample Applicationsold & Serviced By: ELECTROMATE Toll Free Phone (877) SERVO98 Toll Free Fax (877) SERV099 2www.electromate.com sales@electromate.com
  • 3. About the Company Established Reputation and Long History of Success • Founded in 1983 by Jacob Tal and Wayne Baron • Introduced 1st microprocessor-based servo controller • Profitable for over 90 consecutive quarters • Delivered over 500,000 controllers world-wide Excellent Technical Support and Service • World-wide network of factory-trained reps & distributors • Technical support team with over 100 man-years of motion control experience • On-line support tools at www.galilmc.comold & Serviced By: ELECTROMATE Toll Free Phone (877) SERVO98 Toll Free Fax (877) SERV099 3www.electromate.com sales@electromate.com
  • 4. The Galil Support Team • Live, prompt technical support • Over 100 years of combined motion control experience • Degreed MEs and EEs “The mission of Galil’s experienced Applications Department is to provide prompt and accurate technical assistance to help OEMs successfully deliver their products to market ”old & Serviced By: ELECTROMATE Toll Free Phone (877) SERVO98 Toll Free Fax (877) SERV099 4www.electromate.com sales@electromate.com
  • 5. We Are Here to Help! • Tech Support Provided at Galil headquarters: Address: 270 Technology Way, Rocklin, CA 95765 Email: support@galilmc.com Toll Free: 800-377-6329 Phone: 916-626-0101 Fax: 916-626-0102 Hours: 8am to 5pm PST, Monday through Friday • Please provide: – Name – Company – Address – Phone/Email – Galil Products and revisionsold & Serviced By: – Problem – Error messages ELECTROMATE Toll Free Phone (877) SERVO98 Toll Free Fax (877) SERV099 5www.electromate.com sales@electromate.com
  • 6. On Line Tools at www.galilmc.com Galil’s free online support tools include: • White Papers & application notes http://www.galilmc.com/support/application-notes.php • On-Line tutorials on motion control http://www.galilmc.com/learning/tutorials.php • MotionCodetm Toolkit with downloadable programs and code http://www.galilmc.com/learning/motioncode.php • MotorSizertm Software for easy sizing of motion systems http://www.galilmc.com/learning/motorsizer.php • HelloGaliltm Quick start for PC programming languages http://www.galilmc.com/learning/hellogalil.php • Bulletin Board with subject search http://www.galilmc.com/forums/ubbthreads.php • ServoTrends Newsletter Archives http://www.galilmc.com/support/servotrends.php • Product catalog with specs and pricing http://www.galilmc.com/support/catalog.phpold & Serviced By: • Customer applications and videos http://www.galilmc.com/support/smartmoves.php ELECTROMATE Toll Free Phone (877) SERVO98 Toll Free Fax (877) SERV099 6www.electromate.com sales@electromate.com
  • 7. Galil Motion Controllersold & Serviced By: ELECTROMATE Toll Free Phone (877) SERVO98 Toll Free Fax (877) SERV099 7www.electromate.com sales@electromate.com
  • 8. Features- Handles any Mode of Motion • Point-to-Point Positioning • Position Tracking • Jogging • Linear and Circular Interpolation • Tangential Following • Helical • Electronic Gearing • Electronic Cam • Contouringold & Serviced By: • Teach and Playback ELECTROMATE • Position, Velocity, Time (PVT) Toll Free Phone (877) SERVO98 Toll Free Fax (877) SERV099 8www.electromate.com sales@electromate.com
  • 9. 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 • Ethernet available for 10Base-T and 100Base-Told & Serviced By: ELECTROMATE Toll Free Phone (877) SERVO98 Toll Free Fax (877) SERV099 9www.electromate.com sales@electromate.com
  • 10. 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/Constructsold & Serviced By: • Arithmetic and trigonometric functions ELECTROMATE Toll Free Phone (877) SERVO98 Toll Free Fax (877) SERV099 10 www.electromate.com sales@electromate.com
  • 11. Galil Product Line • ACCELERA Controllers & Drives – DMC-40x0 Ethernet/RS232 – DMC-18x6 PCI • ECONO Controllers & Drives – 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 codeold & Serviced By: ELECTROMATE Toll Free Phone (877) SERVO98 Toll Free Fax (877) SERV099 11 www.electromate.com sales@electromate.com
  • 12. ACCELERA – Sizzling Speed. Fully Loaded. • 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-18x6old & Serviced By: • Ethernet/RS232: DMC-40x0 ELECTROMATE Toll Free Phone (877) SERVO98 Toll Free Fax (877) SERV099 12 www.electromate.com sales@electromate.com
  • 13. DMC-40x0 Accelera Ethernet Controller • Accelera, Ethernet/RS232 controller • Full-featured, packaged controller • Ultra-high speed and precision • Ethernet 10/100Base-T, RS232 • 1 through 8 axes • Optically isolated I/O, high-powered outputs, analog inputs, expanded 3.3V I/O, metal enclosure, d-type connectors • Available packaged with multi-axis servo and stepper drives DMC-4040 4-axis controller • Compact-Box Dimensions: 1-4 axes: 8.1” x 7.25” x 1.72”old & Serviced By: 5-8 axes: 11.5” x 7.25” x 1.72” ELECTROMATE Toll Free Phone (877) SERVO98 Toll Free Fax (877) SERV099 13 www.electromate.com sales@electromate.com
  • 14. DMC-40x0 Drive Options from Galil Model Description SDM-44040 Four 1.4 A drives for step motors (Full, Half, ¼, 1/16) SDM-44140 Four 3.0 A drives for microstepping AMP-43140 Four 20W Linear amps for brush servos AMP-43040 Four 500W PWM amps for brush/brushless servos AMP-43020 Two 500W PWM amps for brush/brushless servos The DMC-40x0 can also connect to external drives of any size or power range.old & Serviced By: ELECTROMATE Toll Free Phone (877) SERVO98 Toll Free Fax (877) SERV099 14 www.electromate.com sales@electromate.com
  • 15. RIO Pocket PLC Smart. Compact. Low-Cost. Packed with I/Oold & Serviced By: ELECTROMATE Toll Free Phone (877) SERVO98 Toll Free Fax (877) SERV099 15 www.electromate.com sales@electromate.com
  • 16. RIO-47xxx Pocket PLC Analog and Digital I/O with intelligence in a cost-effective, compact unitold & Serviced By: ELECTROMATE Toll Free Phone (877) SERVO98 Toll Free Fax (877) SERV099 16 www.electromate.com sales@electromate.com
  • 17. Smart. Compact. Low Cost. Lots of I/O. • Smart – RISC processor, memory, counters, timers, PID process loops, web interface, data logging, email alerts, Ethernet, Power-over-Ethernet, Modbus Master/Slave, Ladder Interface Software • Compact – just 3.88” x 4.26” x 1.30” • Low Cost – only $295 in single quantity $195 in 100 quantity • Lots of I/O – 32 digital I/O & 16 analog I/Oold & Serviced By: ELECTROMATE Toll Free Phone (877) SERVO98 Toll Free Fax (877) SERV099 17 www.electromate.com sales@electromate.com
  • 18. RIO-471xx Provides Numerous I/O • 16 isolated inputs, 5-24 VDC • 8 isolated, sourcing outputs, 12-24 VDC, 500mA • 8 isolated, sinking outputs, 5-24 VDC, 25mA • 8 analog inputs, 0-5V – 47120: Selectable +/-10V, +/-5V, 0-5V, 0-10V 12- bit std, 16-bit opt. Differential or Single-ended. • 8 analog outputs, 0-5V – 47120: Selectable +/-10V, +/-5V, 0-5V, 0-10V 12- bit std, 16-bit opt. All I/O are self-contained in each RIO unit.old & Serviced By: ELECTROMATE Toll Free Phone (877) SERVO98 Toll Free Fax (877) SERV099 18 www.electromate.com sales@electromate.com Network multiple RIO units to add more I/O.
  • 19. Use ICS boards for Prototyping Converts D-type to screw terminals ICS-48026 for analog I/O ICS-48044 for digital I/Oold & Serviced By: ELECTROMATE Toll Free Phone (877) SERVO98 Toll Free Fax (877) SERV099 19 www.electromate.com sales@electromate.com
  • 20. RIO-47200 PLC with Screw terminals Pocket PLC with Screw Terminals and DIN Trayold & Serviced By: ELECTROMATE Toll Free Phone (877) SERVO98 Toll Free Fax (877) SERV099 20 www.electromate.com sales@electromate.com
  • 21. RIO Options • RIO-47100 PLC with 0-5V analog; 12-bit • RIO-47120 PLC with +/10V analog; 12-bit • RIO-47120-16 16-bit ADC/DAC • RIO-47102 -47100 with expanded memory • RIO-47122 -47120 with expanded memory • RIO-47200 PLC with screw terminals, DIN, 0-5V analog inputs, 16 high power outputsold & Serviced By: ELECTROMATE Toll Free Phone (877) SERVO98 Toll Free Fax (877) SERV099 21 www.electromate.com sales@electromate.com
  • 22. System Elementsold & Serviced By: ELECTROMATE Toll Free Phone (877) SERVO98 Toll Free Fax (877) SERV099 22 www.electromate.com sales@electromate.com
  • 23. Position Control Systems BLOCK DIAGRAM HOST MOTION MOTOR DRIVER COMPUTER CONTROLLER AND LOAD POSITION SENSORold & Serviced By: ELECTROMATE Toll Free Phone (877) SERVO98 Toll Free Fax (877) SERV099 23 www.electromate.com sales@electromate.com
  • 24. 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 Compensationold & Serviced By: ELECTROMATE Toll Free Phone (877) SERVO98 Toll Free Fax (877) SERV099 24 www.electromate.com sales@electromate.com
  • 25. System Elements FILTER DESIRED R X Y POSITION + Σ G DAC AMP GENERATOR - C POSITION DECODER P Mold & Serviced By: ELECTROMATE Toll Free Phone (877) SERVO98 Toll Free Fax (877) SERV099 25 www.electromate.com sales@electromate.com
  • 26. 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 responseold & Serviced By: ELECTROMATE Toll Free Phone (877) SERVO98 Toll Free Fax (877) SERV099 26 www.electromate.com sales@electromate.com
  • 27. Galil Control Filterold & Serviced By: ELECTROMATE Toll Free Phone (877) SERVO98 Toll Free Fax (877) SERV099 27 www.electromate.com sales@electromate.com
  • 28. Galil Control Filterold & Serviced By: ELECTROMATE Toll Free Phone (877) SERVO98 Toll Free Fax (877) SERV099 28 www.electromate.com sales@electromate.com
  • 29. Advanced Filter Features •Proportional, Integral and Derivate gains •DAC Offset •Torque limiting (continuous and peak) •Integral limiting (including integrator “freeze”) •Feedforward terms (acceleration and velocity) •Notch filter •Pole filter •Servo sample periodold & Serviced By: ELECTROMATE Toll Free Phone (877) SERVO98 Toll Free Fax (877) SERV099 29 www.electromate.com sales@electromate.com
  • 30. Dual Loop block diagramold & Serviced By: ELECTROMATE Toll Free Phone (877) SERVO98 Toll Free Fax (877) SERV099 30 www.electromate.com sales@electromate.com
  • 31. Piezo Ceramic firmware •Available as option for increasing performance of piezo ceramic motors •Helps deal with static and dynamic characteristics of piezo ceramic motors •Features • Positive and negative anti-friction bias • Deadband with hysteresis and shutoff • Dual PID gainsets for static/dynamic operationold & Serviced By: • Distance selectable feedforward velocity term ELECTROMATE Toll Free Phone (877) SERVO98 Toll Free Fax (877) SERV099 31 www.electromate.com sales@electromate.com
  • 32. Custom Firmware Options Galil offers many custom firmware modifications to achieve ultimate system performance: •Feedback options: BiSS, SSI, Sine/Cosine •Linear and 2D error mapping •Kinematic transformations •Advanced control algorithms •Other customizations – FD, input notch, etc.old & Serviced By: ELECTROMATE Toll Free Phone (877) SERVO98 Toll Free Fax (877) SERV099 32 www.electromate.com sales@electromate.com
  • 33. System Tuningold & Serviced By: ELECTROMATE Toll Free Phone (877) SERVO98 Toll Free Fax (877) SERV099 33 www.electromate.com sales@electromate.com
  • 34. System Connection and Compensation Connecting the system elements is done in three steps: 1. Test each function separately. 2. Close the position loop with low gain. 3. Tune the controller for fast and accurate response. Potential problems and their effects: 1. Ground loops - instability and noise sensitivity. 2. Connection with wrong polarity (positive feedback) -- causes motor to run away. 3. Too high gain -- causes instability and oscillations.old & Serviced By: ELECTROMATE Toll Free Phone (877) SERVO98 Toll Free Fax (877) SERV099 34 www.electromate.com sales@electromate.com
  • 35. System Compensation Set PID filter to KI = 0 KP, KD low values Step I -- KD Increase the derivative constant, KD, until system vibrates, then back off. Step II - KP Increase the proportional constant, KP, until system vibrates, then back off. Step III -- KI Increase the integral constant, KI, until system vibrates, then back off.old & Serviced By: ELECTROMATE Toll Free Phone (877) SERVO98 Toll Free Fax (877) SERV099 35 www.electromate.com sales@electromate.com
  • 36. WSDK Auto Tuning • The autotuning feature allows quick and easy tuning • Adjusts PID parameters for optimum performance • Several autotuning methods available • Step response is displayed showing risetime, overshoot and settlingold & Serviced By: ELECTROMATE Toll Free Phone (877) SERVO98 Toll Free Fax (877) SERV099 36 www.electromate.com sales@electromate.com
  • 37. WSDK System Analysis • Provides impulse test to check for absolute stability • Actual response to impulse is displayedold & Serviced By: ELECTROMATE Toll Free Phone (877) SERVO98 Toll Free Fax (877) SERV099 37 www.electromate.com sales@electromate.com
  • 38. WSDK System Analysis • Provides open and closed- loop frequency response test • Useful for determining system bandwidth and resonances • Frequency range for test is selectableold & Serviced By: ELECTROMATE Toll Free Phone (877) SERVO98 Toll Free Fax (877) SERV099 38 www.electromate.com sales@electromate.com
  • 39. GalilTools- The Next Generation A new software package that enables easy set-up, tuning and analysis of Galil’s latest control systems • Designed for use on Galil’s current generation of products Ethernet/RS232: DMC-40x0, DMC-21x3 and RIO-47xxx PCI: DMC-18x6 and DMC-18x2 • Cross-platform compatible • Communication drivers new from the ground-up, designed for quick and efficient controller communication • GalilTools Lite (no charge) also available • Details, demos at http://www.galilmc.comold & Serviced By: ELECTROMATE Toll Free Phone (877) SERVO98 Toll Free Fax (877) SERV099 39 www.electromate.com sales@electromate.com
  • 40. GalilTools- Scopeold & Serviced By: ELECTROMATE Toll Free Phone (877) SERVO98 Toll Free Fax (877) SERV099 40 www.electromate.com sales@electromate.com
  • 41. GalilTools- Watch Allold & Serviced By: ELECTROMATE Toll Free Phone (877) SERVO98 Toll Free Fax (877) SERV099 41 www.electromate.com sales@electromate.com
  • 42. GalilTools- Watch Someold & Serviced By: ELECTROMATE Toll Free Phone (877) SERVO98 Toll Free Fax (877) SERV099 42 www.electromate.com sales@electromate.com
  • 43. GalilTools- Tuningold & Serviced By: ELECTROMATE Toll Free Phone (877) SERVO98 Toll Free Fax (877) SERV099 43 www.electromate.com sales@electromate.com
  • 44. Adding IO To A Systemold & Serviced By: ELECTROMATE Toll Free Phone (877) SERVO98 Toll Free Fax (877) SERV099 44 www.electromate.com sales@electromate.com
  • 45. RIO-47xxx Networking Seamlessly interface to Galil motion controllersold & Serviced By: ELECTROMATE Toll Free Phone (877) SERVO98 Toll Free Fax (877) SERV099 45 www.electromate.com sales@electromate.com
  • 46. RIO-47xxx Networking Can be networked so all devices can access itold & Serviced By: ELECTROMATE Toll Free Phone (877) SERVO98 Toll Free Fax (877) SERV099 46 www.electromate.com sales@electromate.com
  • 47. Advantages to Remote IO •Place controller closer to IO points • Noise immunity •Cat 5 cabling is cheaper and more readily available then shielded cables •Open protocols • ASCII strings via TCP or UDP • Modbus TCP/IP •Interface to many other Ethernet enabled devices • PC’s, HMI’s, PLC’s…old & Serviced By: ELECTROMATE Toll Free Phone (877) SERVO98 Toll Free Fax (877) SERV099 47 www.electromate.com sales@electromate.com
  • 48. Advantages to Remote IO - continued •Offload processes to RIO • Free up controller processing time •Theoretically infinite IO pointsold & Serviced By: ELECTROMATE Toll Free Phone (877) SERVO98 Toll Free Fax (877) SERV099 48 www.electromate.com sales@electromate.com
  • 49. Softwareold & Serviced By: ELECTROMATE Toll Free Phone (877) SERVO98 Toll Free Fax (877) SERV099 49 www.electromate.com sales@electromate.com
  • 50. Software In addition to the GalilTools GUI, an api and COM interface have been developed for Galil integration in the following programming languages: •C++/CLI •C# •Visual Basic •Visual C++ •G++ (Linux) •LabViewold & Serviced By: ELECTROMATE Toll Free Phone (877) SERVO98 Toll Free Fax (877) SERV099 50 www.electromate.com sales@electromate.com
  • 51. LabVIEW HTML helpold & Serviced By: ELECTROMATE Toll Free Phone (877) SERVO98 Toll Free Fax (877) SERV099 51 www.electromate.com sales@electromate.com
  • 52. LabView Exampleold & Serviced By: ELECTROMATE Toll Free Phone (877) SERVO98 Toll Free Fax (877) SERV099 52 www.electromate.com sales@electromate.com
  • 53. LabView Exampleold & Serviced By: ELECTROMATE Toll Free Phone (877) SERVO98 Toll Free Fax (877) SERV099 53 www.electromate.com sales@electromate.com
  • 54. Application Examplesold & Serviced By: ELECTROMATE Toll Free Phone (877) SERVO98 Toll Free Fax (877) SERV099 54 www.electromate.com sales@electromate.com
  • 55. Application Examples Galil has been involved in a number of medical/biotechnology applications including: XYZ Labs – Ceramic fast step settle: 1 mm @ 60msec, 1µm @ 20msec XYZ Bio – Linear motor fast short move: 80 µm move @ 1msec XYZ Micro - FDA and ceramic motors Documentation Static configuration Verification procedureold & Serviced By: ELECTROMATE Toll Free Phone (877) SERVO98 Toll Free Fax (877) SERV099 55 www.electromate.com sales@electromate.com
  • 56. Application Examples/Links Links for high speed/high accuracy systems: http://www.galilmc.com/support/appnotes/miscellaneous/note5465.pdf http://www.galilmc.com/support/appnotes/miscellaneous/note5475.pdf http://www.galilmc.com/support/appnotes/miscellaneous/note5479.pdf http://www.galilmc.com/support/servotrends/st_10_08.pdfold & Serviced By: ELECTROMATE Toll Free Phone (877) SERVO98 Toll Free Fax (877) SERV099 56 www.electromate.com sales@electromate.com
  • 57. Galil Product Training Seminar is protected by copyright and must not be reproduced or disseminated in any form without prior written consent of Galil Motion Control, Inc.old & Serviced By: ELECTROMATE Toll Free Phone (877) SERVO98 Toll Free Fax (877) SERV099 57 www.electromate.com sales@electromate.com

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