Galil using galil motion controllers to tune high precision stages presentation 2011

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Galil using galil motion controllers to tune high precision stages presentation 2011

  1. 1. Using Galil Motion Controllers to Tune High Precision Stagesold & Serviced By: ELECTROMATE Toll Free Phone (877) SERVO98 Toll Free Fax (877) SERV099 www.electromate.com sales@electromate.com
  2. 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 Customizeold & 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. 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. 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 programsold & Serviced By: ELECTROMATE Toll Free Phone (877) SERVO98 Toll Free Fax (877) SERV099 4www.electromate.com sales@electromate.com
  5. 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/Constructsold & Serviced By: • Arithmetic and trigonometric functions ELECTROMATE Toll Free Phone (877) SERVO98 Toll Free Fax (877) SERV099 5www.electromate.com sales@electromate.com
  6. 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 availableold & Serviced By: ELECTROMATE Toll Free Phone (877) SERVO98 Toll Free Fax (877) SERV099 6www.electromate.com sales@electromate.com
  7. 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 codeold & Serviced By: ELECTROMATE Toll Free Phone (877) SERVO98 Toll Free Fax (877) SERV099 7www.electromate.com sales@electromate.com
  8. 8. Accelera - Sizzling Speed. Fully Loaded Top- 4 axis unit Bottom-8 axis unitold & Serviced By: ELECTROMATE Toll Free Phone (877) SERVO98 Toll Free Fax (877) SERV099 8www.electromate.com sales@electromate.com
  9. 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-40x0old & Serviced By: ELECTROMATE Toll Free Phone (877) SERVO98 Toll Free Fax (877) SERV099 9www.electromate.com sales@electromate.com
  10. 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-41x3old & Serviced By: ELECTROMATE Toll Free Phone (877) SERVO98 Toll Free Fax (877) SERV099 10 www.electromate.com sales@electromate.com
  11. 11. 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 11 www.electromate.com sales@electromate.com
  12. 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 Compensationold & Serviced By: ELECTROMATE Toll Free Phone (877) SERVO98 Toll Free Fax (877) SERV099 12 www.electromate.com sales@electromate.com
  13. 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 responseold & Serviced By: ELECTROMATE Toll Free Phone (877) SERVO98 Toll Free Fax (877) SERV099 13 www.electromate.com sales@electromate.com
  14. 14. 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 14 www.electromate.com sales@electromate.com
  15. 15. Filterold & Serviced By: ELECTROMATE Toll Free Phone (877) SERVO98 Toll Free Fax (877) SERV099 15 www.electromate.com sales@electromate.com
  16. 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. 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 commutationold & Serviced By: ELECTROMATE Toll Free Phone (877) SERVO98 Toll Free Fax (877) SERV099 17 www.electromate.com sales@electromate.com
  18. 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 solutionsold & Serviced By: ELECTROMATE Toll Free Phone (877) SERVO98 Toll Free Fax (877) SERV099 18 www.electromate.com sales@electromate.com
  19. 19. Demoold & Serviced By: ELECTROMATE Toll Free Phone (877) SERVO98 Toll Free Fax (877) SERV099 19 www.electromate.com sales@electromate.com

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