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

Using Galil Motion Controllers to Tune High
Precision Stages

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ELECTROMATE
Toll Free Phone (877) SERVO98
Toll Free Fax (877) SERV099
www.electromate.com
sales@electromate.com

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
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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
ELECTROMATE

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

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ELECTROMATE

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

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• Arithmetic and trigonometric functions
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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

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ELECTROMATE

Galil Product Line

• ACCELERA Controllers & Drives
– DMC-40x0 Ethernet/RS232
– DMC-18x6 PCI
• ECONO Controllers & Drives
– DMC-41x3 Ethernet/USB – New!
– DMC-18x2 PCI
• Single-Axis Controllers & Drives
– 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
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ELECTROMATE

Accelera - Sizzling Speed. Fully Loaded

Top- 4 axis unit Bottom-8 axis unit
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ELECTROMATE

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
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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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ELECTROMATE
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Position Control Systems

BLOCK DIAGRAM

HOST MOTION MOTOR
DRIVER
COMPUTER CONTROLLER AND LOAD

POSITION
SENSOR

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ELECTROMATE

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

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ELECTROMATE

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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ELECTROMATE

System Elements

FILTER

DESIRED R X Y
POSITION
+
Σ G DAC AMP
GENERATOR -

C

POSITION
DECODER

P M
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ELECTROMATE

Filter

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ELECTROMATE

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.
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ELECTROMATE

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
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ELECTROMATE

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
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ELECTROMATE

Demo

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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