Galil  automation fair presentation 2006
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Galil  automation fair presentation 2006 Galil automation fair presentation 2006 Document Transcript

  • Electromate Automation Fair 2006 Updates from Galil Motion Control April 2006 1 Agenda• Introducing Galil• New Product Overview – DMC-18x6• DMC-21x3 Accessories• EXOR PLC interface• New Firmware Features• Q&A 2 Sold & Serviced By: Toll Free Phone: 877-378-0240 Toll Free Fax: 877-378-0249 sales@servo2go.com www.servo2go.com
  • The Galil Edge• Excellent Performance and Flexibility – 32-bit microcomputer, 12MHz feedback, dual loop, multitasking – ISA, PCI, PC/104, VME, cPCI, USB, RS232, Ethernet – Use steppers, servos, ultrasonic motors in any combination• Easy to Customize – Firmware & hardware customized to specifications – Half of all products shipped have been customized• Ease of Use – Two-letter commands; WSDK Tuning software• Cost-Effective – 100+ quantity price guarantee; as low as $100/axis in qty• Superior Support – Full tech support team; on-line support tools and training• Excellent Name Recognition and Reputation – Over 375,000 controllers sold; Established in 1983; profitable for over 80 quarters 3 Unmatched Support and Service• Prompt applications support with over 100 years of combined experience in motion control.• World-wide network of factory-trained reps The mission of Galil’s experienced and distributors Applications Department is to provide prompt and accurate technical assistance to help OEMs successfully deliver their products to market 4 Sold & Serviced By: Toll Free Phone: 877-378-0240 Toll Free Fax: 877-378-0249 sales@servo2go.com www.servo2go.com
  • On Line Tools at www.galilmc.com Galil’s free online support tools include: • White Papers, application notes and articles www.galilmc.com/literature/technotes.html • On-Line tutorials on motion control www.galilmc.com/training/webconf.html • MotionCodetm Toolkit with downloadable programs and code www.galilmc.com/support/motioncode/index.html • MotorSizertm Software for easy sizing of motion systems www.galilmc.com/support/motorsizer/ • Bulletin Board with subject search www.galilmc.com/support • ServoTrends Newsletter Archives www.galilmc.com/literature/servo.html • Product catalog with specs and pricing www.galilmc.com/products/catalog.html 5 Product Line Overview: Motion Controllers• PCI – DMC-18x2 PCI, Econo, 1-4 axes – DMC-18x0 PCI, Optima, 1-8 axes – DMC-18x6 PCI, Accelera, 1-8 axes –NEW!• Ethernet/RS232 – DMC-20x0 RS232/ USB, Optima ,1-8 axes – DMC-22x0 RS232/ Ethernet (10/100Base-T), Optima, 1-8 axes – DMC-21x3 RS232/ Ethernet (10Base-T), Econo,1-8 axes – CDS-3310 RS232/ Ethernet (10/100Base-T), 1-axis controller and drive system – DMC-14x5 RS232/ Ethernet (10Base-T), Econo, 1-2 axes – IOC-7007 RS232/ Ethernet (10/100Base-T) Intelligent I/O Controller• Other Interfaces – DMC-12x0 PC/104, Optima, 1-8 axes – DMC-13x8 VME, Optima, 1-4 axes – DMC-16x0 CompactPCI, Optima , 1-4 axes – DMC-17x0 ISA, Optima, 1-8 axes – DMC-1410 ISA, Econo, 1 axis – DMC-1411 PC/104, Econo, 1 axis – DMC-1412 RS232, Econo, 1 axis• Legacy Series -- Prior Generation – DMC-10x0 ISA,1-8 axes – DMC-13x0 VME, 1-8 axes 6 – DMC-15x0 RS232, 1-8 axes Sold & Serviced By: Toll Free Phone: 877-378-0240 Toll Free Fax: 877-378-0249 sales@servo2go.com www.servo2go.com
  • New Products from Galil 7 DMC-18x6 Accelera Series DMC-1886 and DMC-1846 PCI Motion Controllers• Galil’s latest PCI-based, multi-axis motion controller• Designed as an upgrade to existing Optima-series applications 8 Sold & Serviced By: Toll Free Phone: 877-378-0240 Toll Free Fax: 877-378-0249 sales@servo2go.com www.servo2go.com
  • DMC-18x6 Accelera Series • Uses RISC-based microcomputer for high-speed performance and processing power • Accepts encoder inputs up to 22MHz for servos • Servo update as low as 31 µsec/axis • Command execution speeds as low as 40 µsec • 2000 lines (x 80 char) program memory • 16,000 array elements • 510 user defined variables • Enhanced instruction set • 100-pin SCSI cable compatible with DMC-18x0 • Available in 1- through 8-axis formats 9 New Accelera firmware features• Flexible Homing• Buffered Contour data• No More Stepper motor jumpers- MT command only• Program lockout• Encoder failure detection• Additional math operations• Two virtual axes for inverse kinematics – See Appnote 2501 for details on all features 10 Sold & Serviced By: Toll Free Phone: 877-378-0240 Toll Free Fax: 877-378-0249 sales@servo2go.com www.servo2go.com
  • CDS-3310 1-Axis Controller and Drive CDS-3310 Controller and Drive• 1-axis motion controller & 500 Watt servo drive in single package• Drives brushless or brush servo motors up to 72V, 7A cont/10A peak• Accepts single DC voltage 18V-72V• 10/100 Base-T Ethernet port and RS232 port• 8 uncommitted TTL inputs, 10 uncommitted outputs• 2 uncommitted analog inputs, 1 uncommitted analog output• Accepts input from auxiliary encoder for dual loop and gearing• Up to eight units can be connected on a distributed network• Add ICM-3300 for optoisolated I/O and screw terminals• Low cost: just $495 in 100 qty for controller/drive unit 11 The DMC-21x3 Controller n’ Drive DMC-2143 with AMP-20440 The DMC-21x3 isGalil’s Controller n’ Drive ‘sandwich’ solution 12 Sold & Serviced By: Toll Free Phone: 877-378-0240 Toll Free Fax: 877-378-0249 sales@servo2go.com www.servo2go.com
  • DMC-21x3 Multi-axis, Ethernet Controller • DMC-21x3 Series for OEMs • Low cost: 4-axis: $1195 qty 1; $795 qty 100 8-axis: $1595 qty 1; $995 qty 100 • Small size: 4-axis: 4.25” x 7”; 8-axis: 4.45” x 10.75” • 1 through 8 axis versions • Ethernet 10Base-T, RS232 interface • CARD, DIN-RAIL or BOX enclosure options • Add DB-28040 for I/O expansion and SSI encoders • Add DB-28104 for interpolation of sinusoidal encoders • Distributed control option with DMC-31x3 firmware • 96-pin DIN for DMC-21x3 interconnect – no cable required! • Mating 4-axis servo and stepper drives attach directly to DMC-21x3 with no cable 13 DMC-21x3 Amplifier OptionsGalil offers several amplifier options for the DMC-21x3 Features: DMC-2143 with attached • Mount directly to the 96- SDM-20240 for driving four pin DIN connector stepper motors without the need for a cable • 4-axis amplifier boards for stepper motors, brush-type servos and brushless servos • Controller/Amplifier combinations reduce cost and reduce wiring 14 Sold & Serviced By: Toll Free Phone: 877-378-0240 Toll Free Fax: 877-378-0249 sales@servo2go.com www.servo2go.com
  • DMC-21x3 Amplifier OptionsModel Description Qty1/Qty100ICM-20100 4-axis interconnect with D-type connectors for each $95/$75 axis — for use with external drivesICM-20105 Above with optically isolated I/O $195/$145AMP-20341 Four 20W Linear amps for brush servos $195/$175AMP-20440 Four 200W PWM amps for brush servos $595/$295AMP-20420 Two 200W PWM amps for brush servos $395/$245AMP-20540 Four 500W PWM amps for brush/brushless $795/$495AMP-20520 Two 500W PWM amps for brush/brushless $595/$395AMP-20542 Four 200W amps for brush/brushless - low inductance $695/$395SDM-20240 Four 1.4 A drives for full/ half step motors $195/$175SDM-20640 Four 3.0 A drives for microstepping $695/$395SDM-20620 Two 3.0 A drives for microstepping $545/$345 A complete selection matrix for the DMC-21x3 series is available- See Appnote 5474 15 ICM-20100 Interconnect • For connecting to external drives • 4 axis interconnect with 15-pin D-type connector for each axis. • 25-pin D-type for Aux encoder breakout • 25-pin D-type for uncommitted I/O breakout • Configurable high/low amplifier enable • No added opto-isolation • Two units OK on DMC-2153 thru DMC-2183 16 Sold & Serviced By: Toll Free Phone: 877-378-0240 Toll Free Fax: 877-378-0249 sales@servo2go.com www.servo2go.com
  • ICM-20105 Interconnect with Opto• For connecting to external drives• 4 axis interconnect with 15-pin D- type connector for each axis.• 25-pin D-type for Aux encoder breakout• 25-pin D-type for uncommitted I/O breakout• Optical isolation for Inputs, Limits, Homes, Outputs, Enable up to 24V• Outputs capable of 500 mA each (3A total)• Two units OK on DMC-2153 thru DMC-2183 17 AMP-20341 20W Servo Drives• 20W linear amplifier (60W total)• +/- 12-30VDC bipolar supply required• 0.1A/volt gain• 15-pin D-type axis connector• 25-pin D-type I/O connector• All I/O TTL• Access to motor command signals for external drives• Two units OK on DMC-2153 thru DMC-2183 18 Sold & Serviced By: Toll Free Phone: 877-378-0240 Toll Free Fax: 877-378-0249 sales@servo2go.com www.servo2go.com
  • AMP-20420/20440 200W Servo Drives• 2 or 4 axis PWM• 200W per axis• 18-60 VDC input• 15-pin D-type axis connectors• 44-pin D-type I/O connector• 2-pin Molex motor connectors AMP-20440 mounted on DMC-2143• Two units OK on DMC-2153 thru DMC-2183 19 AMP-20520/20540 500W Servo Drives• 2 or 4 axis brush/brushless drive• 500W per axis (7A cont./10A peak)• 18-60 VDC input (up to 160V optional)• .4, .7, 1.0 A/V (software settable)• 8 12-bit analog inputs (16-bit optional)• 15-pin D-type axis connectors• 44-pin D-type I/O connector• Can be configured to work with DB-28040• CE rated• Emergency Lockout input for added safety AMP-20540 mounted on a• Only one unit fits on DMC-2153 thru DMC-2143 DMC-2183 20 Sold & Serviced By: Toll Free Phone: 877-378-0240 Toll Free Fax: 877-378-0249 sales@servo2go.com www.servo2go.com
  • ICM-20500• Mounts to the AMP-205x0• Provides optical isolation of inputs, outputs, enable, limits and home• Available with screw terminals or D-type ICM-20500 Mounted on AMP-20540 21 SR-19900 Shunt Regulator• Shunt regulator• User-settable voltage level• Useful for systems with power regeneration• Mate-n-Lok and Molex power connectors 22 Sold & Serviced By: Toll Free Phone: 877-378-0240 Toll Free Fax: 877-378-0249 sales@servo2go.com www.servo2go.com
  • AMP-20542 Drives for Low Inductance Motors• 2 or 4 axis brush/brushless drive• Good for low inductance motors• 200W per axis (3.3A cont./5A peak)• Bipolar (inverter) and Unipolar (chopper) operation - jumper configurable• 18-60 VDC input• 15-pin D-type axis connectors• 44-pin D-type I/O connector• Can be configured to work with DB-28040• Emergency Lockout input for added safety• Does not have uncommitted analog inputs• Only one unit fits on DMC-2153 thru DMC-2183 23 SDM-20240 Stepper Drives • 2 or 4 axis full/half step driver • 12-30 VDC supply • .5, .75, 1.0, 1.4 Amps/phase (jumper configured) • 9-pin axis D-type • 25-pin I/O D-type • Low-current mode (jumper configured) • Airflow recommended if axes set to high- current • Two units OK on DMC-2153 thru DMC- 2183 24 Sold & Serviced By: Toll Free Phone: 877-378-0240 Toll Free Fax: 877-378-0249 sales@servo2go.com www.servo2go.com
  • SDM-20620/20640 Microstepping Drives• 2 or 4 axis microstepping (1/64th step)• .5,1.0, 2.0, 3.0A per axis (software settable)• 12-60 VDC input• 8 12-bit Analog inputs (16-bit optional)• 9-pin D-type axis connector• 25-pin I/O connector• Can be configured to work with DB-28040• Emergency Lockout input for added protection• Motor command signals available for external drives• Low current mode (software settable)• Only one unit fits on DMC-2153 thru DMC- 2183 25 Other Options for the DMC-21x3 Options have been created for the DMC- 21x3 based on customer demands • Metal enclosure • Expanded I/O • Sinusoidal Encoder Interface • PLC interface through Exor 26 Sold & Serviced By: Toll Free Phone: 877-378-0240 Toll Free Fax: 877-378-0249 sales@servo2go.com www.servo2go.com
  • - BOX Option • -BOX Metal Enclosure • Standard enclosure is for DMC- 2143 & ICM-20105 • $100 adder for -BOX • DC-DC or Logic supply • All D-type connectors and jumpers accessible • CE rated • Custom enclosures for other 8.55” x 5.6” x 1.95” BOX controller and amplifier for DMC-21x3 and ICM-20105 configurations are available for a minimum order for 25 units. 27 DB-28040 I/O Expansion• 40 In/Out (3.3V logic)• 40 In/Out (5 V logic) max 24 outputs• 8 12-bit analog inputs (16-bit optional)• Used for SSI encoder interface• IDC headers for signal breakout• Fits with most amplifier boards• 2.55” x 3.08” DMC-2143-DIN with attached DB-28040 and ICM-20100 28 Sold & Serviced By: Toll Free Phone: 877-378-0240 Toll Free Fax: 877-378-0249 sales@servo2go.com www.servo2go.com
  • DB-28104 Sinusoidal Encoder Interpolation• Provides high resolution position feedback by interpolating up to 4 sinusoidal encoders• AF m command sets 2m interpolation counts per encoder cycles (m=5 through 12).• Example: For encoder cycle = 40 microns AF 10 = 210 or 1024 counts/cycle for 39 nanometers/count• Speed limit for sinusoidal is 50 million counts/sec; Acceleration limit for sinusoidal is 109 counts/sec 2 DB-28104 attached to DMC-2143 on 50-pin Install ICM or small AMP on 96-pin 29 EXOR - UniOP Series HMI 30 Sold & Serviced By: Toll Free Phone: 877-378-0240 Toll Free Fax: 877-378-0249 sales@servo2go.com www.servo2go.com
  • Interface to PLCs using EXOR UniOP• Exor Displays come with a dual protocol feature that allow a Galil controller to seamlessly integrate with any PLC.• Exor units come with 2 ports: Port 1 connected to Galil, and port 2 connected to any PLC such as AB, Siemens, Modicon, Omron, Mitsubishi, PLC Direct, etc.• Each port is software configurable to talk to any of Exor’s 100s of supported protocols. You can read and write data to either the PLC, the Galil Controller or both. You can also exchange data between the PLC and the Galil Control.• Exor Drivers support variable names that are native to the controller you are talking to ( ie: N7 registers, etc. for AB PLC, and for Galil, ACX, DCX, SPX,TPX,TPY etc.). Exchange to General purpose variables are also supported. 31 Galil Connectivity Via EXOR UniOP 32 Sold & Serviced By: Toll Free Phone: 877-378-0240 Toll Free Fax: 877-378-0249 sales@servo2go.com www.servo2go.com
  • Galil Connectivity Via EXOR UniOPEN 33 UniOPEN Modules for Protocol ConversionCustom EXOR UniOPEN Modules- Designed for integration into OEM equipment such as controllers and drives. The smart modules have their own microprocessor which handles the entire communication protocol independently of the host application.For details, see Appnote 5469 34 Sold & Serviced By: Toll Free Phone: 877-378-0240 Toll Free Fax: 877-378-0249 sales@servo2go.com www.servo2go.com
  • Recent Firmware Additions• Stepper Position Maintenance• 2-D Error correction• Position Tracking• Ramp to Gearing• Axis Designators• Amplifier Commands• Troubleshooting 35 Stepper Position Maintenance• New command set to check for significant position losses due to stalling, slipping, or over-speed on a stepper motor• Programmer can recover as needed• See Appnote 2445 36 Sold & Serviced By: Toll Free Phone: 877-378-0240 Toll Free Fax: 877-378-0249 sales@servo2go.com www.servo2go.com
  • 2-D Error Correction• ‘Standard’ special• Corrects an axis position as a function of axis encoder position AND an orthogonal axis• Corrects for ball screw errors, non-orthogonality, curved or bowed lead screws• Used with Backlash command• See Appnote 2447 37 Position TrackingAllows an axis to precisely follow a randomly generated position target. New PA position commands can be sent while axis is in motion PT 1,1 Enable Position Tracking ModeApplications: Satellite tracking Automated vehicle navigation to GPS 38 Sold & Serviced By: Toll Free Phone: 877-378-0240 Toll Free Fax: 877-378-0249 sales@servo2go.com www.servo2go.com
  • Ramp-to-GearingAllows for gradual ramp-to-gearing which results in smoother transitions when gear ratio is changedGD n,m sets the distance of the master over which the slave will be engaged_GP correction for accumulated errors in gearing during rampingApplications: Web tension Paper printing 39 Axis Designators, ~n~ n=m Variable axis designator n is lower case a thru h (1 thru 8 axes) m is 0 thru 10 (0 is x axis, 7 is h axis)Example:~a=2;~b=6 Sets ~a to Z axis, ~b to G axisPR~a=1000JG~b=9000BG~a; BG~b-Can also configure Communication ports 40 Sold & Serviced By: Toll Free Phone: 877-378-0240 Toll Free Fax: 877-378-0249 sales@servo2go.com www.servo2go.com
  • Amplifier CommandsTK Set peak torqueLC low current for steppersAG set AMP-205x0 amplifier gainAU set AMP-205x0 current loop gain#AMPERR executes if Hall, over-current or over-voltage errorELO Electronic Lock Out. Disables amp on hardware abort 41 TroubleshootingBK n Breakpoint for debugging. Pauses controller at line number nSL n Single step through n lines of the programRS-1 resets the processor to factory default without modifying EEPROMTC-1 returns previous error that occurred prior to current error. Useful for Ethernet when multiple ?s are returned#AUTOERR runs on power-up if checksum error occurs 42 Sold & Serviced By: Toll Free Phone: 877-378-0240 Toll Free Fax: 877-378-0249 sales@servo2go.com www.servo2go.com
  • Question and Answer Q&A Session 43Galil Customer Product Training is protected by copyright andmust not be reproduced or disassembled in any form withoutprior written consent of Galil Motion Control, Inc. 44 Sold & Serviced By: Toll Free Phone: 877-378-0240 Toll Free Fax: 877-378-0249 sales@servo2go.com www.servo2go.com