Galil galil's new accelera controller; sizzling speed, fully loaded 2007 presentation

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  • 1. Accelera Motion Controllers Sizzling Speed. Fully Loaded.Sold & Serviced By: Toll Free Phone: 877-378-0240 Toll Free Fax: 877-378-0249 sales@servo2go.com www.servo2go.com
  • 2. Outline • Advances in Technology • 5th Generation Accelera Series • DMC-18x6 PCI Accelera Controller • DMC-40x0 Ethernet Accelera Controller • Inverse Kinematics ExampleSold & Serviced By: Toll Free Phone: 877-378-0240 Toll Free Fax: 877-378-0249 sales@servo2go.com www.servo2go.com
  • 3. A New Generation of Motion Control Today’s generation of motion controllers provide more capability than ever before due to advancements in technologySold & Serviced By: Toll Free Phone: 877-378-0240 Toll Free Fax: 877-378-0249 sales@servo2go.com www.servo2go.com
  • 4. Areas of Improvement 1. Performance – Accuracy and Settling 2. Coordination – Modes of motion, Application programs 3. Smaller package size and integration with power drivers 4. CommunicationSold & Serviced By: Toll Free Phone: 877-378-0240 Toll Free Fax: 877-378-0249 sales@servo2go.com www.servo2go.com
  • 5. Structure of Motion Control System Host Application Program Modes of Motion I/O Profile Generation Digital/Analog Closed Loop DriverSold & Serviced By: Toll Free Phone: 877-378-0240 Encoder Motor Toll Free Fax: 877-378-0249 sales@servo2go.com www.servo2go.com
  • 6. Structure of Motion Control System Host Application Program Modes of Motion I/O Profile Generation Digital/Analog Closed Loop Performance Sample Time Driver Encoder FrequencySold & Serviced By: DAC Resolution Toll Free Phone: 877-378-0240 Toll Free Fax: 877-378-0249 Encoder Motor Filters PID/Notch sales@servo2go.com www.servo2go.com Tuning Program
  • 7. Structure of Motion Control System Host Application Program Modes of Motion I/O Profile Generation Digital/Analog Closed Loop Coordination Driver Modes of Motion Application ProgramsSold & Serviced By: Toll Free Phone: 877-378-0240 Encoder Motor Toll Free Fax: 877-378-0249 sales@servo2go.com www.servo2go.com
  • 8. Structure of Motion Control System Host Application Program Modes of Motion I/O Profile Generation Digital/Analog Closed Loop Integration with Power Drivers DriverSold & Serviced By: Toll Free Phone: 877-378-0240 Encoder Motor Toll Free Fax: 877-378-0249 sales@servo2go.com www.servo2go.com
  • 9. Structure of Motion Control System Host Application Program Modes of Motion I/O Profile Generation Digital/Analog Closed Loop Communication DriverSold & Serviced By: Toll Free Phone: 877-378-0240 Encoder Motor Toll Free Fax: 877-378-0249 sales@servo2go.com www.servo2go.com
  • 10. Advancements in Several Areas • Advancements in Microprocessor faster motion control • Advancements in Motor Drives more power in a small space • Advancements in Ethernet virtually deterministic for motion applications • Advancements in ICs and Circuit DesignSold & Serviced By: allows more features to be added Toll Free Phone: 877-378-0240 Toll Free Fax: 877-378-0249 sales@servo2go.com www.servo2go.com
  • 11. Microprocessor Advancements • In 1983, Galil introduced the world’s 1st microprocessor-based servo motion controller. One axis of motion was controlled using an 8-bit microprocessor • In the 1990’s, Galil continued to introduce new generations of motion controllers based on 16-bit and 32-bit microprocessors • Today, Galil offers its 5th generation motion controllers—the Accelera Series which isSold & Serviced By: based on a powerful, RISC/DSP processor. Toll Free Phone: 877-378-0240 Toll Free Fax: 877-378-0249 sales@servo2go.com www.servo2go.com
  • 12. Accelera—It’s all about Speed Fast RISC processing means faster motion control! • Servo loop update rates 4X faster than prior generation, as low as 31 microseconds per axis good for high bandwidth systems such as voice coils or short, fast moves • Command processing 10X faster than prior generation, as low as 40 microseconds per command executes entire motion program quickly and allows more tasks to be completed by controller • Accepts encoder inputs 2X faster, up to 22 MHz good for ultra-high resolution position sensorsSold & Serviced By: Toll Free Phone: 877-378-0240 Toll Free Fax: 877-378-0249 sales@servo2go.com www.servo2go.com
  • 13. Advancements in the Motor Drives Improvements in amplifier design using Direct FETs allows better power density—more power in less space! 500W drive takes less than 6 square inches • Direct FETs are smaller in size • Direct FETs have better thermal characteristics which gets heat to top of package moreSold & Serviced By: efficiently Toll Free Phone: 877-378-0240 Toll Free Fax: 877-378-0249 sales@servo2go.com www.servo2go.com
  • 14. Advancements in Ethernet • 100Base-T Ethernet is virtually deterministic for motion control applications • Time to send commands across network is insignificantSold & Serviced By: Toll Free Phone: 877-378-0240 Toll Free Fax: 877-378-0249 sales@servo2go.com www.servo2go.com
  • 15. Advancements in Circuit Design Improvements in circuit design means more features can be added cost-effectively: • Optically isolated I/O • Analog inputs for interface to sensors such as joysticks • High powered outputs to drive relays and brakes • On-board memory, variables and arraysSold & Serviced By: • Additional communication ports such as RS232 Toll Free Phone: 877-378-0240 Toll Free Fax: 877-378-0249 sales@servo2go.com www.servo2go.com
  • 16. Accelera PCI Controller In 2005, Galil Introduced the DMC-18x6 Accelera PCI ControllerSold & Serviced By: Top: DMC-1886 8-axis PCI controller Toll Free Phone: 877-378-0240 Toll Free Fax: 877-378-0249 sales@servo2go.com www.servo2go.com Bottom: DMC-1846 4-axis PCI controller
  • 17. Introducing the DMC-40x0 Series In 2006, Galil Introduced the DMC-40x0 Accelera Ethernet ControllerSold & Serviced By: Top: DMC-4040 4-axis Ethernet controller Toll Free Phone: 877-378-0240 Toll Free Fax: 877-378-0249 sales@servo2go.com Bottom: DMC-4080 8-axis Ethernet controller www.servo2go.com
  • 18. Sizzling Specs of Accelera Controllers Accelera Prior Generation Max encoder rate 22 MHz 12 MHz Max stepper rate 6 MHz 3 MHz Command Execution 40 microseconds 400 microseconds Speed Minimum Servo Update 31 microseconds 125 microseconds Program memory 2000 lines x 80 chr 1000 lines x 80 chr Array Size 16000 elements 8000 elements Number of variablesSold & Serviced By: 510 254 Toll Free Phone: 877-378-0240 Toll Free Fax: 877-378-0249 sales@servo2go.com www.servo2go.com
  • 19. Handles Virtually any Mode of Motion • Point-to-Point Positioning • Position Tracking • Jogging • Linear and Circular Interpolation • Tangential Following • Helical • Electronic Gearing • Electronic CamSold & Serviced By: • Contouring Toll Free Phone: 877-378-0240 • Teach and Playback Toll Free Fax: 877-378-0249 sales@servo2go.com www.servo2go.com
  • 20. DMC-4000- Full Featured, High Speed • DMC-40x0 Accelera Ethernet Controller combines all the enhanced capabilities of the processor, drives, Ethernet and features in a single compact unit • The DMC-40x0 is ideally suited for OEMs who need a full-featured, box-levelSold & Serviced By: controller with enhanced performance Toll Free Phone: 877-378-0240 Toll Free Fax: 877-378-0249 sales@servo2go.com www.servo2go.com
  • 21. DMC-40x0 Accelera Controller • Full-featured, packaged controller • Ultra-high speed and precision • Ethernet 10/100Base-T and two RS232 ports • 1 through 8 axes • Standard features: optically isolated I/O, high-powered outputs, analog inputs, metal enclosure, D-type connectors • Available packaged with stepper and servo drives DMC-4040 4-axis controllerSold & Serviced By: Toll Free Phone: 877-378-0240 Toll Free Fax: 877-378-0249 sales@servo2go.com www.servo2go.com
  • 22. DMC-40x0 vs DMC-21x3 Features DMC-40x0 Accelera DMC-21x3 Econo Box-Level Controller Card-level Controller Analog Inputs 8, standard 8, optional with DB-28040 Isolated Inputs 8 or 16, standard Optional with ICM-20105 Isolated, high-power 8 or 16, standard Optional with ICM-20105 Outputs (.5A, 24V) Extended digital I/O 32, Standard 40, Optional with DB-28040 LCD display 2 line x 8chr, included Not available Ethernet 10/100 Base-T 10 Base-T only RS232 ports Two ports One port only up to 115 kBaud up to 19.2 kbaud ICM Included Optional DC-to-DC converterSold & Serviced By: Included Optional Toll Free Phone: 877-378-0240 Accepts 20-80 VDC Toll Free Fax: 877-378-0249 Metal enclosure sales@servo2go.com www.servo2go.com Included Optional
  • 23. Drives Save Space, Cost and Wiring • DMC-40x0 is available with internal, multi- axis drives for steppers and servos • Internal drives save space, cost and wiring • DMC-40x0 can also be connected to external drives of any size or powerSold & Serviced By: Toll Free Phone: 877-378-0240 Toll Free Fax: 877-378-0249 sales@servo2go.com www.servo2go.com
  • 24. Drive Options Drive Model Number Motor Type Specs of Axes AMP-43020 2 Brush or 7A cont, 10A peak brushless servo 20-80 VDC AMP-43040 4 Brush or 7A cont, 10A peak brushless servo 20-80 VDC AMP-43140 4 Brush servo 1A +/-12-30 VDC SDM-44040 4 Full, half, ¼, 1/16 1.4A/phase stepper 12-60 VDC SDM-44140 4 Microstep 3A/phaseSold & Serviced By: 12-60 VDC Toll Free Phone: 877-378-0240 Toll Free Fax: 877-378-0249 sales@servo2go.com www.servo2go.com
  • 25. AMP-430x0 2- and 4-axis 500W Drives • AMP-43040 contains four PWM amplifiers for driving brush or brushless servos. AMP-43020 2-axis version also available. • 7 Amps cont, 10 Amps peak; 20-80 VDC • Configurable for inverter or chopper mode • No external heat sink requiredSold & Serviced By: Toll Free Phone: 877-378-0240 Toll Free Fax: 877-378-0249 sales@servo2go.com www.servo2go.com
  • 26. AMP-430x0 is a “Hybrid” Design AMP-430x0 has both Digital and Analog circuitry Hybrid Design • Analog current loop for highest bandwidth and response. Analog circuitry is on AMP-430x0 amplifier board • Digital circuitry for amplifier set-up and status reporting. Microprocessor is on DMC-40x0 controller board. For example, AG sets AMP gain and TA reports AMP statusSold & Serviced By: Toll Free Phone: 877-378-0240 Toll Free Fax: 877-378-0249 sales@servo2go.com www.servo2go.com
  • 27. AMP-43140 Four 20W Servo Drives • Drives four brush servos • Linear drives • Requires +/-12-30 VDC input • Maximum current for each amplifier is 1A • Maximum output power: 20 W per amplifier and 60 W total • No external heat sink requiredSold & Serviced By: Toll Free Phone: 877-378-0240 Toll Free Fax: 877-378-0249 sales@servo2go.com www.servo2go.com
  • 28. SDM-44040 Four Stepper Drives • Drives two-phase bipolar steppers • Requires single 12-30 VDC input • User configurable for: 1.4A, 1.0A, .75A or .5A • User configurable for: full-step, half-step, ¼ step or 1/16 step • Short circuit protection • No external heat sink requiredSold & Serviced By: Toll Free Phone: 877-378-0240 Toll Free Fax: 877-378-0249 sales@servo2go.com www.servo2go.com
  • 29. SDM-44140 Four Microstep Drives • Drives two-phase bipolar steppers • 64 microsteps/full step • Drives motors up to 3A, 12-60 VDC • Software Selectable current settings: .5A, 1A, 2A, 3A • No external heat sink requiredSold & Serviced By: Toll Free Phone: 877-378-0240 Toll Free Fax: 877-378-0249 sales@servo2go.com www.servo2go.com
  • 30. DMC-40x0 Physical Dimensions DMC-40x0 is extremely compact! Box Dimensions: 1-4 axes: 8.1” x 7.25” x 1.72” 5-8 axes: 11.5” x 7.25” x 1.72” package includes the multi-axis drivesSold & Serviced By: Toll Free Phone: 877-378-0240 Toll Free Fax: 877-378-0249 sales@servo2go.com www.servo2go.com
  • 31. DMC-4080 Controller/Drive Package The DMC-4080 8-axis controller and drive unitSold & Serviced By: connects to 8 servo motors Toll Free Phone: 877-378-0240 Toll Free Fax: 877-378-0249 sales@servo2go.com www.servo2go.com
  • 32. DMC-40x0 Options New options for the DMC-40x0: -DIN Din rail mounting clips -16-BIT 16-bit ADC (12-BIT is standard) -5V 5V for extended I/O (3.3V is standard) -SSI SSI interface -DIFF Differential outputs for analog motor command -STEP Differential outputs for step/direction command -I100 Sinusiodal encoder interpolationSold & Serviced By: Toll Free Phone: 877-378-0240 Toll Free Fax: 877-378-0249 sales@servo2go.com www.servo2go.com
  • 33. Part Number Generator for DMC-40x0 • New web tool helps generate part number with all the options for the DMC-40x0 • Also calculates pricing • Part Number Generator Tool is on DMC-40x0 webpage: http://www.galilmc.com/products/accelera/dmc40x0.htmlSold & Serviced By: Toll Free Phone: 877-378-0240 Toll Free Fax: 877-378-0249 sales@servo2go.com www.servo2go.com
  • 34. For More Info • See website for complete specs and pricing information http://www.galilmc.com/products/accelera/dmc40x0.htmlSold & Serviced By: Toll Free Phone: 877-378-0240 Toll Free Fax: 877-378-0249 sales@servo2go.com www.servo2go.com
  • 35. Galil Material is protected by copyright and must not be reproduced or disassembled in any form without prior written consent of Galil Motion Control, Inc.Sold & Serviced By: Toll Free Phone: 877-378-0240 Toll Free Fax: 877-378-0249 sales@servo2go.com www.servo2go.com
  • 36. Inverse Kinematics Inverse Kinematics ApplicationsSold & Serviced By: Toll Free Phone: 877-378-0240 Toll Free Fax: 877-378-0249 sales@servo2go.com www.servo2go.com
  • 37. Inverse Kinematics - Agenda • What is Inverse Kinematics and why is it used? • Simple 2-D example • Solution MethodsSold & Serviced By: Toll Free Phone: 877-378-0240 Toll Free Fax: 877-378-0249 sales@servo2go.com www.servo2go.com
  • 38. Inverse Kinematics Inverse Kinematics equations allow an Engineer to compute angular (rotary encoder) positions knowing the end-effector location and robot geometry. Forward Kinematics Posmotor Posload Inverse Kinematics Increase in complexity with additional DOF Min/max angular positions, boundary conditions, and ‘keep-out’ zones are critical in providing a complete solution.Sold & Serviced By: Toll Free Phone: 877-378-0240 Toll Free Fax: 877-378-0249 sales@servo2go.com www.servo2go.com
  • 39. Inverse Kinematics Why use inverse kinematics? To allow an operator to move a machine to a real, known location in Cartesian space without intimate knowledge of the machine mechanicsSold & Serviced By: Toll Free Phone: 877-378-0240 Toll Free Fax: 877-378-0249 sales@servo2go.com www.servo2go.com
  • 40. Solution Options Three general options: 1. Host PC 1. All motor positions are calculated by a host PC 2. Controller receives Contour mode position data 3. Customer has complete control over equations, constants, and update rates 2. On controller, in a software program 1. Encoder positions calculated by Galil in a dmc file 2. No host PC necessary 3. Accelera series can generate profiles at up to a 2 msec update (depends on equation complexity) 4. Customer can change equations or constants at will 3. On controller, in firmware 1. Motor positions calculated within the controller’s servo loop 2. Very fast calculations 3. Once programmed into firmware, customer cannot changeSold & Serviced By: equations Toll Free Phone: 877-378-0240 Toll Free Fax: 877-378-0249 sales@servo2go.com www.servo2go.com
  • 41. Simple 2-D ExampleSold & Serviced By: Toll Free Phone: 877-378-0240 Toll Free Fax: 877-378-0249 sales@servo2go.com www.servo2go.com Example of 2 DOF robot arm
  • 42. Simple 2-D Example Ø2 Ø1Sold & Serviced By: Given: Xhand, Yhand, L1, L2 Toll Free Phone: 877-378-0240 Toll Free Fax: 877-378-0249 Find: θ1, θ2 sales@servo2go.com www.servo2go.com
  • 43. Simple 2-D Example Ø2 Ø1Sold & Serviced By: B: Length of imaginary line Q1: Angle between X axis and imaginary line B Toll Free Phone: 877-378-0240 Toll Free Fax: 877-378-0249 sales@servo2go.com Q2: Interior angle between imaginary line B and link L1 www.servo2go.com
  • 44. Simple 2-D example • Equations: B2 = Xhand2 + Yhand2 Q1 = atan(Yhand/Xhand) Q2 = acos[(L12 - L22 + B2)/(2 * L1 * B)] θ1 = Q1+Q2 θ2 = acos[(L12 + L22 - B2)/(2 * L1 * L2)]Sold & Serviced By: Toll Free Phone: 877-378-0240 Toll Free Fax: 877-378-0249 sales@servo2go.com www.servo2go.com
  • 45. Simple 2-D ExampleSold & Serviced By: Calculate points along trajectory (150,100)-(250,200) Toll Free Phone: 877-378-0240 Toll Free Fax: 877-378-0249 Use Galil motion profiler sales@servo2go.com www.servo2go.com
  • 46. Simple 2-D Example Use the Galil motion profiler to define a end-effector acceleration, speed and deceleration. Galil Code to generate XY coordinates along motion path #CALC TL 0,0; ER -1,-1; FOR PURE CALCULATION VMXY VS 1000;VA 20000;VD 20000 DP 150,100; DEFINE STARTING POSITION DA,*[]; DEALOCATE ARRAYS DM XPOS[100],YPOS[100]; ARRAYS FOR TRAJECTORY DATA RA XPOS[],YPOS[]; SET UP RECORD ARRAY RD _RPX,_RPY; RECORD REFERENCE POSITION VP 100,100; MOVE TO POSITION 250,200 VE RC1 BGSSold & Serviced By: AMS Toll Free Phone: 877-378-0240 MG"DONE" Toll Free Fax: 877-378-0249 sales@servo2go.com www.servo2go.com EN
  • 47. Simple 2-D Example Resulting trajectory data in Excel: End-Effector X-axis position vs. time End-Effector Y-axis Position vs. Time 260 210 240 190 220 170 Xhand Yhand 200 150 180 130 160 110 140 90 0 50 100 150 200 0 50 100 150 200 Time, msec Time, msecSold & Serviced By: Toll Free Phone: 877-378-0240 Toll Free Fax: 877-378-0249 sales@servo2go.com www.servo2go.com
  • 48. Simple 2-D Example Theta1 Absolute Angle #GENR8 100 L1 = LENGTH OF FIRST LINK 95 L2 = LENGTH OF SECOND LINK B= LENGTH OF HYPOTNUSE 90 Angle, Degrees Q1 = ANGLE BETWEEN X AXIS AND LINE B 85 Q2 = INTERIOR ANGLE FROM B TO L1 Theta1 = ABS ANGULAR POS OF FIRST MOTOR 80 Theta2 = ABS ANGULAR POS OF SECOND MOTOR 75 L1=200 L2=200 70 DA,Theta1[];DA,Theta2[] 0 50 100 150 200 Tim e NOTE BUILD ARRAYS FOR CONTOUR DATA DM Theta1[100],Theta2[100] Theta2 Absolute Angle N=0;ARRAY INCREMENT #CALC2 115 B=@SQR[(Xpos[N]*Xpos[N])+(Ypos[N]*Ypos[N])] 105 Q1=@ATAN[(Ypos[N])/(Xpos[N])] Q2=@ACOS[((L1*L1)-(L2*L2)+(B*B))/(2*L1*B)] 95 Angle, Degrees Theta1[N]=Q1+Q2 85 Theta2[N]=@ACOS[((L1*L1)+(L2*L2)-(B*B))/(2*L1*L2)] 75 N=N+1 65 JP#CALC2,N<100 MG"DONE GENR8"Sold & Serviced By: 55 EN 45 Toll Free Phone: 877-378-0240 Toll Free Fax: 877-378-0249 0 50 100 150 200 sales@servo2go.com www.servo2go.com Tim e
  • 49. Simple 2-D Example #CONTMOV X Encoder Value NOTE Encres = ENCODER COUNTS/DEGREE 0 Encres=4000/360 0 20 40 60 80 100 120 140 160 180 200 NOTE BUILD ARRAYS FOR ENCODER RELATIVE DATA -50 DA,Enc1[];DA,Enc[2] Encoder Relative Value DM Enc1[100],Enc2[100] -100 N=0; INCREMENT RESET #CALC3 -150 Enc1[N]=Encres*((Theta1[N+1])-(Theta1[N])) -200 Enc2[N]=Encres*((Theta2[N+1])-(Theta2[N])) N=N+1 -250 JP#CALC3,N<99 MG"DONE CONTCLC" -300 Tim e(m s) DP0,0 NOTE THIS ROUTINE SENDS ALL 100 CONTOUR MOVES Y Encoder Value CMXY DT1 600 N=0;INCREMENT RESET #LOOP3 500 Encoder Relative Value CD Enc1[N],Enc2[N] 400 N=N+1 JP#LOOP3,N<100 300 #WAIT;JP#WAIT,_CM<>511 CD 0,0=0 200 ENSold & Serviced By: 100 Toll Free Phone: 877-378-0240 0 Toll Free Fax: 877-378-0249 sales@servo2go.com 0 50 100 150 200 www.servo2go.com Time(ms)
  • 50. Inverse Kinematics Questions?Sold & Serviced By: Toll Free Phone: 877-378-0240 Toll Free Fax: 877-378-0249 sales@servo2go.com www.servo2go.com