Galil  medical nanotechnology presentation may 2009
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  • 1. Sold & Serviced By: Toll Free Phone: 877-378-0240 Toll Free Fax: 877-378-0249 sales@servo2go.com www.servo2go.comAdvanced motion control techniques for nanopositioning applications May 2009
  • 2. Sold & Serviced By: Agenda Toll Free Phone: 877-378-0240 Toll Free Fax: 877-378-0249 sales@servo2go.com www.servo2go.com • Company and Product Overview • System Elements • Galil Control Filter • Advanced Control Features • Tuning – GalilTools and WSDK • GalilTools API and LabView • Medical/Biotech Sample Applications2
  • 3. Sold & Serviced By: About the Company Toll Free Phone: 877-378-0240 Toll Free Fax: 877-378-0249 sales@servo2go.com www.servo2go.com 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.com3
  • 4. Sold & Serviced By: The Galil Support Team Toll Free Phone: 877-378-0240 Toll Free Fax: 877-378-0249 sales@servo2go.com www.servo2go.com • 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 provideprompt and accurate technical assistance to help OEMs successfully deliver their products to market ” 4
  • 5. Sold & Serviced By: The Galil Support Team Toll Free Phone: 877-378-0240 Toll Free Fax: 877-378-0249 sales@servo2go.com www.servo2go.com Manager of Tech Support Kaushal Shah Tech Support Team Todd Shearer-New England John Hayes Andy Herum Robin Riley Stephen Otis DJ Roberts Jason Rhodewalt Chairman of the Board Jacob Tal President & CEO Wayne Baron VP of Marketing/Sales Lisa Wade National Sales Manager Mark Middleton Director of Operations John Thompson Order Entry & RMAs Shaila Shah Applications Administrator Sommer Angle Finance/Commissions Roni Ransome Receptionists Angie Luzaki & Megan Flynn5
  • 6. Sold & Serviced By: We Are Here to Help! Toll Free Phone: 877-378-0240 Toll Free Fax: 877-378-0249 sales@servo2go.com www.servo2go.com• Tech Support Provided at Galil headquarters:Address: 270 Technology Way, Rocklin, CA 95765Email: support@galilmc.comToll Free: 800-377-6329Phone: 916-626-0101Fax: 916-626-0102Hours: 8am to 5pm PST, Monday through Friday• Please provide: – Name – Company – Address – Phone/Email – Galil Products and revisions – Problem – Error messages 6
  • 7. Sold & Serviced By: On Line Tools at www.galilmc.com Toll Free Phone: 877-378-0240 Toll Free Fax: 877-378-0249 sales@servo2go.com www.servo2go.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.php • Customer applications and videos http://www.galilmc.com/support/smartmoves.php7
  • 8. Galil Motion Controllers Sold & Serviced By: Toll Free Phone: 877-378-0240 Toll Free Fax: 877-378-0249 sales@servo2go.com www.servo2go.com8
  • 9. Sold & Serviced By: Features- Handles any Mode of Motion Toll Free Phone: 877-378-0240 Toll Free Fax: 877-378-0249 sales@servo2go.com www.servo2go.com • Point-to-Point Positioning • Position Tracking • Jogging • Linear and Circular Interpolation • Tangential Following • Helical • Electronic Gearing • Electronic Cam • Contouring • Teach and Playback9
  • 10. Features – High Speed Sold & Serviced By: Toll Free Phone: 877-378-0240 Toll Free Fax: 877-378-0249 sales@servo2go.com www.servo2go.com • 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-T10
  • 11. Features – Intelligent Programming Sold & Serviced By: Toll Free Phone: 877-378-0240 Toll Free Fax: 877-378-0249 sales@servo2go.com www.servo2go.com • 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 • Arithmetic and trigonometric functions11
  • 12. Sold & Serviced By: Galil Product Line Toll Free Phone: 877-378-0240 Toll Free Fax: 877-378-0249 sales@servo2go.com www.servo2go.com • 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 code12
  • 13. Sold & Serviced By: ACCELERA – Sizzling Speed. Fully Loaded. Toll Free Phone: 877-378-0240 Toll Free Fax: 877-378-0249 sales@servo2go.com www.servo2go.com • 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-40x013
  • 14. DMC-40x0 Accelera Ethernet Controller Sold & Serviced By: Toll Free Phone: 877-378-0240 Toll Free Fax: 877-378-0249 sales@servo2go.com www.servo2go.com• 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” 5-8 axes: 11.5” x 7.25” x 1.72”14
  • 15. DMC-40x0 Drive Options from Galil Sold & Serviced By: Toll Free Phone: 877-378-0240 Toll Free Fax: 877-378-0249 sales@servo2go.com www.servo2go.com 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.15
  • 16. Sold & Serviced By: RIO Pocket PLC Toll Free Phone: 877-378-0240 Toll Free Fax: 877-378-0249 sales@servo2go.com www.servo2go.com Smart. Compact. Low-Cost. Packed with I/O16
  • 17. Sold & Serviced By: RIO-47xxx Pocket PLC Toll Free Phone: 877-378-0240 Toll Free Fax: 877-378-0249 sales@servo2go.com www.servo2go.com Analog and Digital I/O with intelligence in a cost-effective, compact unit17
  • 18. Sold & Serviced By: Smart. Compact. Low Cost. Lots of I/O. Toll Free Phone: 877-378-0240 Toll Free Fax: 877-378-0249 sales@servo2go.com www.servo2go.com • 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/O18
  • 19. Sold & Serviced By: RIO-471x0 Provides Numerous I/O Toll Free Phone: 877-378-0240 Toll Free Fax: 877-378-0249 sales@servo2go.com www.servo2go.com• 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. 19 Network multiple RIO units to add more I/O.
  • 20. Sold & Serviced By: Use ICS boards for Prototyping Toll Free Phone: 877-378-0240 Toll Free Fax: 877-378-0249 sales@servo2go.com www.servo2go.com Converts D-type to screw terminals ICS-48026 for analog I/O ICS-48044 for digital I/O20
  • 21. Sold & Serviced By: RIO-47200 PLC with Screw terminals Toll Free Phone: 877-378-0240 Toll Free Fax: 877-378-0249 sales@servo2go.com www.servo2go.com Pocket PLC with Screw Terminals and DIN Tray21
  • 22. Sold & Serviced By: RIO Options Toll Free Phone: 877-378-0240 Toll Free Fax: 877-378-0249 sales@servo2go.com www.servo2go.com • 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 outputs22
  • 23. Sold & Serviced By: System Elements Toll Free Phone: 877-378-0240 Toll Free Fax: 877-378-0249 sales@servo2go.com www.servo2go.com23
  • 24. Sold & Serviced By: Position Control Systems Toll Free Phone: 877-378-0240 Toll Free Fax: 877-378-0249 sales@servo2go.com www.servo2go.com BLOCK DIAGRAM HOST MOTION MOTOR DRIVER COMPUTER CONTROLLER AND LOAD POSITION SENSOR24
  • 25. Sold & Serviced By: Motion Controller Functions Toll Free Phone: 877-378-0240 Toll Free Fax: 877-378-0249 sales@servo2go.com www.servo2go.com 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 Compensation25
  • 26. Sold & Serviced By: System Elements Toll Free Phone: 877-378-0240 Toll Free Fax: 877-378-0249 sales@servo2go.com www.servo2go.com FILTER DESIRED R X Y POSITION + Σ G DAC AMP GENERATOR - C POSITION DECODER P M26
  • 27. Sold & Serviced By: Filter Operation Toll Free Phone: 877-378-0240 Toll Free Fax: 877-378-0249 sales@servo2go.com www.servo2go.com 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 response27
  • 28. Sold & Serviced By: Galil Control Filter Toll Free Phone: 877-378-0240 Toll Free Fax: 877-378-0249 sales@servo2go.com www.servo2go.com28
  • 29. Sold & Serviced By: Galil Control Filter Toll Free Phone: 877-378-0240 Toll Free Fax: 877-378-0249 sales@servo2go.com www.servo2go.com29
  • 30. Sold & Serviced By: Advanced Filter Features Toll Free Phone: 877-378-0240 Toll Free Fax: 877-378-0249 sales@servo2go.com www.servo2go.com •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 period30
  • 31. Sold & Serviced By: Dual Loop block diagram Toll Free Phone: 877-378-0240 Toll Free Fax: 877-378-0249 sales@servo2go.com www.servo2go.com31
  • 32. Sold & Serviced By: Piezo Ceramic firmware Toll Free Phone: 877-378-0240 Toll Free Fax: 877-378-0249 sales@servo2go.com www.servo2go.com •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 operation – Distance selectable feedforward velocity term32
  • 33. Sold & Serviced By: Custom Firmware Options Toll Free Phone: 877-378-0240 Toll Free Fax: 877-378-0249 sales@servo2go.com www.servo2go.com 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.33
  • 34. Sold & Serviced By: System Tuning Toll Free Phone: 877-378-0240 Toll Free Fax: 877-378-0249 sales@servo2go.com www.servo2go.com34
  • 35. Sold & Serviced By: System Connection and Compensation Toll Free Phone: 877-378-0240 Toll Free Fax: 877-378-0249 sales@servo2go.com www.servo2go.com 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.35
  • 36. Sold & Serviced By: System Compensation Toll Free Phone: 877-378-0240 Toll Free Fax: 877-378-0249 sales@servo2go.com www.servo2go.com 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.36
  • 37. Sold & Serviced By: WSDK Auto Tuning Toll Free Phone: 877-378-0240 Toll Free Fax: 877-378-0249 sales@servo2go.com www.servo2go.com• 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 settling 37
  • 38. Sold & Serviced By: WSDK Storage Scopes Toll Free Phone: 877-378-0240 Toll Free Fax: 877-378-0249 sales@servo2go.com www.servo2go.com• 4 channel storage scopeprovides display of data – Actual position – Command position – Position error – Velocity – Torque – Inputs•Zoom feature38
  • 39. Sold & Serviced By: WSDK XY Storage Scope Toll Free Phone: 877-378-0240 Toll Free Fax: 877-378-0249 sales@servo2go.com www.servo2go.com• Storage scope allows display of X vs. Y motion path• Useful for viewing actual 2D path• Can display position and position error along path 39
  • 40. Sold & Serviced By: WSDK System Analysis Toll Free Phone: 877-378-0240 Toll Free Fax: 877-378-0249 sales@servo2go.com www.servo2go.com• Provides impulse test to check for absolute stability• Actual response to impulse is displayed40
  • 41. Sold & Serviced By: WSDK System Analysis Toll Free Phone: 877-378-0240 Toll Free Fax: 877-378-0249 sales@servo2go.com www.servo2go.com• Provides open and closed- loop frequency response test• Useful for determining system bandwidth and resonances• Frequency range for test is selectable 41
  • 42. Sold & Serviced By: GalilTools- The Next Generation Toll Free Phone: 877-378-0240 Toll Free Fax: 877-378-0249 sales@servo2go.com www.servo2go.com 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-47100 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.com42
  • 43. Sold & Serviced By: GalilTools- Scope Toll Free Phone: 877-378-0240 Toll Free Fax: 877-378-0249 sales@servo2go.com www.servo2go.com43
  • 44. Sold & Serviced By: GalilTools- Watch All Toll Free Phone: 877-378-0240 Toll Free Fax: 877-378-0249 sales@servo2go.com www.servo2go.com44
  • 45. Sold & Serviced By: GalilTools- Watch Some Toll Free Phone: 877-378-0240 Toll Free Fax: 877-378-0249 sales@servo2go.com www.servo2go.com45
  • 46. Sold & Serviced By: GalilTools- Tuning Toll Free Phone: 877-378-0240 Toll Free Fax: 877-378-0249 sales@servo2go.com www.servo2go.com46
  • 47. Sold & Serviced By: Software Toll Free Phone: 877-378-0240 Toll Free Fax: 877-378-0249 sales@servo2go.com www.servo2go.com47
  • 48. Sold & Serviced By: Software Toll Free Phone: 877-378-0240 Toll Free Fax: 877-378-0249 sales@servo2go.com www.servo2go.com 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) •LabView48
  • 49. Sold & Serviced By: LabVIEW HTML help Toll Free Phone: 877-378-0240 Toll Free Fax: 877-378-0249 sales@servo2go.com www.servo2go.com49
  • 50. Sold & Serviced By: LabView Example Toll Free Phone: 877-378-0240 Toll Free Fax: 877-378-0249 sales@servo2go.com www.servo2go.com50
  • 51. Sold & Serviced By: LabView Example Toll Free Phone: 877-378-0240 Toll Free Fax: 877-378-0249 sales@servo2go.com www.servo2go.com51
  • 52. Sold & Serviced By: Application Examples Toll Free Phone: 877-378-0240 Toll Free Fax: 877-378-0249 sales@servo2go.com www.servo2go.com52
  • 53. Sold & Serviced By: Application Examples Toll Free Phone: 877-378-0240 Toll Free Fax: 877-378-0249 sales@servo2go.com www.servo2go.com 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 Paperwork Static configuration Verification procedure53
  • 54. Sold & Serviced By: Application Examples/Links Toll Free Phone: 877-378-0240 Toll Free Fax: 877-378-0249 sales@servo2go.com www.servo2go.com 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.pdf54
  • 55. Sold & Serviced By: Toll Free Phone: 877-378-0240 Toll Free Fax: 877-378-0249 sales@servo2go.com www.servo2go.comGalil 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.55