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

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Galil - Using galil motion controllers to tune high precision stages presentation 2011 Galil - Using galil motion controllers to tune high precision stages presentation 2011 Presentation Transcript

  • Using Galil Motion Controllers to Tune High Precision StagesSold & Serviced By: Toll Free Phone: 877-378-0240 Toll Free Fax: 877-378-0249 sales@servo2go.com www.servo2go.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 CustomizeSold & Serviced By: – Firmware & hardware customized to specifications Toll Free Phone: 877-378-0240 Toll Free Fax: 877-378-0249 2 sales@servo2go.com www.servo2go.com
  • 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!Sold & Serviced By: • Teach and Playback Toll Free Phone: 877-378-0240 Toll Free Fax: 877-378-0249 3 sales@servo2go.com www.servo2go.com
  • 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 programsSold & Serviced By: Toll Free Phone: 877-378-0240 Toll Free Fax: 877-378-0249 4 sales@servo2go.com www.servo2go.com
  • 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/ConstructsSold & Serviced By: • Arithmetic and trigonometric functions Toll Free Phone: 877-378-0240 Toll Free Fax: 877-378-0249 5 sales@servo2go.com www.servo2go.com
  • 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 availableSold & Serviced By: Toll Free Phone: 877-378-0240 Toll Free Fax: 877-378-0249 6 sales@servo2go.com www.servo2go.com
  • 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 codeSold & Serviced By: Toll Free Phone: 877-378-0240 Toll Free Fax: 877-378-0249 7 sales@servo2go.com www.servo2go.com
  • Accelera - Sizzling Speed. Fully Loaded Top- 4 axis unit Bottom-8 axis unitSold & Serviced By: Toll Free Phone: 877-378-0240 Toll Free Fax: 877-378-0249 8 sales@servo2go.com www.servo2go.com
  • 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-40x0Sold & Serviced By: Toll Free Phone: 877-378-0240 Toll Free Fax: 877-378-0249 9 sales@servo2go.com www.servo2go.com
  • 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-41x3Sold & Serviced By: Toll Free Phone: 877-378-0240 Toll Free Fax: 877-378-0249 10 sales@servo2go.com www.servo2go.com
  • Position Control Systems BLOCK DIAGRAM HOST MOTION MOTOR DRIVER COMPUTER CONTROLLER AND LOAD POSITION SENSORSold & Serviced By: Toll Free Phone: 877-378-0240 Toll Free Fax: 877-378-0249 11 sales@servo2go.com www.servo2go.com
  • 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 CompensationSold & Serviced By: Toll Free Phone: 877-378-0240 Toll Free Fax: 877-378-0249 12 sales@servo2go.com www.servo2go.com
  • 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 responseSold & Serviced By: Toll Free Phone: 877-378-0240 Toll Free Fax: 877-378-0249 13 sales@servo2go.com www.servo2go.com
  • System Elements FILTER DESIRED R X Y POSITION + Σ G DAC AMP GENERATOR - C POSITION DECODER P MSold & Serviced By: Toll Free Phone: 877-378-0240 Toll Free Fax: 877-378-0249 14 sales@servo2go.com www.servo2go.com
  • FilterSold & Serviced By: Toll Free Phone: 877-378-0240 Toll Free Fax: 877-378-0249 15 sales@servo2go.com www.servo2go.com
  • 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.Sold & Serviced By: Toll Free Phone: 877-378-0240 Toll Free Fax: 877-378-0249 16 sales@servo2go.com www.servo2go.com
  • 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 commutationSold & Serviced By: Toll Free Phone: 877-378-0240 Toll Free Fax: 877-378-0249 17 sales@servo2go.com www.servo2go.com
  • 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 solutionsSold & Serviced By: Toll Free Phone: 877-378-0240 Toll Free Fax: 877-378-0249 18 sales@servo2go.com www.servo2go.com
  • DemoSold & Serviced By: Toll Free Phone: 877-378-0240 Toll Free Fax: 877-378-0249 19 sales@servo2go.com www.servo2go.com