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Galil medical nano presentation may 2009
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Advanced motion control techniques for
nanopositioning applications
May 2009
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Agenda Toll Free Phone (877) SERVO98
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• Company and Product Overview
• System Elements
• Galil Control Filter
• Advanced Control Features
• Tuning – GalilTools and WSDK
• GalilTools API and LabView
• Medical/Biotech Sample Applications
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About the Company Toll Free Phone (877) SERVO98
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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.com
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4. Sold & Serviced By:
The Galil Support Team
ELECTROMATE
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• 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 provide
prompt and accurate technical assistance to help OEMs successfully deliver
their products to market ”
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ELECTROMATE
The Galil Support Team Toll Free Phone (877) SERVO98
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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 Flynn
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ELECTROMATE
We Are Here to Help! Toll Free Phone (877) SERVO98
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• Tech Support Provided at Galil headquarters:
Address: 270 Technology Way, Rocklin, CA 95765
Email: support@galilmc.com
Toll Free: 800-377-6329
Phone: 916-626-0101
Fax: 916-626-0102
Hours: 8am to 5pm PST, Monday through Friday
• Please provide:
– Name
– Company
– Address
– Phone/Email
– Galil Products and revisions
– Problem
– Error messages
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ELECTROMATE
On Line Tools at www.galilmc.com Toll Free Phone (877) SERVO98
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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.php
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ELECTROMATE
Features- Handles any Mode of Motion Toll Free Phone (877) SERVO98
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• Point-to-Point Positioning
• Position Tracking
• Jogging
• Linear and Circular Interpolation
• Tangential Following
• Helical
• Electronic Gearing
• Electronic Cam
• Contouring
• Teach and Playback
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Features – High Speed
ELECTROMATE
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• 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-T
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Features – Intelligent Programming
ELECTROMATE
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• 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 functions
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ACCELERA – Sizzling Speed. Fully Loaded. Toll Free Phone (877) SERVO98
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• 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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DMC-40x0 Accelera Ethernet Controller ELECTROMATE
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• 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”
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DMC-40x0 Drive Options from Galil ELECTROMATE
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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.
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RIO Pocket PLC Toll Free Phone (877) SERVO98
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Smart. Compact. Low-Cost. Packed with I/O
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RIO-47xxx Pocket PLC Toll Free Phone (877) SERVO98
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Analog and Digital I/O with intelligence
in a cost-effective, compact unit
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18. Sold & Serviced By:
ELECTROMATE
Smart. Compact. Low Cost. Lots of I/O. Toll Free Phone (877) SERVO98
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• 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/O
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RIO-471x0 Provides Numerous I/O Toll Free Phone (877) SERVO98
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• 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.
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ELECTROMATE
Use ICS boards for Prototyping Toll Free Phone (877) SERVO98
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Converts D-type to screw terminals
ICS-48026 for analog I/O
ICS-48044 for digital I/O
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RIO-47200 PLC with Screw terminals Toll Free Phone (877) SERVO98
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Pocket PLC with Screw Terminals and DIN Tray
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RIO Options Toll Free Phone (877) SERVO98
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• 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 outputs
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System Elements Toll Free Phone (877) SERVO98
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Position Control Systems Toll Free Phone (877) SERVO98
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BLOCK DIAGRAM
HOST MOTION MOTOR
DRIVER
COMPUTER CONTROLLER AND LOAD
POSITION
SENSOR
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Motion Controller Functions Toll Free Phone (877) SERVO98
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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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System Elements Toll Free Phone (877) SERVO98
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FILTER
DESIRED R X Y
POSITION
+
Σ G DAC AMP
GENERATOR -
C
POSITION
DECODER
P M
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Filter Operation Toll Free Phone (877) SERVO98
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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 Connection and Compensation Toll Free Phone (877) SERVO98
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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.
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System Compensation Toll Free Phone (877) SERVO98
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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.
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WSDK Auto Tuning Toll Free Phone (877) SERVO98
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• 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
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WSDK Storage Scopes Toll Free Phone (877) SERVO98
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• 4 channel storage scope
provides display of data
– Actual position
– Command position
– Position error
– Velocity
– Torque
– Inputs
•Zoom feature
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WSDK XY Storage Scope Toll Free Phone (877) SERVO98
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• Storage scope allows
display of X vs. Y motion
path
• Useful for viewing actual
2D path
• Can display position and
position error along path
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WSDK System Analysis Toll Free Phone (877) SERVO98
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• Provides impulse test to
check for absolute
stability
• Actual response to
impulse is displayed
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WSDK System Analysis Toll Free Phone (877) SERVO98
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• Provides open and closed-
loop frequency response
test
• Useful for determining
system bandwidth and
resonances
• Frequency range for test is
selectable
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GalilTools- The Next Generation Toll Free Phone (877) SERVO98
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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.com
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Software
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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)
•LabView
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LabVIEW HTML help
ELECTROMATE
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Application Examples Toll Free Phone (877) SERVO98
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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 procedure
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Galil 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.
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