Galil presentation advanced motion control techniques for nanopositioning applications 2009

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Galil presentation advanced motion control techniques for nanopositioning applications 2009

  1. 1. Advanced Motion Control Techniques for Nanopositioning Applications October 2009Sold & Serviced By: Toll Free Phone: 877-378-0240 Toll Free Fax: 877-378-0249 sales@servo2go.com www.servo2go.com
  2. 2. Agenda • Company and Product Overview • System Elements • Galil Control Filter • Advanced Control Features • Tuning – GalilTools and WSDK • Adding IO to Motion Control Systems • GalilTools API and LabView • Medical/Biotech Sample ApplicationsSold & Serviced By: Toll Free Phone: 877-378-0240 Toll Free Fax: 877-378-0249 2 sales@servo2go.com www.servo2go.com
  3. 3. About the Company 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.comSold & Serviced By: Toll Free Phone: 877-378-0240 Toll Free Fax: 877-378-0249 3 sales@servo2go.com www.servo2go.com
  4. 4. The Galil Support Team • 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 ”Sold & Serviced By: Toll Free Phone: 877-378-0240 Toll Free Fax: 877-378-0249 4 sales@servo2go.com www.servo2go.com
  5. 5. We Are Here to Help! • 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 revisionsSold & Serviced By: – Problem – Error messages Toll Free Phone: 877-378-0240 Toll Free Fax: 877-378-0249 5 sales@servo2go.com www.servo2go.com
  6. 6. On Line Tools at www.galilmc.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 videosSold & Serviced By: http://www.galilmc.com/support/smartmoves.php Toll Free Phone: 877-378-0240 Toll Free Fax: 877-378-0249 6 sales@servo2go.com www.servo2go.com
  7. 7. Galil Motion ControllersSold & Serviced By: Toll Free Phone: 877-378-0240 Toll Free Fax: 877-378-0249 7 sales@servo2go.com www.servo2go.com
  8. 8. Features- Handles any Mode of Motion • Point-to-Point Positioning • Position Tracking • Jogging • Linear and Circular Interpolation • Tangential Following • Helical • Electronic Gearing • Electronic Cam • ContouringSold & Serviced By: • Teach and Playback 8 • Position, Velocity, Time (PVT) Toll Free Phone: 877-378-0240 Toll Free Fax: 877-378-0249 sales@servo2go.com www.servo2go.com
  9. 9. 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 programs • Ethernet available for 10Base-T and 100Base-TSold & Serviced By: Toll Free Phone: 877-378-0240 Toll Free Fax: 877-378-0249 9 sales@servo2go.com www.servo2go.com
  10. 10. 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 10 sales@servo2go.com www.servo2go.com
  11. 11. Galil Product Line • 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 codeSold & Serviced By: Toll Free Phone: 877-378-0240 Toll Free Fax: 877-378-0249 11 sales@servo2go.com www.servo2go.com
  12. 12. ACCELERA – Sizzling Speed. Fully Loaded. • 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-18x6Sold & Serviced By: • Ethernet/RS232: DMC-40x0 Toll Free Phone: 877-378-0240 Toll Free Fax: 877-378-0249 12 sales@servo2go.com www.servo2go.com
  13. 13. DMC-40x0 Accelera Ethernet Controller • 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”Sold & Serviced By: Toll Free Phone: 877-378-0240 Toll Free Fax: 877-378-0249 13 sales@servo2go.com www.servo2go.com
  14. 14. DMC-40x0 Drive Options from Galil 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.Sold & Serviced By: Toll Free Phone: 877-378-0240 Toll Free Fax: 877-378-0249 14 sales@servo2go.com www.servo2go.com
  15. 15. RIO Pocket PLC Smart. Compact. Low-Cost. Packed with I/OSold & Serviced By: Toll Free Phone: 877-378-0240 Toll Free Fax: 877-378-0249 15 sales@servo2go.com www.servo2go.com
  16. 16. RIO-47xxx Pocket PLC Analog and Digital I/O with intelligence in a cost-effective, compact unitSold & Serviced By: Toll Free Phone: 877-378-0240 Toll Free Fax: 877-378-0249 16 sales@servo2go.com www.servo2go.com
  17. 17. Smart. Compact. Low Cost. Lots of I/O. • 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/OSold & Serviced By: Toll Free Phone: 877-378-0240 Toll Free Fax: 877-378-0249 17 sales@servo2go.com www.servo2go.com
  18. 18. RIO-471xx Provides Numerous I/O• 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.Sold & Serviced By: All I/O are self-contained in each RIO unit. 18 sales@servo2go.com www.servo2go.com Network multiple RIO units to add more I/O. Toll Free Phone: 877-378-0240 Toll Free Fax: 877-378-0249
  19. 19. Use ICS boards for Prototyping Converts D-type to screw terminals ICS-48026 for analog I/O ICS-48044 for digital I/OSold & Serviced By: Toll Free Phone: 877-378-0240 Toll Free Fax: 877-378-0249 19 sales@servo2go.com www.servo2go.com
  20. 20. RIO-47200 PLC with Screw terminals Pocket PLC with Screw Terminals and DIN TraySold & Serviced By: Toll Free Phone: 877-378-0240 Toll Free Fax: 877-378-0249 20 sales@servo2go.com www.servo2go.com
  21. 21. RIO Options • 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 outputsSold & Serviced By: Toll Free Phone: 877-378-0240 Toll Free Fax: 877-378-0249 21 sales@servo2go.com www.servo2go.com
  22. 22. System ElementsSold & Serviced By: Toll Free Phone: 877-378-0240 Toll Free Fax: 877-378-0249 22 sales@servo2go.com www.servo2go.com
  23. 23. 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 23 sales@servo2go.com www.servo2go.com
  24. 24. 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 24 sales@servo2go.com www.servo2go.com
  25. 25. 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 25 sales@servo2go.com www.servo2go.com
  26. 26. 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 26 sales@servo2go.com www.servo2go.com
  27. 27. Galil Control FilterSold & Serviced By: Toll Free Phone: 877-378-0240 Toll Free Fax: 877-378-0249 27 sales@servo2go.com www.servo2go.com
  28. 28. Galil Control FilterSold & Serviced By: Toll Free Phone: 877-378-0240 Toll Free Fax: 877-378-0249 28 sales@servo2go.com www.servo2go.com
  29. 29. Advanced Filter Features •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 periodSold & Serviced By: Toll Free Phone: 877-378-0240 Toll Free Fax: 877-378-0249 29 sales@servo2go.com www.servo2go.com
  30. 30. Dual Loop block diagramSold & Serviced By: Toll Free Phone: 877-378-0240 Toll Free Fax: 877-378-0249 30 sales@servo2go.com www.servo2go.com
  31. 31. Piezo Ceramic firmware •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 operationSold & Serviced By: • Distance selectable feedforward velocity term Toll Free Phone: 877-378-0240 Toll Free Fax: 877-378-0249 31 sales@servo2go.com www.servo2go.com
  32. 32. Custom Firmware Options 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.Sold & Serviced By: Toll Free Phone: 877-378-0240 Toll Free Fax: 877-378-0249 32 sales@servo2go.com www.servo2go.com
  33. 33. System TuningSold & Serviced By: Toll Free Phone: 877-378-0240 Toll Free Fax: 877-378-0249 33 sales@servo2go.com www.servo2go.com
  34. 34. System Connection and Compensation 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.Sold & Serviced By: Toll Free Phone: 877-378-0240 Toll Free Fax: 877-378-0249 34 sales@servo2go.com www.servo2go.com
  35. 35. System Compensation 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.Sold & Serviced By: Toll Free Phone: 877-378-0240 Toll Free Fax: 877-378-0249 35 sales@servo2go.com www.servo2go.com
  36. 36. WSDK Auto Tuning• 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 Sold & Serviced By: Toll Free Phone: 877-378-0240 Toll Free Fax: 877-378-0249 36 sales@servo2go.com www.servo2go.com
  37. 37. WSDK System Analysis • Provides impulse test to check for absolute stability • Actual response to impulse is displayedSold & Serviced By: Toll Free Phone: 877-378-0240 Toll Free Fax: 877-378-0249 37 sales@servo2go.com www.servo2go.com
  38. 38. WSDK System Analysis• Provides open and closed- loop frequency response test• Useful for determining system bandwidth and resonances• Frequency range for test is selectable Sold & Serviced By: Toll Free Phone: 877-378-0240 Toll Free Fax: 877-378-0249 38 sales@servo2go.com www.servo2go.com
  39. 39. GalilTools- The Next Generation 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-47xxx 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.comSold & Serviced By: Toll Free Phone: 877-378-0240 Toll Free Fax: 877-378-0249 39 sales@servo2go.com www.servo2go.com
  40. 40. GalilTools- ScopeSold & Serviced By: Toll Free Phone: 877-378-0240 Toll Free Fax: 877-378-0249 40 sales@servo2go.com www.servo2go.com
  41. 41. GalilTools- Watch AllSold & Serviced By: Toll Free Phone: 877-378-0240 Toll Free Fax: 877-378-0249 41 sales@servo2go.com www.servo2go.com
  42. 42. GalilTools- Watch SomeSold & Serviced By: Toll Free Phone: 877-378-0240 Toll Free Fax: 877-378-0249 42 sales@servo2go.com www.servo2go.com
  43. 43. GalilTools- TuningSold & Serviced By: Toll Free Phone: 877-378-0240 Toll Free Fax: 877-378-0249 43 sales@servo2go.com www.servo2go.com
  44. 44. Adding IO To A SystemSold & Serviced By: Toll Free Phone: 877-378-0240 Toll Free Fax: 877-378-0249 44 sales@servo2go.com www.servo2go.com
  45. 45. RIO-47xxx Networking Seamlessly interface to Galil motion controllersSold & Serviced By: Toll Free Phone: 877-378-0240 Toll Free Fax: 877-378-0249 45 sales@servo2go.com www.servo2go.com
  46. 46. RIO-47xxx Networking Can be networked so all devices can access itSold & Serviced By: Toll Free Phone: 877-378-0240 Toll Free Fax: 877-378-0249 46 sales@servo2go.com www.servo2go.com
  47. 47. Advantages to Remote IO •Place controller closer to IO points • Noise immunity •Cat 5 cabling is cheaper and more readily available then shielded cables •Open protocols • ASCII strings via TCP or UDP • Modbus TCP/IP •Interface to many other Ethernet enabled devices • PC’s, HMI’s, PLC’s…Sold & Serviced By: Toll Free Phone: 877-378-0240 Toll Free Fax: 877-378-0249 47 sales@servo2go.com www.servo2go.com
  48. 48. Advantages to Remote IO - continued •Offload processes to RIO • Free up controller processing time •Theoretically infinite IO pointsSold & Serviced By: Toll Free Phone: 877-378-0240 Toll Free Fax: 877-378-0249 48 sales@servo2go.com www.servo2go.com
  49. 49. SoftwareSold & Serviced By: Toll Free Phone: 877-378-0240 Toll Free Fax: 877-378-0249 49 sales@servo2go.com www.servo2go.com
  50. 50. Software 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) •LabViewSold & Serviced By: Toll Free Phone: 877-378-0240 Toll Free Fax: 877-378-0249 50 sales@servo2go.com www.servo2go.com
  51. 51. LabVIEW HTML helpSold & Serviced By: Toll Free Phone: 877-378-0240 Toll Free Fax: 877-378-0249 51 sales@servo2go.com www.servo2go.com
  52. 52. LabView ExampleSold & Serviced By: Toll Free Phone: 877-378-0240 Toll Free Fax: 877-378-0249 52 sales@servo2go.com www.servo2go.com
  53. 53. LabView ExampleSold & Serviced By: Toll Free Phone: 877-378-0240 Toll Free Fax: 877-378-0249 53 sales@servo2go.com www.servo2go.com
  54. 54. Application ExamplesSold & Serviced By: Toll Free Phone: 877-378-0240 Toll Free Fax: 877-378-0249 54 sales@servo2go.com www.servo2go.com
  55. 55. Application Examples 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 Documentation Static configuration Verification procedureSold & Serviced By: Toll Free Phone: 877-378-0240 Toll Free Fax: 877-378-0249 55 sales@servo2go.com www.servo2go.com
  56. 56. Application Examples/Links 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.pdfSold & Serviced By: Toll Free Phone: 877-378-0240 Toll Free Fax: 877-378-0249 56 sales@servo2go.com www.servo2go.com
  57. 57. 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.Sold & Serviced By: Toll Free Phone: 877-378-0240 Toll Free Fax: 877-378-0249 57 sales@servo2go.com www.servo2go.com

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