This document discusses advanced motion control techniques for nanopositioning applications. It provides an overview of Galil Motion Control, including their product lineup and technical support offerings. Key topics covered include Galil controllers and drives, the Galil control filter for precision motion control, and applications in medical and biotech industries.
StepSERVO™ Technology: Bridging the gap between cost effective and high perfo...Design World
Servo motor technology has been the backbone of high performance motion systems in automated machinery for many years. Applications include packaging equipment, high speed labelling machines, automated assembly, food and beverage, smart linear actuators and many more. At the same time, step motor technology has been used for motion axes where cost effectiveness has been a primary consideration.
802.11ac: Technologies and Deployment Strategies with FarPoint GroupSavvius, Inc
Hear Craig Mathias of Farpoint Group and Jay Botelho of WildPackets discussing 802.11ac: Technologies and Deployment Strategies, where they will offer their insights on the importance of 802.11ac now and in the future.
With a wide variety of enterprise-class 802.11ac products now appearing in the market, IT leaders have some interesting questions to consider: What are the key features and benefits of 802.11ac? Should 802.11ac be deployed now, or later? How should these deployments be staged? What about situations where 802.11ac isn't scheduled for near-term operation, but potential threats like rogue 802.11ac APs demand near-term solutions?
StepSERVO™ Technology: Bridging the gap between cost effective and high perfo...Design World
Servo motor technology has been the backbone of high performance motion systems in automated machinery for many years. Applications include packaging equipment, high speed labelling machines, automated assembly, food and beverage, smart linear actuators and many more. At the same time, step motor technology has been used for motion axes where cost effectiveness has been a primary consideration.
802.11ac: Technologies and Deployment Strategies with FarPoint GroupSavvius, Inc
Hear Craig Mathias of Farpoint Group and Jay Botelho of WildPackets discussing 802.11ac: Technologies and Deployment Strategies, where they will offer their insights on the importance of 802.11ac now and in the future.
With a wide variety of enterprise-class 802.11ac products now appearing in the market, IT leaders have some interesting questions to consider: What are the key features and benefits of 802.11ac? Should 802.11ac be deployed now, or later? How should these deployments be staged? What about situations where 802.11ac isn't scheduled for near-term operation, but potential threats like rogue 802.11ac APs demand near-term solutions?
El sistema es modular para hacer cambios y movientos en la planta de manufactura, centro de datos, laboratorios, tiendas, gimnasios y muchas más aplicaciones
You might have thought about going all-wireless in your office, but wondered -- is it really possible? What about the desk phone?
Well, earlier this year, Aruba Networks cut all cords to the desk and transformed to an all-wireless workplace. Join the webinar and hear directly from Alex Derafshan, senior director of IT at Aruba, about what challenges his team faced and how they tackled going all-wireless -- including the final step of eliminating the desk phones.
In this webinar, Alex will share and answer questions about:
- Social and technical considerations for going all-wireless
- Wi-Fi best practices for business-critical operations
- Microsoft Lync design for unplugging desk phones
- Actual capex and opex savings realized
If you've ever been curious what it's like to cut the last cord -- this webinar will tell you all about it!
El sistema es modular para hacer cambios y movientos en la planta de manufactura, centro de datos, laboratorios, tiendas, gimnasios y muchas más aplicaciones
You might have thought about going all-wireless in your office, but wondered -- is it really possible? What about the desk phone?
Well, earlier this year, Aruba Networks cut all cords to the desk and transformed to an all-wireless workplace. Join the webinar and hear directly from Alex Derafshan, senior director of IT at Aruba, about what challenges his team faced and how they tackled going all-wireless -- including the final step of eliminating the desk phones.
In this webinar, Alex will share and answer questions about:
- Social and technical considerations for going all-wireless
- Wi-Fi best practices for business-critical operations
- Microsoft Lync design for unplugging desk phones
- Actual capex and opex savings realized
If you've ever been curious what it's like to cut the last cord -- this webinar will tell you all about it!
In his public lecture, Christian Timmerer provides insights into the fascinating history of video streaming, starting from its humble beginnings before YouTube to the groundbreaking technologies that now dominate platforms like Netflix and ORF ON. Timmerer also presents provocative contributions of his own that have significantly influenced the industry. He concludes by looking at future challenges and invites the audience to join in a discussion.
In the rapidly evolving landscape of technologies, XML continues to play a vital role in structuring, storing, and transporting data across diverse systems. The recent advancements in artificial intelligence (AI) present new methodologies for enhancing XML development workflows, introducing efficiency, automation, and intelligent capabilities. This presentation will outline the scope and perspective of utilizing AI in XML development. The potential benefits and the possible pitfalls will be highlighted, providing a balanced view of the subject.
We will explore the capabilities of AI in understanding XML markup languages and autonomously creating structured XML content. Additionally, we will examine the capacity of AI to enrich plain text with appropriate XML markup. Practical examples and methodological guidelines will be provided to elucidate how AI can be effectively prompted to interpret and generate accurate XML markup.
Further emphasis will be placed on the role of AI in developing XSLT, or schemas such as XSD and Schematron. We will address the techniques and strategies adopted to create prompts for generating code, explaining code, or refactoring the code, and the results achieved.
The discussion will extend to how AI can be used to transform XML content. In particular, the focus will be on the use of AI XPath extension functions in XSLT, Schematron, Schematron Quick Fixes, or for XML content refactoring.
The presentation aims to deliver a comprehensive overview of AI usage in XML development, providing attendees with the necessary knowledge to make informed decisions. Whether you’re at the early stages of adopting AI or considering integrating it in advanced XML development, this presentation will cover all levels of expertise.
By highlighting the potential advantages and challenges of integrating AI with XML development tools and languages, the presentation seeks to inspire thoughtful conversation around the future of XML development. We’ll not only delve into the technical aspects of AI-powered XML development but also discuss practical implications and possible future directions.
zkStudyClub - Reef: Fast Succinct Non-Interactive Zero-Knowledge Regex ProofsAlex Pruden
This paper presents Reef, a system for generating publicly verifiable succinct non-interactive zero-knowledge proofs that a committed document matches or does not match a regular expression. We describe applications such as proving the strength of passwords, the provenance of email despite redactions, the validity of oblivious DNS queries, and the existence of mutations in DNA. Reef supports the Perl Compatible Regular Expression syntax, including wildcards, alternation, ranges, capture groups, Kleene star, negations, and lookarounds. Reef introduces a new type of automata, Skipping Alternating Finite Automata (SAFA), that skips irrelevant parts of a document when producing proofs without undermining soundness, and instantiates SAFA with a lookup argument. Our experimental evaluation confirms that Reef can generate proofs for documents with 32M characters; the proofs are small and cheap to verify (under a second).
Paper: https://eprint.iacr.org/2023/1886
GraphSummit Singapore | The Future of Agility: Supercharging Digital Transfor...Neo4j
Leonard Jayamohan, Partner & Generative AI Lead, Deloitte
This keynote will reveal how Deloitte leverages Neo4j’s graph power for groundbreaking digital twin solutions, achieving a staggering 100x performance boost. Discover the essential role knowledge graphs play in successful generative AI implementations. Plus, get an exclusive look at an innovative Neo4j + Generative AI solution Deloitte is developing in-house.
Climate Impact of Software Testing at Nordic Testing DaysKari Kakkonen
My slides at Nordic Testing Days 6.6.2024
Climate impact / sustainability of software testing discussed on the talk. ICT and testing must carry their part of global responsibility to help with the climat warming. We can minimize the carbon footprint but we can also have a carbon handprint, a positive impact on the climate. Quality characteristics can be added with sustainability, and then measured continuously. Test environments can be used less, and in smaller scale and on demand. Test techniques can be used in optimizing or minimizing number of tests. Test automation can be used to speed up testing.
GridMate - End to end testing is a critical piece to ensure quality and avoid...ThomasParaiso2
End to end testing is a critical piece to ensure quality and avoid regressions. In this session, we share our journey building an E2E testing pipeline for GridMate components (LWC and Aura) using Cypress, JSForce, FakerJS…
GraphSummit Singapore | The Art of the Possible with Graph - Q2 2024Neo4j
Neha Bajwa, Vice President of Product Marketing, Neo4j
Join us as we explore breakthrough innovations enabled by interconnected data and AI. Discover firsthand how organizations use relationships in data to uncover contextual insights and solve our most pressing challenges – from optimizing supply chains, detecting fraud, and improving customer experiences to accelerating drug discoveries.
Sudheer Mechineni, Head of Application Frameworks, Standard Chartered Bank
Discover how Standard Chartered Bank harnessed the power of Neo4j to transform complex data access challenges into a dynamic, scalable graph database solution. This keynote will cover their journey from initial adoption to deploying a fully automated, enterprise-grade causal cluster, highlighting key strategies for modelling organisational changes and ensuring robust disaster recovery. Learn how these innovations have not only enhanced Standard Chartered Bank’s data infrastructure but also positioned them as pioneers in the banking sector’s adoption of graph technology.
Goodbye Windows 11: Make Way for Nitrux Linux 3.5.0!SOFTTECHHUB
As the digital landscape continually evolves, operating systems play a critical role in shaping user experiences and productivity. The launch of Nitrux Linux 3.5.0 marks a significant milestone, offering a robust alternative to traditional systems such as Windows 11. This article delves into the essence of Nitrux Linux 3.5.0, exploring its unique features, advantages, and how it stands as a compelling choice for both casual users and tech enthusiasts.
Securing your Kubernetes cluster_ a step-by-step guide to success !KatiaHIMEUR1
Today, after several years of existence, an extremely active community and an ultra-dynamic ecosystem, Kubernetes has established itself as the de facto standard in container orchestration. Thanks to a wide range of managed services, it has never been so easy to set up a ready-to-use Kubernetes cluster.
However, this ease of use means that the subject of security in Kubernetes is often left for later, or even neglected. This exposes companies to significant risks.
In this talk, I'll show you step-by-step how to secure your Kubernetes cluster for greater peace of mind and reliability.
Communications Mining Series - Zero to Hero - Session 1DianaGray10
This session provides introduction to UiPath Communication Mining, importance and platform overview. You will acquire a good understand of the phases in Communication Mining as we go over the platform with you. Topics covered:
• Communication Mining Overview
• Why is it important?
• How can it help today’s business and the benefits
• Phases in Communication Mining
• Demo on Platform overview
• Q/A
Why You Should Replace Windows 11 with Nitrux Linux 3.5.0 for enhanced perfor...SOFTTECHHUB
The choice of an operating system plays a pivotal role in shaping our computing experience. For decades, Microsoft's Windows has dominated the market, offering a familiar and widely adopted platform for personal and professional use. However, as technological advancements continue to push the boundaries of innovation, alternative operating systems have emerged, challenging the status quo and offering users a fresh perspective on computing.
One such alternative that has garnered significant attention and acclaim is Nitrux Linux 3.5.0, a sleek, powerful, and user-friendly Linux distribution that promises to redefine the way we interact with our devices. With its focus on performance, security, and customization, Nitrux Linux presents a compelling case for those seeking to break free from the constraints of proprietary software and embrace the freedom and flexibility of open-source computing.
Observability Concepts EVERY Developer Should Know -- DeveloperWeek Europe.pdfPaige Cruz
Monitoring and observability aren’t traditionally found in software curriculums and many of us cobble this knowledge together from whatever vendor or ecosystem we were first introduced to and whatever is a part of your current company’s observability stack.
While the dev and ops silo continues to crumble….many organizations still relegate monitoring & observability as the purview of ops, infra and SRE teams. This is a mistake - achieving a highly observable system requires collaboration up and down the stack.
I, a former op, would like to extend an invitation to all application developers to join the observability party will share these foundational concepts to build on:
GraphRAG is All You need? LLM & Knowledge GraphGuy Korland
Guy Korland, CEO and Co-founder of FalkorDB, will review two articles on the integration of language models with knowledge graphs.
1. Unifying Large Language Models and Knowledge Graphs: A Roadmap.
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2. Microsoft Research's GraphRAG paper and a review paper on various uses of knowledge graphs:
https://www.microsoft.com/en-us/research/blog/graphrag-unlocking-llm-discovery-on-narrative-private-data/
Alt. GDG Cloud Southlake #33: Boule & Rebala: Effective AppSec in SDLC using ...James Anderson
Effective Application Security in Software Delivery lifecycle using Deployment Firewall and DBOM
The modern software delivery process (or the CI/CD process) includes many tools, distributed teams, open-source code, and cloud platforms. Constant focus on speed to release software to market, along with the traditional slow and manual security checks has caused gaps in continuous security as an important piece in the software supply chain. Today organizations feel more susceptible to external and internal cyber threats due to the vast attack surface in their applications supply chain and the lack of end-to-end governance and risk management.
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Bob Boule
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Gopinath Rebala
Gopinath Rebala is the CTO of OpsMx, where he has overall responsibility for the machine learning and data processing architectures for Secure Software Delivery. Gopi also has a strong connection with our customers, leading design and architecture for strategic implementations. Gopi is a frequent speaker and well-known leader in continuous delivery and integrating security into software delivery.
Generative AI Deep Dive: Advancing from Proof of Concept to ProductionAggregage
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Generative AI Deep Dive: Advancing from Proof of Concept to Production
Galil presentation advanced motion control techniques for nanopositioning applications 2009
1. Advanced Motion Control Techniques for
Nanopositioning Applications
October 2009
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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 Applications
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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.com
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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 provide
prompt and accurate technical assistance to help OEMs successfully deliver
their products to market ”
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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 revisions
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– Problem
– Error messages
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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
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• Customer applications and videos
http://www.galilmc.com/support/smartmoves.php
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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
• Contouring
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• Teach and Playback
ELECTROMATE
• Position, Velocity, Time (PVT)
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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-T
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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/Constructs
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• Arithmetic and trigonometric functions
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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-18x6
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• Ethernet/RS232: DMC-40x0
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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”
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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.
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15. RIO Pocket PLC
Smart. Compact. Low-Cost. Packed with I/O
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16. RIO-47xxx Pocket PLC
Analog and Digital I/O with intelligence
in a cost-effective, compact unit
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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/O
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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.
All I/O are self-contained in each RIO unit.
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Network multiple RIO units to add more I/O.
19. Use ICS boards for Prototyping
Converts D-type to screw terminals
ICS-48026 for analog I/O
ICS-48044 for digital I/O
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20. RIO-47200 PLC with Screw terminals
Pocket PLC with Screw Terminals and DIN Tray
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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 outputs
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22. System Elements
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23. Position Control Systems
BLOCK DIAGRAM
HOST MOTION MOTOR
DRIVER
COMPUTER CONTROLLER AND LOAD
POSITION
SENSOR
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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 Compensation
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25. System Elements
FILTER
DESIRED R X Y
POSITION
+
Σ G DAC AMP
GENERATOR -
C
POSITION
DECODER
P M
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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 response
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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.
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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.
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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
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37. WSDK System Analysis
• Provides impulse test to
check for absolute
stability
• Actual response to
impulse is displayed
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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
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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.com
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46. RIO-47xxx Networking
Can be networked so all devices can access it
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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…
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48. Advantages to Remote IO - continued
•Offload processes to RIO
• Free up controller processing time
•Theoretically infinite IO points
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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)
•LabView
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51. LabVIEW HTML help
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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 procedure
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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.
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