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![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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Toll Free Fax (877) SERV099
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Galil's High Performance Ethernet Controllers & Drives For Robotic Applications
This document provides information about Galil's motion control products and support services. It discusses Galil's history and reputation, its experienced technical support team, and the tools and resources available to customers. It also provides overviews of Galil's product lines including multi-axis controllers, single-axis controllers, internal drive options, and programming features. The document aims to demonstrate that Galil offers a full range of motion control solutions and strong customer support.
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Galil's High Performance Ethernet Controllers & Drives For Robotic Applications
- 1. Galil's High-Performance Ethernet Controllersand Drives For Robotic Applications Sold & Serviced By: ELECTROMATE Toll Free Phone (877) SERVO98 Toll Free Fax (877) SERV099 www.electromate.com sales@electromate.com
- 2. Introduction: About theCompany 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 100 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.galil.com Sold & Serviced By: 2 ELECTROMATE Toll Free Phone (877) SERVO98 Toll Free Fax (877) SERV099 www.electromate.com sales@electromate.com
- 3. Introduction: The GalilSupport 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 ” Sold & Serviced By: 3 ELECTROMATE Toll Free Phone (877) SERVO98 Toll Free Fax (877) SERV099 www.electromate.com sales@electromate.com
- 4. Introduction: The GalilSupport Team • VP/Sr. Member of Tech Staff Kaushal Shah • Application Engineering Team Todd Shearer (New England) John Hayes Andy Herum Robin Riley Stephen Otis DJ Roberts Marissa Tucker • Chairman of the Board Jacob Tal • President & CEO Wayne Baron • VP of R&D Brian Kambe • VP of Marketing/Sales Lisa Wade • National Sales Manager Mark Middleton • VP of Operations John Thompson • Order Entry & RMAs Shaila Shah • Finance/Commissions Roni Ransome • Receptionists/Admin Angie Luzaki Sold & Serviced By: 4 ELECTROMATE Toll Free Phone (877) SERVO98 Toll Free Fax (877) SERV099 www.electromate.com sales@electromate.com
- 5. Introduction: Tools andResources • LIVE Tech Support Provided at Galil headquarters: Galil Motion Control, Inc. 270 Technology Way Rocklin, CA 95765 Toll Free: 800-377-6329 Phone: 916-626-0101 Fax: 916-626-0102 Hours: 8am to 5pm PST Monday - Friday • When calling please provide: – Name – Company – Address – Phone/Email – Galil Products and revisions (Serial Numbers if possible!) – Problem – Error messages Sold & Serviced By: 5 ELECTROMATE Toll Free Phone (877) SERVO98 Toll Free Fax (877) SERV099 www.electromate.com sales@electromate.com
- 6. Online Support Tools • Reference Application Notes http://www.galilmc.com/support/application-notes.php Product Catalog with Specs and Pricing http://www.galilmc.com/support/catalog.php ServoTrends Newsletter and Archives http://www.galilmc.com/support/servotrends.php Customer applications and videos http://www.galilmc.com/support/smartmoves.php • Learning Tools Online Tutorials and Two-minute How-to Videos http://www.galilmc.com/learning/tutorials.php MotionCodetm Toolkit with downloadable programs 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 • Community Forum http://www.galilmc.com/forums/ubbthreads.php TechTalk Blog http://www.galilmc.com/techtalk/index.php Sold & Serviced By: 6 ELECTROMATE Toll Free Phone (877) SERVO98 Toll Free Fax (877) SERV099 www.electromate.com sales@electromate.com
- 7. About the Products:Overview • 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 • 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 • Easy to Customize – Firmware & hardware customized to specifications Sold & Serviced By: 7 ELECTROMATE Toll Free Phone (877) SERVO98 Toll Free Fax (877) SERV099 www.electromate.com sales@electromate.com
- 8. About the Products:Programming Features • Non-volatile Memory • For storing application programs, variables and arrays • Frees host for other tasks • Event Triggers • At time, At position, At input, At speed • Multitasking • Execution of up to eight application programs simultaneously • Logical Functions • Conditional JUMPS and IF/THEN/ELSE/Constructs • Mathematics • Arithmetic and trigonometric functions Sold & Serviced By: 8 ELECTROMATE Toll Free Phone (877) SERVO98 Toll Free Fax (877) SERV099 www.electromate.com sales@electromate.com
- 9. About the Products:I/O Features • Feedback • Accepts both main and auxiliary encoders for each axis • SSI, BiSS, and sinusoidal encoder interface options • Forward and reverse limits and home input for each axis • Uncomitted I/O • Opto-isolated • Analog inputs on most controllers • Expandable I/O • High speed position capture • High speed position compare Sold & Serviced By: 9 ELECTROMATE Toll Free Phone (877) SERVO98 Toll Free Fax (877) SERV099 www.electromate.com sales@electromate.com
- 10. About the Products:Options to Fit every Application • Format • Available in 1-through 8-axis formats • Box-level or card-level; Bus-based or stand-alone • Communication • Ethernet/RS232, USB, or PCI cards • Motor types • “Mix-n-Match” motor types: User-configurable for steppers, servos and piezo ceramic motors on any combination of axes • Variety of internal amplifier options • Custom solutions available Sold & Serviced By: 10 ELECTROMATE Toll Free Phone (877) SERVO98 Toll Free Fax (877) SERV099 www.electromate.com sales@electromate.com
- 11. About the Products:Latest Generation Galil Controllers • Multi-axis Ethernet Motion Controllers – DMC-40x0 Accelera – DMC-41x3 Econo New! • Single-Axis Ethernet Motion Controllers – DMC-300xx Pocket Motion Controller New! • Ethernet I/O Controllers – RIO-47xxx Pocket PLC • Software Tools – GalilSuite New! – GalilTools Servo Tuning – Frequency Analysis Software – New! 11 Sold & Serviced By: ELECTROMATE Toll Free Phone (877) SERVO98 Toll Free Fax (877) SERV099 www.electromate.com sales@electromate.com
- 12. Multi-axis Features- Handlesany Mode of Motion • Point-to-Point Positioning • Position Tracking • Jogging • Linear and Circular Interpolation • Tangential Following • Helical • Electronic Gearing • Electronic Cam • PVT Mode • Teach and Playback Sold & Serviced By: 12 ELECTROMATE Toll Free Phone (877) SERVO98 Toll Free Fax (877) SERV099 www.electromate.com sales@electromate.com
- 13. Position Control Systems BLOCK DIAGRAM HOST MOTION MOTOR DRIVER COMPUTER CONTROLLER AND LOAD POSITION SENSOR Sold & Serviced By: 13 ELECTROMATE Toll Free Phone (877) SERVO98 Toll Free Fax (877) SERV099 www.electromate.com sales@electromate.com
- 14. 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 Sold & Serviced By: 14 ELECTROMATE Toll Free Phone (877) SERVO98 Toll Free Fax (877) SERV099 www.electromate.com sales@electromate.com
- 15. 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 Sold & Serviced By: 15 ELECTROMATE Toll Free Phone (877) SERVO98 Toll Free Fax (877) SERV099 www.electromate.com sales@electromate.com
- 16. System Elements FILTER DESIRED R X Y POSITION + Σ G DAC AMP GENERATOR - C POSITION DECODER P M Sold & Serviced By: 16 ELECTROMATE Toll Free Phone (877) SERVO98 Toll Free Fax (877) SERV099 www.electromate.com sales@electromate.com
- 17. ACCELERA - SizzlingSpeed. Fully Loaded DMC-40x0 in 1-4-axis and 5-8-axis options Sold & Serviced By: 17 ELECTROMATE Toll Free Phone (877) SERVO98 Toll Free Fax (877) SERV099 www.electromate.com sales@electromate.com
- 18. ACCELERA – SizzlingSpeed. Fully Loaded. Feature Specification Servo Update Rate 32 µsec/axis Output Pulses for Steppers 6 MHz Encoder Inputs 22 MHz Processor Type RISC Command Processing Time 40 µsec Memory 2000 lines X 80 characters Variables 510 Array Elements 16,000 Communication Ethernet, 2x RS232 Serial PCI Option DMC-18x6 Sold & Serviced By: 18 ELECTROMATE Toll Free Phone (877) SERVO98 Toll Free Fax (877) SERV099 www.electromate.com sales@electromate.com
- 19. ECONO: Lowest PricedControllers Just Got Smarter DMC-41x3 in 1-4-axis card and –BOX Options Sold & Serviced By: 19 ELECTROMATE Toll Free Phone (877) SERVO98 Toll Free Fax (877) SERV099 www.electromate.com sales@electromate.com
- 20. ECONO: Lowest PricedControllers Just Got Smarter Feature Specification Servo Update Rate 62 µsec/axis Output Pulses for Steppers 6 Mhz Encoder Inputs 15 MHz Memory 2000 lines X 80 characters Variables 510 Array Elements 16,000 Communication Ethernet (Auto MDIX), USB, RS232 Serial Sold & Serviced By: 20 ELECTROMATE Toll Free Phone (877) SERVO98 Toll Free Fax (877) SERV099 www.electromate.com sales@electromate.com
- 21. Accelera and ECONOInternal Drive Options Sold & Serviced By: 21 ELECTROMATE Toll Free Phone (877) SERVO98 Toll Free Fax (877) SERV099 www.electromate.com sales@electromate.com
- 22. Why Sinusoidal Amplifiers? • Sinusoidal commutation • Minimizes torque ripple. Ideal for linear motors. • Does not require hall feedback to commutate. • Compatible Models • ACCELERA Series, DMC-40x0 • ECONO Series, DMC-41x3 • Pocket Motion Controller, DMC-30012 Sold & Serviced By: 22 ELECTROMATE Toll Free Phone (877) SERVO98 Toll Free Fax (877) SERV099 www.electromate.com sales@electromate.com
- 23. Single-Axis Motion Controller& Drive DMC-30000 Pocket Motion Controller Smart. Compact. Low Cost. Sold & Serviced By: 23 ELECTROMATE Toll Free Phone (877) SERVO98 Toll Free Fax (877) SERV099 www.electromate.com sales@electromate.com
- 24. DMC-30000 Pocket MotionController Feature Specification Servo Update Rate 125 µsec/axis Output Pulses for Steppers 3 Mhz Encoder Inputs 15 MHz Processor Type RISC Memory 1000 lines X 40 characters Variables 254 Array Elements 3,000 Communication 2x Ethernet Port, 1 RS232 Sold & Serviced By: 24 ELECTROMATE Toll Free Phone (877) SERVO98 Toll Free Fax (877) SERV099 www.electromate.com sales@electromate.com
- 25. Key Benefits –Daisy Chain Ethernet •Multiple DMC-30000 can be daisy chained over Ethernet without the use of an external hub •DMC-30000 is ideal for single-axis motor control where compact size, low cost and control at remote location is important. •DMC-30000 does not replace Galil’s central, multi-axis controllers which are ideal for tightly coupled coordinated motion. Sold & Serviced By: 25 ELECTROMATE Toll Free Phone (877) SERVO98 Toll Free Fax (877) SERV099 www.electromate.com sales@electromate.com
- 26. DMC-30000: Compact DMC-30012 controller & drive 3.9” x 5.0” x 1.5” box DMC-30010 controller only 3.0” x 4.0” card Sold & Serviced By: 26 ELECTROMATE Toll Free Phone (877) SERVO98 Toll Free Fax (877) SERV099 www.electromate.com sales@electromate.com
- 27. DMC-30000 Internal AmplifierOptions Drive Model # of Axis Motor Type Specs DMC-30012 1 Sinusoidal Brushless or 10A Continuous Brush servo 15A peak 20-80 VDC DMC-30017 1 1/256 Microstepper 6 A/Phase 20-80 VDC Sold & Serviced By: 27 ELECTROMATE Toll Free Phone (877) SERVO98 Toll Free Fax (877) SERV099 www.electromate.com sales@electromate.com
- 28. Ordering Information forDMC-30000 DMC-30000-OTHER 0 – No Amp, 1 – No Amp, DC-DC converter 2 – Sine Amp, DC-DC converter 7 – Stepper Amp, DC-DC converter 1 – Number of Axis– 0 – Standard Quad Feedback 1 – Sine/Cosine Feedback Example Description Single Piece 100 Piece DMC-30012 Single Axis Controller box $695 $445 with internal 800W sine drive and 20-80VDC Input Sold & Serviced By: 28 ELECTROMATE Toll Free Phone (877) SERVO98 Toll Free Fax (877) SERV099 www.electromate.com sales@electromate.com
- 29. RIO Pocket PLC Smart. Compact. Low-Cost. Packed with I/O Sold & Serviced By: 29 ELECTROMATE Toll Free Phone (877) SERVO98 Toll Free Fax (877) SERV099 www.electromate.com sales@electromate.com
- 30. RIO-47xxx Pocket PLC Analog and Digital I/O with intelligence in a cost-effective, compact unit Pocket PLC in Standard Box Pocket PLC with Screw Terminals and DIN Tray Sold & Serviced By: 30 ELECTROMATE Toll Free Phone (877) SERVO98 Toll Free Fax (877) SERV099 www.electromate.com sales@electromate.com
- 31. Smart. Compact. LowCost. Lots of I/O. Feature Specification (RIO-4710x) Opto-isolated I/O 32 Analog Inputs 8 Analog Outputs 8 PID Loops 2 Expanded Memory Option 6 Compact 3.9”x4.3”X1.3” Processor Type RISC Memory 200 lines X 40 characters Expanded Memory Option 400 lines X 80 characters Variables 126 Array Elements 400 Expanded Memory Option 1000 Communication 1x Ethernet Port (PoE) 1x RS232 Serial Sold & Serviced By: 31 ELECTROMATE Toll Free Phone (877) SERVO98 Toll Free Fax (877) SERV099 www.electromate.com sales@electromate.com
- 32. RIO Options RIO-47xxx-OTHER 0 – Standard Memory 2 – Expanded Memory 1 – Metal box enclosure 2 – PLC with Screw Terminals, DIN 16 high power outputs Example Description Single Piece 100 Piece RIO-47100 8 high power digital outputs $295 $195 8 low power digital outputs 16 digital inputs (All digital I/O Opto-isolated) 8 12bit 0-5V Analog Inputs 8 12bit 0-5V Analog Outputs Sold & Serviced By: 32 ELECTROMATE Toll Free Phone (877) SERVO98 Toll Free Fax (877) SERV099 www.electromate.com sales@electromate.com
- 33. GalilSuite Software Demonstration Sold & Serviced By: 33 ELECTROMATE Toll Free Phone (877) SERVO98 Toll Free Fax (877) SERV099 www.electromate.com sales@electromate.com