galil's high performance ethernet controllers & drives for robotic applications

Galil's High-Performance Ethernet Controllers and Drives For Robotic

Applications

ELECTROMATEToll Free Phone (877) SERVO98

Toll Free Fax (877) SERV099www.electromate.com

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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 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

Introduction: About the Company



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Introduction: 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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• VP/Sr. Member of Tech Staff Kaushal Shah• Application Engineering Team Todd Shearer (New England)

John Hayes Andy Herum Robin RileyStephen OtisDJ RobertsMarissa 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

Introduction: The Galil Support Team



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Introduction: Tools and Resources

• LIVE Tech Support Provided at Galil headquarters:

Galil Motion Control, Inc.270 Technology WayRocklin, CA 95765

Toll Free: 800-377-6329Phone: 916-626-0101Fax: 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



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Online Support Tools• Reference

Application Noteshttp://www.galilmc.com/support/application-notes.php

Product Catalog with Specs and Pricinghttp://www.galilmc.com/support/catalog.php

ServoTrends Newsletter and Archiveshttp://www.galilmc.com/support/servotrends.php

Customer applications and videoshttp://www.galilmc.com/support/smartmoves.php

• Learning ToolsOnline Tutorials and Two-minute How-to Videos

http://www.galilmc.com/learning/tutorials.phpMotionCodetm Toolkit with downloadable programs

http://www.galilmc.com/learning/motioncode.phpMotorSizertm Software for easy sizing of motion systems

http://www.galilmc.com/learning/motorsizer.phpHelloGaliltm Quick start for PC programming languages

http://www.galilmc.com/learning/hellogalil.php

• CommunityForum

http://www.galilmc.com/forums/ubbthreads.php

TechTalk Bloghttp://www.galilmc.com/techtalk/index.php



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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



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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



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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



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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



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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!



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Multi-axis 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 • Teach and Playback



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Position Control Systems

BLOCK DIAGRAM

HOSTCOMPUTER

MOTIONCONTROLLER DRIVER

POSITIONSENSOR

MOTOR AND LOAD



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COMMAND R X

+-

V

C

Σ

P

POSITIONDECODER

PROFILEGENERATOR FILTER

FUNCTIONSDecode Position FeedbackGenerate Desired Position R( t )Close the Position LoopStability Compensation

Motion Controller Functions



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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 responseDerivative For stability and dampingIntegral For accuracy - slow response

Filter Operation



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FILTER

R X

+-

C

YΣ

P M

G DAC

POSITIONDECODER

DESIREDPOSITION

GENERATORAMP

System Elements



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ACCELERA - Sizzling Speed. Fully Loaded

DMC-40x0 in 1-4-axis and 5-8-axis options



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ACCELERA – Sizzling Speed. Fully Loaded.

Feature SpecificationServo 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 510Array Elements 16,000

Communication Ethernet, 2x RS232 Serial

PCI Option DMC-18x6



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ECONO: Lowest Priced Controllers Just Got Smarter

DMC-41x3 in 1-4-axis card and –BOX Options



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ECONO: Lowest Priced Controllers Just Got Smarter


Output Pulses for Steppers 6 Mhz




Communication Ethernet (Auto MDIX), USB, RS232 Serial



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Accelera and ECONO Internal Drive Options



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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



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Single-Axis Motion Controller & Drive

DMC-30000 Pocket Motion ControllerSmart. Compact. Low Cost.



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DMC-30000 Pocket Motion Controller


Output Pulses for Steppers 3 Mhz


Processor Type RISC



Communication 2x Ethernet Port, 1 RS232



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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.



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DMC-30000: Compact

DMC-30012 controller & drive3.9” x 5.0” x 1.5” box

DMC-30010 controller only3.0” x 4.0” card



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DMC-30000 Internal Amplifier Options

Drive Model # of Axis Motor Type SpecsDMC-30012 1 Sinusoidal Brushless or

Brush servo10A Continuous15A peak20-80 VDC

DMC-30017 1 1/256 Microstepper 6 A/Phase20-80 VDC



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Ordering Information for DMC-30000

Example Description Single Piece 100 PieceDMC-30012 Single Axis Controller box

with internal 800W sine drive and 20-80VDC Input

$695 $445

DMC-30000-OTHER

0 – Standard Quad Feedback1 – Sine/Cosine Feedback

0 – No Amp, 1 – No Amp, DC-DC converter2 – Sine Amp, DC-DC converter7 – Stepper Amp, DC-DC converter

1 – Number of Axis–



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RIO Pocket PLC

Smart. Compact. Low-Cost. Packed with I/O



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RIO-47xxx Pocket PLC

Analog and Digital I/O with intelligence in a cost-effective, compact unit

Pocket PLC with Screw Terminals and DIN TrayPocket PLC in Standard Box



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Smart. Compact. Low Cost. Lots of I/O.

Feature Specification (RIO-4710x)Opto-isolated I/O 32Analog Inputs 8

Analog Outputs 8

PID LoopsExpanded Memory Option

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Compact 3.9”x4.3”X1.3”

Processor Type RISC

MemoryExpanded Memory Option

200 lines X 40 characters400 lines X 80 characters

Variables 126Array ElementsExpanded Memory Option

4001000

Communication 1x Ethernet Port (PoE)1x RS232 Serial



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RIO Options

RIO-47xxx-OTHER0 – Standard Memory2 – Expanded Memory

1 – Metal box enclosure2 – PLC with Screw Terminals, DIN

16 high power outputs

Example Description Single Piece 100 PieceRIO-47100 8 high power digital outputs

8 low power digital outputs16 digital inputs(All digital I/O Opto-isolated)8 12bit 0-5V Analog Inputs8 12bit 0-5V Analog Outputs

$295 $195



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GalilSuite Software Demonstration



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galil's high performance ethernet controllers & drives for robotic applications

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