Galil automation fair presentation 2006

Electromate Automation Fair 2006

Updates from Galil Motion Control
April 2006

1

Agenda

• Introducing Galil

• New Product Overview – DMC-18x6

• DMC-21x3 Accessories

• EXOR PLC interface

• New Firmware Features

• Q&A
2

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Toll Free Phone (877) SERVO98
Toll Free Fax (877) SERV099
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sales@electromate.com

The Galil Edge

• Excellent Performance and Flexibility
– 32-bit microcomputer, 12MHz feedback, dual loop, multitasking
– ISA, PCI, PC/104, VME, cPCI, USB, RS232, Ethernet
– Use steppers, servos, ultrasonic motors in any combination

• Easy to Customize
– Firmware & hardware customized to specifications
– Half of all products shipped have been customized

• Ease of Use
– Two-letter commands; WSDK Tuning software

• Cost-Effective
– 100+ quantity price guarantee; as low as $100/axis in qty

• Superior Support
– Full tech support team; on-line support tools and training

• Excellent Name Recognition and Reputation
– Over 375,000 controllers sold; Established in 1983; profitable for over 80 quarters

3

Unmatched Support and Service

• Prompt applications
support with over 100
years of combined
experience in motion
control.

• World-wide network of
factory-trained reps The mission of Galil’s experienced
and distributors Applications Department is to provide
prompt and accurate technical
assistance to help OEMs successfully
deliver their products to market
4

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On Line Tools at www.galilmc.com

Galil’s free online support tools include:
• White Papers, application notes and articles
www.galilmc.com/literature/technotes.html
• On-Line tutorials on motion control
www.galilmc.com/training/webconf.html
• MotionCodetm Toolkit with downloadable programs and code
www.galilmc.com/support/motioncode/index.html
• MotorSizertm Software for easy sizing of motion systems
www.galilmc.com/support/motorsizer/
• Bulletin Board with subject search
www.galilmc.com/support
• ServoTrends Newsletter Archives
www.galilmc.com/literature/servo.html
• Product catalog with specs and pricing
www.galilmc.com/products/catalog.html

5

Product Line Overview: Motion Controllers

• PCI
– DMC-18x2 PCI, Econo, 1-4 axes
– DMC-18x0 PCI, Optima, 1-8 axes
– DMC-18x6 PCI, Accelera, 1-8 axes –NEW!
• Ethernet/RS232
– DMC-20x0 RS232/ USB, Optima ,1-8 axes
– DMC-22x0 RS232/ Ethernet (10/100Base-T), Optima, 1-8 axes
– DMC-21x3 RS232/ Ethernet (10Base-T), Econo,1-8 axes
– CDS-3310 RS232/ Ethernet (10/100Base-T), 1-axis controller and drive system
– DMC-14x5 RS232/ Ethernet (10Base-T), Econo, 1-2 axes
– IOC-7007 RS232/ Ethernet (10/100Base-T) Intelligent I/O Controller

• Other Interfaces
– DMC-12x0 PC/104, Optima, 1-8 axes
– DMC-13x8 VME, Optima, 1-4 axes
– DMC-16x0 CompactPCI, Optima , 1-4 axes
– DMC-17x0 ISA, Optima, 1-8 axes
– DMC-1410 ISA, Econo, 1 axis
– DMC-1411 PC/104, Econo, 1 axis
– DMC-1412 RS232, Econo, 1 axis

• Legacy Series -- Prior Generation
– DMC-10x0 ISA,1-8 axes
– DMC-13x0 VME, 1-8 axes 6
– DMC-15x0 RS232, 1-8 axes

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New Products from Galil

7

DMC-18x6 Accelera Series

DMC-1886 and DMC-1846 PCI Motion Controllers

• Galil’s latest PCI-based, multi-axis motion controller
• Designed as an upgrade to existing Optima-series applications
8

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DMC-18x6 Accelera Series

• Uses RISC-based microcomputer for high-speed
performance and processing power
• Accepts encoder inputs up to 22MHz for servos
• Servo update as low as 31 µsec/axis
• Command execution speeds as low as 40 µsec
• 2000 lines (x 80 char) program memory
• 16,000 array elements
• 510 user defined variables
• Enhanced instruction set
• 100-pin SCSI cable compatible with DMC-18x0
• Available in 1- through 8-axis formats

9

New Accelera firmware features

• Flexible Homing
• Buffered Contour data
• No More Stepper motor jumpers- MT command only
• Program lockout
• Encoder failure detection
• Additional math operations
• Two virtual axes for inverse kinematics
– See Appnote 2501 for details on all features

10

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CDS-3310 1-Axis Controller and Drive

CDS-3310 Controller and Drive
• 1-axis motion controller & 500 Watt servo drive in single package
• Drives brushless or brush servo motors up to 72V, 7A cont/10A peak
• Accepts single DC voltage 18V-72V
• 10/100 Base-T Ethernet port and RS232 port
• 8 uncommitted TTL inputs, 10 uncommitted outputs
• 2 uncommitted analog inputs, 1 uncommitted analog output
• Accepts input from auxiliary encoder for dual loop and gearing
• Up to eight units can be connected on a distributed network
• Add ICM-3300 for optoisolated I/O and screw terminals
• Low cost: just $495 in 100 qty for controller/drive unit
11

The DMC-21x3 Controller n’ Drive

DMC-2143 with AMP-20440

The DMC-21x3 is
Galil’s Controller n’ Drive ‘sandwich’ solution
12

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DMC-21x3 Multi-axis, Ethernet Controller

• DMC-21x3 Series for OEMs
• Low cost: 4-axis: $1195 qty 1; $795 qty 100
8-axis: $1595 qty 1; $995 qty 100
• Small size: 4-axis: 4.25” x 7”; 8-axis: 4.45” x 10.75”
• 1 through 8 axis versions
• Ethernet 10Base-T, RS232 interface
• CARD, DIN-RAIL or BOX enclosure options
• Add DB-28040 for I/O expansion and SSI encoders
• Add DB-28104 for interpolation of sinusoidal encoders
• Distributed control option with DMC-31x3 firmware
• 96-pin DIN for DMC-21x3 interconnect – no cable required!
• Mating 4-axis servo and stepper drives attach directly to
DMC-21x3 with no cable
13

DMC-21x3 Amplifier Options

Galil offers several amplifier options for the DMC-21x3
Features:
DMC-2143 with attached
• Mount directly to the 96- SDM-20240 for driving four
pin DIN connector stepper motors
without the need for a
cable
• 4-axis amplifier boards
for stepper motors,
brush-type servos and
brushless servos
• Controller/Amplifier
combinations reduce
cost and reduce wiring 14

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DMC-21x3 Amplifier Options

Model Description Qty1/Qty100
ICM-20100 4-axis interconnect with D-type connectors for each $95/$75
axis — for use with external drives

ICM-20105 Above with optically isolated I/O $195/$145

AMP-20341 Four 20W Linear amps for brush servos $195/$175
AMP-20440 Four 200W PWM amps for brush servos $595/$295
AMP-20420 Two 200W PWM amps for brush servos $395/$245
AMP-20540 Four 500W PWM amps for brush/brushless $795/$495
AMP-20520 Two 500W PWM amps for brush/brushless $595/$395
AMP-20542 Four 200W amps for brush/brushless - low inductance $695/$395
SDM-20240 Four 1.4 A drives for full/ half step motors $195/$175
SDM-20640 Four 3.0 A drives for microstepping $695/$395
SDM-20620 Two 3.0 A drives for microstepping $545/$345

A complete selection matrix for the DMC-21x3 series is available- See Appnote 5474
15

ICM-20100 Interconnect

• For connecting to external
drives
• 4 axis interconnect with 15-pin
D-type connector for each axis.
• 25-pin D-type for Aux encoder
breakout
• 25-pin D-type for uncommitted
I/O breakout
• Configurable high/low amplifier
enable
• No added opto-isolation
• Two units OK on DMC-2153
thru DMC-2183

16

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ICM-20105 Interconnect with Opto

• For connecting to external drives
• 4 axis interconnect with 15-pin D-
type connector for each axis.
• 25-pin D-type for Aux encoder
breakout
• 25-pin D-type for uncommitted I/O
breakout
• Optical isolation for Inputs, Limits,
Homes, Outputs, Enable up to 24V
• Outputs capable of 500 mA each
(3A total)
• Two units OK on DMC-2153 thru
DMC-2183

17

AMP-20341 20W Servo Drives

• 20W linear amplifier (60W total)
• +/- 12-30VDC bipolar supply
required
• 0.1A/volt gain
• 15-pin D-type axis connector
• 25-pin D-type I/O connector
• All I/O TTL
• Access to motor command
signals for external drives
thru DMC-2183

18

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AMP-20420/20440 200W Servo Drives

• 2 or 4 axis PWM
• 200W per axis
• 18-60 VDC input
• 15-pin D-type axis
connectors
• 2-pin Molex motor
connectors
AMP-20440 mounted on DMC-2143
thru DMC-2183

19

AMP-20520/20540 500W Servo Drives

• 2 or 4 axis brush/brushless drive
• 500W per axis (7A cont./10A peak)
• 18-60 VDC input (up to 160V optional)
• .4, .7, 1.0 A/V (software settable)
• 8 12-bit analog inputs (16-bit optional)
• 15-pin D-type axis connectors
• Can be configured to work with DB-28040
• CE rated
• Emergency Lockout input for added safety
AMP-20540 mounted on a
• Only one unit fits on DMC-2153 thru DMC-2143
DMC-2183

20

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ICM-20500

• Mounts to the AMP-205x0
• Provides optical isolation of
inputs, outputs, enable, limits
and home
• Available with screw
terminals or D-type
ICM-20500 Mounted on AMP-20540

21

SR-19900 Shunt Regulator

• Shunt regulator
• User-settable voltage level
• Useful for systems with power regeneration
• Mate-n-Lok and Molex power connectors

22

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AMP-20542 Drives for Low Inductance Motors

• 2 or 4 axis brush/brushless drive
• Good for low inductance motors
• 200W per axis (3.3A cont./5A peak)
• Bipolar (inverter) and Unipolar (chopper)
operation - jumper configurable
• 18-60 VDC input
• 15-pin D-type axis connectors
• Emergency Lockout input for added
safety
• Does not have uncommitted analog
inputs
• Only one unit fits on DMC-2153 thru
DMC-2183
23

SDM-20240 Stepper Drives

• 2 or 4 axis full/half step driver
• 12-30 VDC supply
• .5, .75, 1.0, 1.4 Amps/phase (jumper
configured)
• 9-pin axis D-type
• 25-pin I/O D-type
• Low-current mode (jumper configured)
• Airflow recommended if axes set to high-
current
• Two units OK on DMC-2153 thru DMC-
2183

24

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SDM-20620/20640 Microstepping Drives

• 2 or 4 axis microstepping (1/64th step)
• .5,1.0, 2.0, 3.0A per axis (software
settable)
• 12-60 VDC input
• 8 12-bit Analog inputs (16-bit optional)
• 9-pin D-type axis connector
• 25-pin I/O connector
• Emergency Lockout input for added
protection
• Motor command signals available for
external drives
• Low current mode (software settable)
• Only one unit fits on DMC-2153 thru DMC-
2183
25

Other Options for the DMC-21x3

Options have been created for the DMC-
21x3 based on customer demands

• Metal enclosure
• Expanded I/O
• Sinusoidal Encoder Interface
• PLC interface through Exor

26

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- BOX Option

• -BOX Metal Enclosure
• Standard enclosure is for DMC-
2143 & ICM-20105
• $100 adder for -BOX
• DC-DC or Logic supply
• All D-type connectors and
jumpers accessible
• CE rated
• Custom enclosures for other 8.55” x 5.6” x 1.95” BOX
controller and amplifier for DMC-21x3 and ICM-20105
configurations are available for a
minimum order for 25 units.

27

DB-28040 I/O Expansion

• 40 In/Out (3.3V logic)
• 40 In/Out (5 V logic) max 24 outputs
• 8 12-bit analog inputs (16-bit optional)
• Used for SSI encoder interface
• IDC headers for signal breakout
• Fits with most amplifier boards
• 2.55” x 3.08”
DMC-2143-DIN with attached
DB-28040 and ICM-20100

28

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DB-28104 Sinusoidal Encoder Interpolation

• Provides high resolution position feedback by interpolating up
to 4 sinusoidal encoders
• AF m command sets 2m interpolation counts per encoder cycles
(m=5 through 12).
• Example: For encoder cycle = 40 microns
AF 10 = 210 or 1024 counts/cycle for 39 nanometers/count
• Speed limit for sinusoidal is 50 million counts/sec;
Acceleration limit for sinusoidal is 109 counts/sec 2

DB-28104 attached to DMC-2143 on 50-pin
Install ICM or small AMP on 96-pin

29

EXOR - UniOP Series HMI

30

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Interface to PLCs using EXOR UniOP

• Exor Displays come with a dual protocol feature that allow a
Galil controller to seamlessly integrate with any PLC.
• Exor units come with 2 ports: Port 1 connected to Galil, and
port 2 connected to any PLC such as AB, Siemens, Modicon,
Omron, Mitsubishi, PLC Direct, etc.
• Each port is software configurable to talk to any of Exor’s
100's of supported protocols. You can read and write data to
either the PLC, the Galil Controller or both. You can also
exchange data between the PLC and the Galil Control.
• Exor Drivers support variable names that are native to the
controller you are talking to ( ie: N7 registers, etc. for AB
PLC, and for Galil, ACX, DCX, SPX,TPX,TPY etc.).
Exchange to General purpose variables are also supported.

31

Galil Connectivity Via EXOR UniOP

32

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Galil Connectivity Via EXOR UniOPEN

33

UniOPEN Modules for Protocol Conversion

Custom EXOR UniOPEN Modules
- Designed for integration into OEM equipment such
as controllers and drives. The smart modules have
their own microprocessor which handles the entire
communication protocol independently of the host
application.

For details, see Appnote 5469

34

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Recent Firmware Additions

• Stepper Position Maintenance
• 2-D Error correction
• Position Tracking
• Ramp to Gearing
• Axis Designators
• Amplifier Commands
• Troubleshooting

35

Stepper Position Maintenance

• New command set to check for significant
position losses due to stalling, slipping, or
over-speed on a stepper motor
• Programmer can recover as needed
• See Appnote 2445

36

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2-D Error Correction

• ‘Standard’ special
• Corrects an axis position as a function of
axis encoder position AND an orthogonal
axis
• Corrects for ball screw errors,
non-orthogonality, curved or bowed lead
screws
• Used with Backlash command
• See Appnote 2447

37

Position Tracking

Allows an axis to precisely follow a randomly
generated position target. New PA position
commands can be sent while axis is in motion
PT 1,1 Enable Position Tracking Mode

Applications:
Satellite tracking
Automated vehicle navigation to GPS

38

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Ramp-to-Gearing

Allows for gradual ramp-to-gearing which results in
smoother transitions when gear ratio is changed
GD n,m sets the distance of the master over which
the slave will be engaged
_GP correction for accumulated errors in gearing
during ramping
Applications:
Web tension
Paper printing

39

Axis Designators, ~n

~ n=m Variable axis designator
n is lower case a thru h (1 thru 8 axes)
m is 0 thru 10 (0 is x axis, 7 is h axis)
Example:
~a=2;~b=6 Sets ~a to Z axis, ~b to G axis
PR~a=1000
JG~b=9000
BG~a; BG~b
-Can also configure Communication ports

40

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Amplifier Commands

TK Set peak torque
LC low current for steppers
AG set AMP-205x0 amplifier gain
AU set AMP-205x0 current loop gain
#AMPERR executes if Hall, over-current or
over-voltage error
ELO Electronic Lock Out. Disables amp on
hardware abort
41

Troubleshooting

BK n Breakpoint for debugging. Pauses controller at
line number n
SL n Single step through n lines of the program
RS-1 resets the processor to factory default without
modifying EEPROM
TC-1 returns previous error that occurred prior to current
error. Useful for Ethernet when multiple ?s are
returned
#AUTOERR runs on power-up if checksum error occurs

42

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Question and Answer

Q&A Session

43

Galil Customer Product Training is protected by copyright and
must not be reproduced or disassembled in any form without
prior written consent of Galil Motion Control, Inc.

44

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Galil automation fair presentation 2006

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Galil automation fair presentation 2006