logging in or signing up Galil's New Accelera Controller Sizzling Speed Fully Loaded 2007 Prese Servo2Go.com Download Post to : URL : Related Presentations : Share Add to Flag Embed Email Send to Blogs and Networks Add to Channel Uploaded from authorPOINT lite Insert YouTube videos in PowerPont slides with aS Desktop Copy embed code: (To copy code, click on the text box) Embed: URL: Thumbnail: WordPress Embed Customize Embed The presentation is successfully added In Your Favorites. Views: 16 Category: Science & Tech.. License: All Rights Reserved Like it (0) Dislike it (0) Added: December 20, 2011 This Presentation is Public Favorites: 0 Presentation Description Galil's New Accelera Controller Sizzling Speed Fully Loaded 2007 Presentation Comments Posting comment... Premium member Presentation Transcript PowerPoint Presentation: Accelera Motion Controllers Sizzling Speed. Fully Loaded. Sold & Serviced By: Toll Free Phone: 877-378-0240 Toll Free Fax: 877-378-0249 sales@servo2go.com www.servo2go.comPowerPoint Presentation: Outline • Advances in Technology • 5 th Generation Accelera Series • DMC-18x6 PCI Accelera Controller • DMC-40x0 Ethernet Accelera Controller • Inverse Kinematics Example Sold & Serviced By: Toll Free Phone: 877-378-0240 Toll Free Fax: 877-378-0249 sales@servo2go.com www.servo2go.comPowerPoint Presentation: A New Generation of Motion Control Today ’s generation of motion controllers provide more capability than ever before due to advancements in technology Sold & Serviced By: Toll Free Phone: 877-378-0240 Toll Free Fax: 877-378-0249 sales@servo2go.com www.servo2go.comPowerPoint Presentation: Areas of Improvement 1. Performance - Accuracy and Settling 2. Coordination - Modes of motion, Application programs 3. Smaller package size and integration with power drivers 4. Communication Sold & Serviced By: Toll Free Phone: 877-378-0240 Toll Free Fax: 877-378-0249 sales@servo2go.com www.servo2go.comPowerPoint Presentation: Structure of Motion Control System Host Application Program Sold & Serviced By: Toll Free Phone: 877-378-0240 Toll Free Fax: 877-378-0249 sales@servo2go.com www.servo2go.com Modes of Motion Profile Generation Closed Loop Driver Encoder Motor I/O Digital/AnalogPowerPoint Presentation: Structure of Motion Control System Host Application Program Sold & Serviced By: Toll Free Phone: 877-378-0240 Toll Free Fax: 877-378-0249 sales@servo2go.com www.servo2go.com Modes of Motion Profile Generation Closed Loop Driver Encoder Motor I/O Digital/Analog Performance Sample Time Encoder Frequency DAC Resolution Filters PID/Notch Tuning ProgramPowerPoint Presentation: Structure of Motion Control System Host Application Program Sold & Serviced By: Toll Free Phone: 877-378-0240 Toll Free Fax: 877-378-0249 sales@servo2go.com www.servo2go.com Modes of Motion Profile Generation Closed Loop Driver Encoder Motor I/O Digital/Analog Coordination Modes of Motion Application ProgramsPowerPoint Presentation: Structure of Motion Control System Host Application Program Sold & Serviced By: Toll Free Phone: 877-378-0240 Toll Free Fax: 877-378-0249 sales@servo2go.com www.servo2go.com Modes of Motion Profile Generation Closed Loop Driver Encoder Motor I/O Digital/Analog Integration with Power DriversPowerPoint Presentation: Structure of Motion Control System Host Application Program Sold & Serviced By: Toll Free Phone: 877-378-0240 Toll Free Fax: 877-378-0249 sales@servo2go.com www.servo2go.com Modes of Motion Profile Generation Closed Loop Driver Encoder Motor I/O Digital/Analog CommunicationPowerPoint Presentation: Advancements in Several Areas • Advancements in Microprocessor Æ faster motion control • Advancements in Motor Drives Æ more power in a small space • Advancements in Ethernet Æ virtually deterministic for motion applications • Advancements in ICs and Circuit Design Æ Sold & Serviced By: allows more features to be added Toll Free Phone: 877-378-0240 Toll Free Fax: 877-378-0249 sales@servo2go.com www.servo2go.comPowerPoint Presentation: Microprocessor Advancements • In 1983, Galil introduced the world’s 1 st microprocessor-based servo motion controller. One axis of motion was controlled using an 8-bit microprocessor • In the 1990’s, Galil continued to introduce new generations of motion controllers based on 16-bit and 32-bit microprocessors • Today, Galil offers its 5 th generation motion controllers—the Accelera Series which is Sold & Serviced By: based on a powerful, RISC/DSP processor. Toll Free Phone: 877-378-0240 Toll Free Fax: 877-378-0249 sales@servo2go.com www.servo2go.comPowerPoint Presentation: Accelera—It’s all about Speed Fast RISC processing means faster motion control! • Servo loop update rates 4X faster than prior generation, as low as 31 microseconds per axis Æ good for high bandwidth systems such as voice coils or short, fast moves • Command processing 10X faster than prior generation, as low as 40 microseconds per command Æ executes entire motion program quickly and allows more tasks to be completed by controller • Accepts encoder inputs 2X faster , up to 22 MHz Æ good for ultra-high resolution position sensors Sold & Serviced By: Toll Free Phone: 877-378-0240 Toll Free Fax: 877-378-0249 sales@servo2go.com www.servo2go.comPowerPoint Presentation: Advancements in the Motor Drives Improvements in amplifier design using Direct FETs allows better power density —more power in less space! Æ 500W drive takes less than 6 square inches • Direct FETs are smaller in size • Direct FETs have better thermal characteristics which gets heat to top of package more efficiently Sold & Serviced By: Toll Free Phone: 877-378-0240 Toll Free Fax: 877-378-0249 sales@servo2go.com www.servo2go.comPowerPoint Presentation: Advancements in Ethernet • 100Base-T Ethernet is virtually deterministic for motion control applications • Time to send commands across network is insignificant Sold & Serviced By: Toll Free Phone: 877-378-0240 Toll Free Fax: 877-378-0249 sales@servo2go.com www.servo2go.comPowerPoint Presentation: Advancements in Circuit Design Improvements in circuit design means more features can be added cost-effectively: • Optically isolated I/O • Analog inputs for interface to sensors such as joysticks • High powered outputs to drive relays and brakes • On-board memory, variables and arrays • Additional communication ports such as RS232 Sold & Serviced By: Toll Free Phone: 877-378-0240 Toll Free Fax: 877-378-0249 sales@servo2go.com www.servo2go.comPowerPoint Presentation: Accelera PCI Controller In 2005, Galil Introduced the DMC-18x6 Accelera PCI Sold & Serviced By: Toll Free Phone: 877-378-0240 Toll Free Fax: 877-378-0249 sales@servo2go.com Top: DMC-1886 8-axis PCI controller Bottom: DMC-1846 4-axis PCI controller www.servo2go.comPowerPoint Presentation: Introducing the DMC-40x0 Series In 2006, Galil Introduced the DMC-40x0 Accelera Ethernet Controller Sold & Serviced By: Toll Free Phone: 877-378-0240 Toll Free Fax: 877-378-0249 sales@servo2go.com www.servo2go.com Top: DMC-4040 4-axis Ethernet controller Bottom: DMC-4080 8-axis Ethernet controllerPowerPoint Presentation: Sizzling Specs of Accelera Controllers Accelera Prior Generation Max encoder rate 22 MHz 12 MHz Max stepper rate 6 MHz 3 MHz Command Execution 40 microseconds 400 microseconds Speed Minimum Servo Update 31 microseconds 125 microseconds Program memory 2000 lines x 80 chr 1000 lines x 80 chr Array Size 16000 elements 8000 elements Sold & Serviced By: umber of variables Toll Free Phone: 877-378-0240 510 254 Toll Free Fax: 877-378-0249 sales@servo2go.com www.servo2go.comPowerPoint Presentation: Handles Virtually any Mode of Motion • Point-to-Point Positioning • Position Tracking • Jogging • Linear and Circular Interpolation • Tangential Following • Helical • Electronic Gearing • Electronic Cam Sold & Serviced By: • Contouring Toll Free Phone: 877-378-0240 each and Playback Toll Free Fax: 877-378-0249 sales@servo2go.com www.servo2go.comPowerPoint Presentation: DMC-4000- Full Featured, High Speed • DMC-40x0 Accelera Ethernet Controller combines all the enhanced capabilities of the processor, drives, Ethernet and features in a single compact unit • The DMC-40x0 is ideally suited for OEMs who need a full-featured , box-level controller with enhanced performance Sold & Serviced By: Toll Free Phone: 877-378-0240 Toll Free Fax: 877-378-0249 sales@servo2go.com www.servo2go.comPowerPoint Presentation: DMC-40x0 Accelera Controller • Full-featured , packaged controller • Ultra-high speed and precision • Ethernet 10/100Base-T and two RS232 ports • 1 through 8 axes • Standard features: optically isolated I/O, high-powered outputs, analog inputs, metal enclosure, D-type connectors • Available packaged with stepper and servo drives DMC-4040 4-axis controller Sold & Serviced By: Toll Free Phone: 877-378-0240 Toll Free Fax: 877-378-0249 sales@servo2go.com www.servo2go.comPowerPoint Presentation: DMC-40x0 vs DMC-21x3 Features DMC-40x0 Accelera DMC-21x3 Econo Box-Level Controller Card-level Controller Analog Inputs 8, standard 8, optional with DB-28040 Isolated Inputs 8 or 16, standard Optional with ICM-20105 Isolated, high-power 8 or 16, standard Optional with ICM-20105 Outputs (.5A, 24V) Extended digital I/O 32, Standard 40, Optional with DB-28040 LCD display 2 line x 8chr, included Not available Ethernet 10/100 Base-T 10 Base-T only RS232 ports Two ports One port only up to 115 kBaud up to 19.2 kbaud ICM Included Optional Sold & Serviced By: C-to-DC converter Toll Free Phone: 877-378-0240 Toll Free Fax: 877-378-0249 Included Accepts 20-80 VDC Optional M swww.servo2go.comm closure Included OptionalPowerPoint Presentation: Drives Save Space, Cost and Wiring • DMC-40x0 is available with internal, multi- axis drives for steppers and servos • Internal drives save space, cost and wiring • DMC-40x0 can also be connected to external drives of any size or power Sold & Serviced By: Toll Free Phone: 877-378-0240 Toll Free Fax: 877-378-0249 sales@servo2go.com www.servo2go.comPowerPoint Presentation: Drive Options Drive Model Number Motor Type Specs of Axes AMP-43020 2 Brush or 7A cont, 10A peak brushless servo 20-80 VDC AMP-43040 4 Brush or 7A cont, 10A peak brushless servo 20-80 VDC AMP-43140 4 Brush servo 1A +/-12-30 VDC SDM-44040 4 Full, half, ¼, 1/16 1.4A/phase stepper 12-60 VDC Sold & Serviced By: SDM-44140 4 Microstep 3A/phase 12-60 VDC Toll Free Phone: 877-378-0240 Toll Free Fax: 877-378-0249 sales@servo2go.com www.servo2go.comPowerPoint Presentation: AMP-430x0 2- and 4-axis 500W Drives • AMP-43040 contains four PWM amplifiers for driving brush or brushless servos. AMP-43020 2-axis version also available. • 7 Amps cont, 10 Amps peak; 20-80 VDC • Configurable for inverter or chopper mode • No external heat sink required Sold & Serviced By: Toll Free Phone: 877-378-0240 Toll Free Fax: 877-378-0249 sales@servo2go.com www.servo2go.comPowerPoint Presentation: AMP-430x0 is a “Hybrid” Design AMP-430x0 has both Digital and Analog circuitry Æ Hybrid Design • Analog current loop for highest bandwidth and response. Analog circuitry is on AMP-430x0 amplifier board • Digital circuitry for amplifier set-up and status reporting. Microprocessor is on DMC-40x0 controller board. For example, AG sets AMP gain and TA reports AMP status Sold & Serviced By: Toll Free Phone: 877-378-0240 Toll Free Fax: 877-378-0249 sales@servo2go.com www.servo2go.comPowerPoint Presentation: AMP-43140 Four 20W Servo Drives • Drives four brush servos • Linear drives • Requires +/-12-30 VDC input • Maximum current for each amplifier is 1A • Maximum output power: 20 W per amplifier and 60 W total • No external heat sink required Sold & Serviced By: Toll Free Phone: 877-378-0240 Toll Free Fax: 877-378-0249 sales@servo2go.com www.servo2go.comPowerPoint Presentation: SDM-44040 Four Stepper Drives • Drives two-phase bipolar steppers • Requires single 12-30 VDC input • User configurable for: 1.4A, 1.0A, .75A or .5A • User configurable for: full-step, half-step, ¼ step or 1/16 step • Short circuit protection • No external heat sink required Sold & Serviced By: Toll Free Phone: 877-378-0240 Toll Free Fax: 877-378-0249 sales@servo2go.com www.servo2go.comPowerPoint Presentation: SDM-44140 Four Microstep Drives • Drives two-phase bipolar steppers • 64 microsteps/full step • Drives motors up to 3A, 12-60 VDC • Software Selectable current settings: .5A, 1A, 2A, 3A • No external heat sink required Sold & Serviced By: Toll Free Phone: 877-378-0240 Toll Free Fax: 877-378-0249 sales@servo2go.com www.servo2go.comPowerPoint Presentation: DMC-40x0 Physical Dimensions DMC-40x0 is extremely 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” Æ package includes the multi-axis drives Sold & Serviced By: Toll Free Phone: 877-378-0240 Toll Free Fax: 877-378-0249 sales@servo2go.com www.servo2go.comPowerPoint Presentation: DMC-4080 Controller/Drive Package The DMC-4080 8-axis controller and drive unit Sold & Serviced By: Toll Free Phone: 877-378-0240 Toll Free Fax: 877-378-0249 sales@servo2go.com www.servo2go.com connects to 8 servo motorsPowerPoint Presentation: DMC-40x0 Options New options for the DMC-40x0: -DIN Din rail mounting clips -16-BIT 16-bit ADC (12-BIT is standard) -5V 5V for extended I/O (3.3V is standard) -SSI SSI interface -DIFF Differential outputs for analog motor command -STEP Differential outputs for step/direction command - I100 Sold & Serviced By: Toll Free Phone: 877-378-0240 Toll Free Fax: 877-378-0249 sales@servo2go.com www.servo2go.com Sinusiodal encoder interpolationPowerPoint Presentation: Part Number Generator for DMC-40x0 • New web tool helps generate part number with all the options for the DMC-40x0 • Also calculates pricing • Part Number Generator Tool is on DMC-40x0 webpage: http://www.galilmc.com/products/accelera/dmc40x0.html Sold & Serviced By: Toll Free Phone: 877-378-0240 Toll Free Fax: 877-378-0249 sales@servo2go.com www.servo2go.comPowerPoint Presentation: For More Info • See website for complete specs and pricing information http://www.galilmc.com/products/accelera/dmc40x0.html Sold & Serviced By: Toll Free Phone: 877-378-0240 Toll Free Fax: 877-378-0249 sales@servo2go.com www.servo2go.comPowerPoint Presentation: Galil Material is protected by copyright and must not be reproduced or disassembled 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 sales@servo2go.com www.servo2go.comPowerPoint Presentation: Inverse Kinematics Inverse Kinematics Applications Sold & Serviced By: Toll Free Phone: 877-378-0240 Toll Free Fax: 877-378-0249 sales@servo2go.com www.servo2go.comPowerPoint Presentation: Inverse Kinematics - Agenda • What is Inverse Kinematics and why is it used? • Simple 2-D example • Solution Methods Sold & Serviced By: Toll Free Phone: 877-378-0240 Toll Free Fax: 877-378-0249 sales@servo2go.com www.servo2go.comPowerPoint Presentation: Inverse Kinematics Inverse Kinematics equations allow an Engineer to compute angular (rotary encoder) positions knowing the end-effector location and robot geometry. Æ Forward Kinematics Pos motor Pos load Inverse Kinematics Å Increase in complexity with additional DOF Min/max angular positions, boundary conditions, and ‘keep-out’ zones are critical in providing a complete solution. Sold & Serviced By: Toll Free Phone: 877-378-0240 Toll Free Fax: 877-378-0249 sales@servo2go.com www.servo2go.comPowerPoint Presentation: Inverse Kinematics Why use inverse kinematics? To allow an operator to move a machine to a real, known location in Cartesian space without intimate knowledge of the machine mechanics Sold & Serviced By: Toll Free Phone: 877-378-0240 Toll Free Fax: 877-378-0249 sales@servo2go.com www.servo2go.comPowerPoint Presentation: Solution Options Three general options: 1. 2. 3. Sold & Serviced By: Toll Free Phone: 877-378-0240 Toll Free Fax: 877-378-0249 sales@servo2go.com www.servo2go.com Host PC 1. All motor positions are calculated by a host PC 2. Controller receives Contour mode position data 3. Customer has complete control over equations, constants, and update rates On controller, in a software program 1. Encoder positions calculated by Galil in a dmc file 2. No host PC necessary 3. Accelera series can generate profiles at up to a 2 msec update (depends on equation complexity) 4. Customer can change equations or constants at will On controller, in firmware 1. Motor positions calculated within the controller ’s servo loop 2. Very fast calculations 3. Once programmed into firmware, customer cannot change equationsPowerPoint Presentation: Simple 2-D Example Sold & Serviced By: Toll Free Phone: 877-378-0240 Toll Free Fax: 877-378-0249 sales@servo2go.com Example of 2 DOF robot arm www.servo2go.comPowerPoint Presentation: Simple 2-D Example Ø2 Ø1 Sold & Serviced By: Toll Free Phone: 877-378-0240 Toll Free Fax: 877-378-0249 sales@servo2go.com www.servo2go.com Given: X hand , Y hand , L 1 , L 2 Find: θ 1 , θ 2PowerPoint Presentation: Simple 2-D Example Ø2 Ø1 B: Length of imaginary line Sold & Serviced By: Q 1 : Angle between X axis and imaginary line B Toll Free Phone: 877-378-0240 Toll Free Fax: 877-378-0249 swww.servo2go.com Q 2 : Interior angle between imaginary line B and link L 1PowerPoint Presentation: Simple 2-D example • Equations: B 2 = X hand2 + Y hand2 Q 1 = atan(Y hand /X hand ) Q 2 = acos[(L 12 - L 22 + B 2 )/(2 * L 1 * B)] θ 1 = Q 1 +Q 2 θ 2 = acos[(L 12 + L 22 - B 2 )/(2 * L 1 * L 2 )] Sold & Serviced By: Toll Free Phone: 877-378-0240 Toll Free Fax: 877-378-0249 sales@servo2go.com www.servo2go.comPowerPoint Presentation: Simple 2-D Example Sold & Serviced By: Toll Free Phone: 877-378-0240 Toll Free Fax: 877-378-0249 sales@servo2go.com www.servo2go.com Calculate points along trajectory (150,100)-(250,200) Use Galil motion profilerPowerPoint Presentation: Simple 2-D Example Use the Galil motion profiler to define a end-effector acceleration, speed and deceleration. Galil Code to generate XY coordinates along motion path #CALC TL 0,0; ER -1,-1; 'FOR PURE CALCULATION VMXY VS 1000;VA 20000;VD 20000 DP 150,100; 'DEFINE STARTING POSITION DA,*[]; 'DEALOCATE ARRAYS DM XPOS[100],YPOS[100]; 'ARRAYS FOR TRAJECTORY DATA Sold & Serviced By: Toll Free Phone: 877-378-0240 Toll Free Fax: 877-378-0249 sales@servo2go.com www.servo2go.com RA XPOS[],YPOS[]; RD _RPX,_RPY; VP 100,100; VE RC1 BGS AMS MG"DONE" EN 'SET UP RECORD ARRAY 'RECORD REFERENCE POSITION 'MOVE TO POSITION 250,200PowerPoint Presentation: Simple 2-D Example Resulting trajectory data in Excel: End-Effector X-axis position vs. time End-Effector Y-axis Position vs. Time 260 210 240 190 220 170 200 150 180 130 160 110 140 90 0 50 100 150 200 0 50 100 150 200 Time, msec Time, msec Sold & Serviced By: Toll Free Phone: 877-378-0240 Toll Free Fax: 877-378-0249 sales@servo2go.com www.servo2go.comPowerPoint Presentation: Simple 2-D Example Theta1 Absolute Angle #GENR8 'L1 = LENGTH OF FIRST LINK 'L2 = LENGTH OF SECOND LINK 'B= LENGTH OF HYPOTNUSE 'Q1 = ANGLE BETWEEN X AXIS AND LINE B 'Q2 = INTERIOR ANGLE FROM B TO L1 'Theta1 = ABS ANGULAR POS OF FIRST MOTOR 'Theta2 = ABS ANGULAR POS OF SECOND MOTOR L1=200 L2=200 DA,Theta1[];DA,Theta2[] NOTE BUILD ARRAYS FOR CONTOUR DATA DM Theta1[100],Theta2[100] N=0;'ARRAY INCREMENT #CALC2 B=@SQR[(Xpos[N]*Xpos[N])+(Ypos[N]*Ypos[N])] Q1=@ATAN[(Ypos[N])/(Xpos[N])] Q2=@ACOS[((L1*L1)-(L2*L2)+(B*B))/(2*L1*B)] Theta1[N]=Q1+Q2 Theta2[N]=@ACOS[((L1*L1)+(L2*L2)-(B*B))/(2*L1*L2)] N=N+1 JP#CALC2,N<100 Sold & Serviced By: ONE GENR8" EN Toll Free Phone: 877-378-0240 Toll Free Fax: 877-378-0249 sales@servo2go.com www.servo2go.com 100 95 90 85 80 75 70 0 50 100 150 200 Tim e Theta2 Absolute Angle 115 105 95 85 75 65 55 45 0 50 100 150 200 Tim ePowerPoint Presentation: Simple 2-D Example #CONTMOV NOTE Encres = ENCODER COUNTS/DEGREE Encres=4000/360 NOTE BUILD ARRAYS FOR ENCODER RELATIVE DATA DA,Enc1[];DA,Enc[2] DM Enc1[100],Enc2[100] N=0; 'INCREMENT RESET #CALC3 Enc1[N]=Encres*((Theta1[N+1])-(Theta1[N])) Enc2[N]=Encres*((Theta2[N+1])-(Theta2[N])) N=N+1 JP#CALC3,N<99 MG"DONE CONTCLC" DP0,0 NOTE THIS ROUTINE SENDS ALL 100 CONTOUR MOVES CMXY DT1 N=0;'INCREMENT RESET #LOOP3 CD Enc1[N],Enc2[N] N=N+1 JP#LOOP3,N<100 #WAIT;JP#WAIT,_CM<>511 CD 0,0=0 EN Sold & Serviced By: Toll Free Phone: 877-378-0240 Toll Free Fax: 877-378-0249 sales@servo2go.com www.servo2go.com X Encoder Value 0 0 20 40 60 80 100 120 140 160 180 200 -50 -100 -150 -200 -250 -300 Tim e(m s) Y Encoder Value 600 500 400 300 200 100 0 0 50 100 150 200 Time(ms)PowerPoint Presentation: Inverse Kinematics Questions? 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Galil's New Accelera Controller Sizzling Speed Fully Loaded 2007 Prese Servo2Go.com Download Post to : URL : Related Presentations : Share Add to Flag Embed Email Send to Blogs and Networks Add to Channel Uploaded from authorPOINT lite Insert YouTube videos in PowerPont slides with aS Desktop Copy embed code: (To copy code, click on the text box) Embed: URL: Thumbnail: WordPress Embed Customize Embed The presentation is successfully added In Your Favorites. Views: 16 Category: Science & Tech.. License: All Rights Reserved Like it (0) Dislike it (0) Added: December 20, 2011 This Presentation is Public Favorites: 0 Presentation Description Galil's New Accelera Controller Sizzling Speed Fully Loaded 2007 Presentation Comments Posting comment... Premium member Presentation Transcript PowerPoint Presentation: Accelera Motion Controllers Sizzling Speed. Fully Loaded. Sold & Serviced By: Toll Free Phone: 877-378-0240 Toll Free Fax: 877-378-0249 sales@servo2go.com www.servo2go.comPowerPoint Presentation: Outline • Advances in Technology • 5 th Generation Accelera Series • DMC-18x6 PCI Accelera Controller • DMC-40x0 Ethernet Accelera Controller • Inverse Kinematics Example Sold & Serviced By: Toll Free Phone: 877-378-0240 Toll Free Fax: 877-378-0249 sales@servo2go.com www.servo2go.comPowerPoint Presentation: A New Generation of Motion Control Today ’s generation of motion controllers provide more capability than ever before due to advancements in technology Sold & Serviced By: Toll Free Phone: 877-378-0240 Toll Free Fax: 877-378-0249 sales@servo2go.com www.servo2go.comPowerPoint Presentation: Areas of Improvement 1. Performance - Accuracy and Settling 2. Coordination - Modes of motion, Application programs 3. Smaller package size and integration with power drivers 4. Communication Sold & Serviced By: Toll Free Phone: 877-378-0240 Toll Free Fax: 877-378-0249 sales@servo2go.com www.servo2go.comPowerPoint Presentation: Structure of Motion Control System Host Application Program Sold & Serviced By: Toll Free Phone: 877-378-0240 Toll Free Fax: 877-378-0249 sales@servo2go.com www.servo2go.com Modes of Motion Profile Generation Closed Loop Driver Encoder Motor I/O Digital/AnalogPowerPoint Presentation: Structure of Motion Control System Host Application Program Sold & Serviced By: Toll Free Phone: 877-378-0240 Toll Free Fax: 877-378-0249 sales@servo2go.com www.servo2go.com Modes of Motion Profile Generation Closed Loop Driver Encoder Motor I/O Digital/Analog Performance Sample Time Encoder Frequency DAC Resolution Filters PID/Notch Tuning ProgramPowerPoint Presentation: Structure of Motion Control System Host Application Program Sold & Serviced By: Toll Free Phone: 877-378-0240 Toll Free Fax: 877-378-0249 sales@servo2go.com www.servo2go.com Modes of Motion Profile Generation Closed Loop Driver Encoder Motor I/O Digital/Analog Coordination Modes of Motion Application ProgramsPowerPoint Presentation: Structure of Motion Control System Host Application Program Sold & Serviced By: Toll Free Phone: 877-378-0240 Toll Free Fax: 877-378-0249 sales@servo2go.com www.servo2go.com Modes of Motion Profile Generation Closed Loop Driver Encoder Motor I/O Digital/Analog Integration with Power DriversPowerPoint Presentation: Structure of Motion Control System Host Application Program Sold & Serviced By: Toll Free Phone: 877-378-0240 Toll Free Fax: 877-378-0249 sales@servo2go.com www.servo2go.com Modes of Motion Profile Generation Closed Loop Driver Encoder Motor I/O Digital/Analog CommunicationPowerPoint Presentation: Advancements in Several Areas • Advancements in Microprocessor Æ faster motion control • Advancements in Motor Drives Æ more power in a small space • Advancements in Ethernet Æ virtually deterministic for motion applications • Advancements in ICs and Circuit Design Æ Sold & Serviced By: allows more features to be added Toll Free Phone: 877-378-0240 Toll Free Fax: 877-378-0249 sales@servo2go.com www.servo2go.comPowerPoint Presentation: Microprocessor Advancements • In 1983, Galil introduced the world’s 1 st microprocessor-based servo motion controller. One axis of motion was controlled using an 8-bit microprocessor • In the 1990’s, Galil continued to introduce new generations of motion controllers based on 16-bit and 32-bit microprocessors • Today, Galil offers its 5 th generation motion controllers—the Accelera Series which is Sold & Serviced By: based on a powerful, RISC/DSP processor. Toll Free Phone: 877-378-0240 Toll Free Fax: 877-378-0249 sales@servo2go.com www.servo2go.comPowerPoint Presentation: Accelera—It’s all about Speed Fast RISC processing means faster motion control! • Servo loop update rates 4X faster than prior generation, as low as 31 microseconds per axis Æ good for high bandwidth systems such as voice coils or short, fast moves • Command processing 10X faster than prior generation, as low as 40 microseconds per command Æ executes entire motion program quickly and allows more tasks to be completed by controller • Accepts encoder inputs 2X faster , up to 22 MHz Æ good for ultra-high resolution position sensors Sold & Serviced By: Toll Free Phone: 877-378-0240 Toll Free Fax: 877-378-0249 sales@servo2go.com www.servo2go.comPowerPoint Presentation: Advancements in the Motor Drives Improvements in amplifier design using Direct FETs allows better power density —more power in less space! Æ 500W drive takes less than 6 square inches • Direct FETs are smaller in size • Direct FETs have better thermal characteristics which gets heat to top of package more efficiently Sold & Serviced By: Toll Free Phone: 877-378-0240 Toll Free Fax: 877-378-0249 sales@servo2go.com www.servo2go.comPowerPoint Presentation: Advancements in Ethernet • 100Base-T Ethernet is virtually deterministic for motion control applications • Time to send commands across network is insignificant Sold & Serviced By: Toll Free Phone: 877-378-0240 Toll Free Fax: 877-378-0249 sales@servo2go.com www.servo2go.comPowerPoint Presentation: Advancements in Circuit Design Improvements in circuit design means more features can be added cost-effectively: • Optically isolated I/O • Analog inputs for interface to sensors such as joysticks • High powered outputs to drive relays and brakes • On-board memory, variables and arrays • Additional communication ports such as RS232 Sold & Serviced By: Toll Free Phone: 877-378-0240 Toll Free Fax: 877-378-0249 sales@servo2go.com www.servo2go.comPowerPoint Presentation: Accelera PCI Controller In 2005, Galil Introduced the DMC-18x6 Accelera PCI Sold & Serviced By: Toll Free Phone: 877-378-0240 Toll Free Fax: 877-378-0249 sales@servo2go.com Top: DMC-1886 8-axis PCI controller Bottom: DMC-1846 4-axis PCI controller www.servo2go.comPowerPoint Presentation: Introducing the DMC-40x0 Series In 2006, Galil Introduced the DMC-40x0 Accelera Ethernet Controller Sold & Serviced By: Toll Free Phone: 877-378-0240 Toll Free Fax: 877-378-0249 sales@servo2go.com www.servo2go.com Top: DMC-4040 4-axis Ethernet controller Bottom: DMC-4080 8-axis Ethernet controllerPowerPoint Presentation: Sizzling Specs of Accelera Controllers Accelera Prior Generation Max encoder rate 22 MHz 12 MHz Max stepper rate 6 MHz 3 MHz Command Execution 40 microseconds 400 microseconds Speed Minimum Servo Update 31 microseconds 125 microseconds Program memory 2000 lines x 80 chr 1000 lines x 80 chr Array Size 16000 elements 8000 elements Sold & Serviced By: umber of variables Toll Free Phone: 877-378-0240 510 254 Toll Free Fax: 877-378-0249 sales@servo2go.com www.servo2go.comPowerPoint Presentation: Handles Virtually any Mode of Motion • Point-to-Point Positioning • Position Tracking • Jogging • Linear and Circular Interpolation • Tangential Following • Helical • Electronic Gearing • Electronic Cam Sold & Serviced By: • Contouring Toll Free Phone: 877-378-0240 each and Playback Toll Free Fax: 877-378-0249 sales@servo2go.com www.servo2go.comPowerPoint Presentation: DMC-4000- Full Featured, High Speed • DMC-40x0 Accelera Ethernet Controller combines all the enhanced capabilities of the processor, drives, Ethernet and features in a single compact unit • The DMC-40x0 is ideally suited for OEMs who need a full-featured , box-level controller with enhanced performance Sold & Serviced By: Toll Free Phone: 877-378-0240 Toll Free Fax: 877-378-0249 sales@servo2go.com www.servo2go.comPowerPoint Presentation: DMC-40x0 Accelera Controller • Full-featured , packaged controller • Ultra-high speed and precision • Ethernet 10/100Base-T and two RS232 ports • 1 through 8 axes • Standard features: optically isolated I/O, high-powered outputs, analog inputs, metal enclosure, D-type connectors • Available packaged with stepper and servo drives DMC-4040 4-axis controller Sold & Serviced By: Toll Free Phone: 877-378-0240 Toll Free Fax: 877-378-0249 sales@servo2go.com www.servo2go.comPowerPoint Presentation: DMC-40x0 vs DMC-21x3 Features DMC-40x0 Accelera DMC-21x3 Econo Box-Level Controller Card-level Controller Analog Inputs 8, standard 8, optional with DB-28040 Isolated Inputs 8 or 16, standard Optional with ICM-20105 Isolated, high-power 8 or 16, standard Optional with ICM-20105 Outputs (.5A, 24V) Extended digital I/O 32, Standard 40, Optional with DB-28040 LCD display 2 line x 8chr, included Not available Ethernet 10/100 Base-T 10 Base-T only RS232 ports Two ports One port only up to 115 kBaud up to 19.2 kbaud ICM Included Optional Sold & Serviced By: C-to-DC converter Toll Free Phone: 877-378-0240 Toll Free Fax: 877-378-0249 Included Accepts 20-80 VDC Optional M swww.servo2go.comm closure Included OptionalPowerPoint Presentation: Drives Save Space, Cost and Wiring • DMC-40x0 is available with internal, multi- axis drives for steppers and servos • Internal drives save space, cost and wiring • DMC-40x0 can also be connected to external drives of any size or power Sold & Serviced By: Toll Free Phone: 877-378-0240 Toll Free Fax: 877-378-0249 sales@servo2go.com www.servo2go.comPowerPoint Presentation: Drive Options Drive Model Number Motor Type Specs of Axes AMP-43020 2 Brush or 7A cont, 10A peak brushless servo 20-80 VDC AMP-43040 4 Brush or 7A cont, 10A peak brushless servo 20-80 VDC AMP-43140 4 Brush servo 1A +/-12-30 VDC SDM-44040 4 Full, half, ¼, 1/16 1.4A/phase stepper 12-60 VDC Sold & Serviced By: SDM-44140 4 Microstep 3A/phase 12-60 VDC Toll Free Phone: 877-378-0240 Toll Free Fax: 877-378-0249 sales@servo2go.com www.servo2go.comPowerPoint Presentation: AMP-430x0 2- and 4-axis 500W Drives • AMP-43040 contains four PWM amplifiers for driving brush or brushless servos. AMP-43020 2-axis version also available. • 7 Amps cont, 10 Amps peak; 20-80 VDC • Configurable for inverter or chopper mode • No external heat sink required Sold & Serviced By: Toll Free Phone: 877-378-0240 Toll Free Fax: 877-378-0249 sales@servo2go.com www.servo2go.comPowerPoint Presentation: AMP-430x0 is a “Hybrid” Design AMP-430x0 has both Digital and Analog circuitry Æ Hybrid Design • Analog current loop for highest bandwidth and response. Analog circuitry is on AMP-430x0 amplifier board • Digital circuitry for amplifier set-up and status reporting. Microprocessor is on DMC-40x0 controller board. For example, AG sets AMP gain and TA reports AMP status Sold & Serviced By: Toll Free Phone: 877-378-0240 Toll Free Fax: 877-378-0249 sales@servo2go.com www.servo2go.comPowerPoint Presentation: AMP-43140 Four 20W Servo Drives • Drives four brush servos • Linear drives • Requires +/-12-30 VDC input • Maximum current for each amplifier is 1A • Maximum output power: 20 W per amplifier and 60 W total • No external heat sink required Sold & Serviced By: Toll Free Phone: 877-378-0240 Toll Free Fax: 877-378-0249 sales@servo2go.com www.servo2go.comPowerPoint Presentation: SDM-44040 Four Stepper Drives • Drives two-phase bipolar steppers • Requires single 12-30 VDC input • User configurable for: 1.4A, 1.0A, .75A or .5A • User configurable for: full-step, half-step, ¼ step or 1/16 step • Short circuit protection • No external heat sink required Sold & Serviced By: Toll Free Phone: 877-378-0240 Toll Free Fax: 877-378-0249 sales@servo2go.com www.servo2go.comPowerPoint Presentation: SDM-44140 Four Microstep Drives • Drives two-phase bipolar steppers • 64 microsteps/full step • Drives motors up to 3A, 12-60 VDC • Software Selectable current settings: .5A, 1A, 2A, 3A • No external heat sink required Sold & Serviced By: Toll Free Phone: 877-378-0240 Toll Free Fax: 877-378-0249 sales@servo2go.com www.servo2go.comPowerPoint Presentation: DMC-40x0 Physical Dimensions DMC-40x0 is extremely 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” Æ package includes the multi-axis drives Sold & Serviced By: Toll Free Phone: 877-378-0240 Toll Free Fax: 877-378-0249 sales@servo2go.com www.servo2go.comPowerPoint Presentation: DMC-4080 Controller/Drive Package The DMC-4080 8-axis controller and drive unit Sold & Serviced By: Toll Free Phone: 877-378-0240 Toll Free Fax: 877-378-0249 sales@servo2go.com www.servo2go.com connects to 8 servo motorsPowerPoint Presentation: DMC-40x0 Options New options for the DMC-40x0: -DIN Din rail mounting clips -16-BIT 16-bit ADC (12-BIT is standard) -5V 5V for extended I/O (3.3V is standard) -SSI SSI interface -DIFF Differential outputs for analog motor command -STEP Differential outputs for step/direction command - I100 Sold & Serviced By: Toll Free Phone: 877-378-0240 Toll Free Fax: 877-378-0249 sales@servo2go.com www.servo2go.com Sinusiodal encoder interpolationPowerPoint Presentation: Part Number Generator for DMC-40x0 • New web tool helps generate part number with all the options for the DMC-40x0 • Also calculates pricing • Part Number Generator Tool is on DMC-40x0 webpage: http://www.galilmc.com/products/accelera/dmc40x0.html Sold & Serviced By: Toll Free Phone: 877-378-0240 Toll Free Fax: 877-378-0249 sales@servo2go.com www.servo2go.comPowerPoint Presentation: For More Info • See website for complete specs and pricing information http://www.galilmc.com/products/accelera/dmc40x0.html Sold & Serviced By: Toll Free Phone: 877-378-0240 Toll Free Fax: 877-378-0249 sales@servo2go.com www.servo2go.comPowerPoint Presentation: Galil Material is protected by copyright and must not be reproduced or disassembled 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 sales@servo2go.com www.servo2go.comPowerPoint Presentation: Inverse Kinematics Inverse Kinematics Applications Sold & Serviced By: Toll Free Phone: 877-378-0240 Toll Free Fax: 877-378-0249 sales@servo2go.com www.servo2go.comPowerPoint Presentation: Inverse Kinematics - Agenda • What is Inverse Kinematics and why is it used? • Simple 2-D example • Solution Methods Sold & Serviced By: Toll Free Phone: 877-378-0240 Toll Free Fax: 877-378-0249 sales@servo2go.com www.servo2go.comPowerPoint Presentation: Inverse Kinematics Inverse Kinematics equations allow an Engineer to compute angular (rotary encoder) positions knowing the end-effector location and robot geometry. Æ Forward Kinematics Pos motor Pos load Inverse Kinematics Å Increase in complexity with additional DOF Min/max angular positions, boundary conditions, and ‘keep-out’ zones are critical in providing a complete solution. Sold & Serviced By: Toll Free Phone: 877-378-0240 Toll Free Fax: 877-378-0249 sales@servo2go.com www.servo2go.comPowerPoint Presentation: Inverse Kinematics Why use inverse kinematics? To allow an operator to move a machine to a real, known location in Cartesian space without intimate knowledge of the machine mechanics Sold & Serviced By: Toll Free Phone: 877-378-0240 Toll Free Fax: 877-378-0249 sales@servo2go.com www.servo2go.comPowerPoint Presentation: Solution Options Three general options: 1. 2. 3. Sold & Serviced By: Toll Free Phone: 877-378-0240 Toll Free Fax: 877-378-0249 sales@servo2go.com www.servo2go.com Host PC 1. All motor positions are calculated by a host PC 2. Controller receives Contour mode position data 3. Customer has complete control over equations, constants, and update rates On controller, in a software program 1. Encoder positions calculated by Galil in a dmc file 2. No host PC necessary 3. Accelera series can generate profiles at up to a 2 msec update (depends on equation complexity) 4. Customer can change equations or constants at will On controller, in firmware 1. Motor positions calculated within the controller ’s servo loop 2. Very fast calculations 3. Once programmed into firmware, customer cannot change equationsPowerPoint Presentation: Simple 2-D Example Sold & Serviced By: Toll Free Phone: 877-378-0240 Toll Free Fax: 877-378-0249 sales@servo2go.com Example of 2 DOF robot arm www.servo2go.comPowerPoint Presentation: Simple 2-D Example Ø2 Ø1 Sold & Serviced By: Toll Free Phone: 877-378-0240 Toll Free Fax: 877-378-0249 sales@servo2go.com www.servo2go.com Given: X hand , Y hand , L 1 , L 2 Find: θ 1 , θ 2PowerPoint Presentation: Simple 2-D Example Ø2 Ø1 B: Length of imaginary line Sold & Serviced By: Q 1 : Angle between X axis and imaginary line B Toll Free Phone: 877-378-0240 Toll Free Fax: 877-378-0249 swww.servo2go.com Q 2 : Interior angle between imaginary line B and link L 1PowerPoint Presentation: Simple 2-D example • Equations: B 2 = X hand2 + Y hand2 Q 1 = atan(Y hand /X hand ) Q 2 = acos[(L 12 - L 22 + B 2 )/(2 * L 1 * B)] θ 1 = Q 1 +Q 2 θ 2 = acos[(L 12 + L 22 - B 2 )/(2 * L 1 * L 2 )] Sold & Serviced By: Toll Free Phone: 877-378-0240 Toll Free Fax: 877-378-0249 sales@servo2go.com www.servo2go.comPowerPoint Presentation: Simple 2-D Example Sold & Serviced By: Toll Free Phone: 877-378-0240 Toll Free Fax: 877-378-0249 sales@servo2go.com www.servo2go.com Calculate points along trajectory (150,100)-(250,200) Use Galil motion profilerPowerPoint Presentation: Simple 2-D Example Use the Galil motion profiler to define a end-effector acceleration, speed and deceleration. Galil Code to generate XY coordinates along motion path #CALC TL 0,0; ER -1,-1; 'FOR PURE CALCULATION VMXY VS 1000;VA 20000;VD 20000 DP 150,100; 'DEFINE STARTING POSITION DA,*[]; 'DEALOCATE ARRAYS DM XPOS[100],YPOS[100]; 'ARRAYS FOR TRAJECTORY DATA Sold & Serviced By: Toll Free Phone: 877-378-0240 Toll Free Fax: 877-378-0249 sales@servo2go.com www.servo2go.com RA XPOS[],YPOS[]; RD _RPX,_RPY; VP 100,100; VE RC1 BGS AMS MG"DONE" EN 'SET UP RECORD ARRAY 'RECORD REFERENCE POSITION 'MOVE TO POSITION 250,200PowerPoint Presentation: Simple 2-D Example Resulting trajectory data in Excel: End-Effector X-axis position vs. time End-Effector Y-axis Position vs. Time 260 210 240 190 220 170 200 150 180 130 160 110 140 90 0 50 100 150 200 0 50 100 150 200 Time, msec Time, msec Sold & Serviced By: Toll Free Phone: 877-378-0240 Toll Free Fax: 877-378-0249 sales@servo2go.com www.servo2go.comPowerPoint Presentation: Simple 2-D Example Theta1 Absolute Angle #GENR8 'L1 = LENGTH OF FIRST LINK 'L2 = LENGTH OF SECOND LINK 'B= LENGTH OF HYPOTNUSE 'Q1 = ANGLE BETWEEN X AXIS AND LINE B 'Q2 = INTERIOR ANGLE FROM B TO L1 'Theta1 = ABS ANGULAR POS OF FIRST MOTOR 'Theta2 = ABS ANGULAR POS OF SECOND MOTOR L1=200 L2=200 DA,Theta1[];DA,Theta2[] NOTE BUILD ARRAYS FOR CONTOUR DATA DM Theta1[100],Theta2[100] N=0;'ARRAY INCREMENT #CALC2 B=@SQR[(Xpos[N]*Xpos[N])+(Ypos[N]*Ypos[N])] Q1=@ATAN[(Ypos[N])/(Xpos[N])] Q2=@ACOS[((L1*L1)-(L2*L2)+(B*B))/(2*L1*B)] Theta1[N]=Q1+Q2 Theta2[N]=@ACOS[((L1*L1)+(L2*L2)-(B*B))/(2*L1*L2)] N=N+1 JP#CALC2,N<100 Sold & Serviced By: ONE GENR8" EN Toll Free Phone: 877-378-0240 Toll Free Fax: 877-378-0249 sales@servo2go.com www.servo2go.com 100 95 90 85 80 75 70 0 50 100 150 200 Tim e Theta2 Absolute Angle 115 105 95 85 75 65 55 45 0 50 100 150 200 Tim ePowerPoint Presentation: Simple 2-D Example #CONTMOV NOTE Encres = ENCODER COUNTS/DEGREE Encres=4000/360 NOTE BUILD ARRAYS FOR ENCODER RELATIVE DATA DA,Enc1[];DA,Enc[2] DM Enc1[100],Enc2[100] N=0; 'INCREMENT RESET #CALC3 Enc1[N]=Encres*((Theta1[N+1])-(Theta1[N])) Enc2[N]=Encres*((Theta2[N+1])-(Theta2[N])) N=N+1 JP#CALC3,N<99 MG"DONE CONTCLC" DP0,0 NOTE THIS ROUTINE SENDS ALL 100 CONTOUR MOVES CMXY DT1 N=0;'INCREMENT RESET #LOOP3 CD Enc1[N],Enc2[N] N=N+1 JP#LOOP3,N<100 #WAIT;JP#WAIT,_CM<>511 CD 0,0=0 EN Sold & Serviced By: Toll Free Phone: 877-378-0240 Toll Free Fax: 877-378-0249 sales@servo2go.com www.servo2go.com X Encoder Value 0 0 20 40 60 80 100 120 140 160 180 200 -50 -100 -150 -200 -250 -300 Tim e(m s) Y Encoder Value 600 500 400 300 200 100 0 0 50 100 150 200 Time(ms)PowerPoint Presentation: Inverse Kinematics Questions? Sold & Serviced By: Toll Free Phone: 877-378-0240 Toll Free Fax: 877-378-0249 sales@servo2go.com www.servo2go.com