Methods to Control Multiple Axes in Sub-Particle Research Galil Motion Control Methods to Control Multiple Axes in Sub-Particle Research ICALEPCS October 2013

Reasons to coordinate axes Importance of Coordinated Motion 2 Copyright 2013 Galil Motion Control, Inc.Copyright 2012 Galil Motion Control, Inc. Reasons to coordinate axes Mechanically linked axes Coordinate transformation Time coordinated Complex mechanics require tight local motor coupling/axes coordination - Gantry Non-Cartesian machines may require movement of multiple motors at the same instance Multistep applications/time-synchronized axes require actions across multiple axes or multiple controllers to occur at once Copyright 2009 Galil Motion Control, Inc. Copyright 2012 Galil Motion Control, Inc. 2

Methods of Coordination Mechanically linked methods Multi-axis modes of motion Coordinate transformation Calculations can be done on-board Sent from host PC Time coordinated Through host PC Shared sample clock Controller-to-controller communication Multi-axis motion: VM, LM, point-point, gearing Coordinate transform: -DMC code, port to firmware -From a host PC: CM, PVT mode Time coordinated: UDP broadcast Modified controller to share clock DMC-DMC communication

Mechanically linked axes Gantry stage X’ geared to actual position of X X/X’ and Y motors coordinated for 2D motion path 3 Axis stage Cartesian XYZ motion Commanded using Linear Interpolation mode 9/27/13

Coordinate Transformation Hexapod control for aircraft flight simulation and amusement rides 6 linear axes provide X, Y, Z, yaw, pitch, roll Coordinate transformation controlled by host PC 9/27/13

Time Synchronization Example Python script opens UDP multicast

Time Synchronization Example Scope data shows less than 5 usec variance 5 microsecond variation 9/27/13

Hardware Product Overview 8 Copyright 2013 Galil Motion Control, Inc.Copyright 2012 Galil Motion Control, Inc. Hardware Product Overview Multi-axis Motion Controllers For ultra high-speed performance (Accelera) DMC-40x0, DMC-18x6 For low-cost precise control (Econo) DMC-41x3,DMC-21x3 Single-Axis Motion Controllers DMC-300xx Prior Generation Motion Controllers DMC-18x2, DMC-1800, DMC-1417 DMC-14x5, DMC-2200, CDS-3310 Ethernet I/O Controllers (PLC) RIO-47xxx Talk about: Accelera, Econo – multi-axis with or without drives DMC-30000, single-axis with or without drives RIO – with ethernet switch and analog I/O standard Mention adapter options Copyright 2009 Galil Motion Control, Inc. Copyright 2010 Galil Motion Control, Inc. 8

Software Product Overview 9 Copyright 2013 Galil Motion Control, Inc.Copyright 2012 Galil Motion Control, Inc. Software Product Overview GalilSuite PID tuning Monitor and plot motion data, state of I/O Configure, backup/restore Application code development and debugging Frequency Analysis Software Tune in frequency domain Simulate effect of tuning on systems Bode plot with overlay Other/Third-party VB/C++, Labview, EPICs PID, Pole, Notch, sample rate. Copyright 2009 Galil Motion Control, Inc. Copyright 2010 Galil Motion Control, Inc. 9

Benefits High Performance Flexible, Easy-to-Use 1010 Copyright 2013 Galil Motion Control, Inc.Copyright 2012 Galil Motion Control, Inc. Benefits High Performance Handles ultra-high resolution feedback Incremental quadrature, SSI, BISS, EnDat,SIN/COS, Resolver Perform complex programming with multitasking Servo update rates up to 32KHz Flexible, Easy-to-Use Available in 1 through 8 axis configurations Optional servo and stepper drives Box or card-level; PCI, RS232, and Ethernet Digital and analog I/O built in, expansion options available 2 letter English-like instruction set, easy to learn Configurable for steppers and servos on any axes DMC command processing in less than 40usec Copyright 2009 Galil Motion Control, Inc. Copyright 2012 Galil Motion Control, Inc. 10

Supported Motor Types Stepper (Open Loop) Stepper (Closed Loop) Servo 1111 Copyright 2013 Galil Motion Control, Inc.Copyright 2012 Galil Motion Control, Inc. Supported Motor Types Stepper (Open Loop) Feedback not required Used when no chance of disturbance Stepper (Closed Loop) End-of-Motion or Continuous Correction Reduces heat and power consumption Used when disturbances occur Servo DC brush, brushless 2-phase or 3-phase, linear, voice coil, piezo-ceramic Disturbances could be due to vibration, temperature, dynamic payload, or human interference could negatively affect positioning accuracy Copyright 2009 Galil Motion Control, Inc. Copyright 2010 Galil Motion Control, Inc. 11

Australian Nuclear Science and Technology Organization (ANTSO) 1212 Copyright 2013 Galil Motion Control, Inc.Copyright 2012 Galil Motion Control, Inc. Australian Nuclear Science and Technology Organization (ANTSO) Galil Controllers used in Australia’s Neutron Beam Instrumentation Project (NBIP). Requirements: Flawless accuracy Instrument reliability Simplicity of integration and migration Ease-of-use Reliability Responsive online support Ability to customize SSI encoder Solution: 42 motion controllers Over 200 Stepper drives and servo amplifiers Each axis of motion encoded with over 200 precision absolute encoders Customized firmware Copyright 2010 Galil Motion Control, Inc. Copyright 2009 Galil Motion Control, Inc. 12

Brookhaven National Laboratory 1313 Copyright 2013 Galil Motion Control, Inc.Copyright 2012 Galil Motion Control, Inc. Brookhaven National Laboratory Galil Controllers used for development of Multilayer Laue Lens for Directing Synchrotron Light Requirements: Precise steering and focusing of X-rays Smooth and repeatable velocity stability with less than 0.01% ripple Ease-of-use overall Easy to program Ethernet connectivity Data logging for error checking Solution: DMC-4020 with Ethernet Beat performance specification by 4x Sinusoidal commutation for smooth signal Linear servo amplifier Position Mode for easy programming of the back and forth linear motion of the transport car Copyright 2010 Galil Motion Control, Inc. Copyright 2009 Galil Motion Control, Inc. 13

Standard and custom controllers to handle any application 1414 Copyright 2013 Galil Motion Control, Inc.Copyright 2012 Galil Motion Control, Inc. Why Galil? Standard and custom controllers to handle any application Ease of installation and overall usability Choice of internal drives and external amplifiers Backward compatibility Abundance of useful tools on the website Established supplier, over 30 years in the business Cost-effective, price guarantee Short lead times Acquire only the number of axes needed Exceptional technical support by Galil engineers Talk about performance and Galil’s superior support – YOU! Copyright 2009 Galil Motion Control, Inc. Copyright 2010 Galil Motion Control, Inc. 14