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

2. 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
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3. 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

4. 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

5. 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

6. Time Synchronization Example
Python script opens UDP multicast

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

8. Hardware Product Overview8
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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
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9. Software Product Overview9
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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.
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10. Benefits High Performance Flexible, Easy-to-Use
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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.
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11. Supported Motor Types Stepper (Open Loop) Stepper (Closed Loop) Servo
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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
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12. Australian Nuclear Science and Technology Organization (ANTSO)
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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 precision absolute encoders
Customized firmware
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13. Brookhaven National Laboratory
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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
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14. Standard and custom controllers to handle any application
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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!
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