1. 1 Accelera Motion Controllers Sizzling Speed. Fully Loaded.

2. 2 Outline Advances in Technology 5 th Generation Accelera Series DMC-18x6 PCI Accelera Controller DMC-40x0 Ethernet Accelera Controller Inverse Kinematics Example

3. 3 A New Generation of Motion Control Today’s generation of motion controllers provide more capability than ever before due to advancements in technology

4. 4 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

5. 5 Structure of Motion Control System Host Application Program Closed Loop Driver Motor I/O Digital/Analog Modes of Motion Profile Generation Encoder

6. 6 Structure of Motion Control System Host Application Program Closed Loop Driver Motor I/O Digital/Analog Modes of Motion Profile Generation Encoder Performance Sample Time Encoder Frequency DAC Resolution Filters PID/Notch Tuning Program

7. 7 Structure of Motion Control System Host Application Program Closed Loop Driver Motor I/O Digital/Analog Modes of Motion Profile Generation Encoder Coordination Modes of Motion Application Programs

8. 8 Structure of Motion Control System Host Application Program Closed Loop Driver Motor I/O Digital/Analog Modes of Motion Profile Generation Encoder Integration with Power Drivers

9. 9 Structure of Motion Control System Host Application Program Closed Loop Driver Motor I/O Digital/Analog Modes of Motion Profile Generation Encoder Communication

10. 10 Advancements in Several Areas Advancements in Microprocessor  faster motion control Advancements in Motor Drives  more power in a small space Advancements in Ethernet  virtually deterministic for motion applications Advancements in ICs and Circuit Design  allows more features to be added

11. 11 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 based on a powerful, RISC/DSP processor.

12. 12 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  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  executes entire motion program quickly and allows more tasks to be completed by controller Accepts encoder inputs 2X faster, up to 22 MHz  good for ultra-high resolution position sensors

13. 13 Advancements in the Motor Drives Improvements in amplifier design using Direct FETs allows better power density—more power in less space!  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

14. 14 Advancements in Ethernet 100Base-T Ethernet is virtually deterministic for motion control applications Time to send commands across network is insignificant

15. 15 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

16. 16 Accelera PCI Controller In 2005, Galil Introduced the DMC-18x6 Accelera PCI Controller Top: DMC-1886 8-axis PCI controller Bottom: DMC-1846 4-axis PCI controller

17. 17 Introducing the DMC-40x0 Series In 2006, Galil Introduced the DMC-40x0 Accelera Ethernet Controller Top: DMC-4040 4-axis Ethernet controller Bottom: DMC-4080 8-axis Ethernet controller

18. 18 Sizzling Specs of Accelera Controllers AcceleraPrior Generation Max encoder rate22 MHz12 MHz Max stepper rate6 MHz3 MHz Command Execution Speed 40 microseconds400 microseconds Minimum Servo Update31 microseconds125 microseconds Program memory2000 lines x 80 chr1000 lines x 80 chr Array Size16000 elements8000 elements Number of variables510254

19. 19 Handles Virtually any Mode of Motion Point-to-Point Positioning Position Tracking Jogging Linear and Circular Interpolation Tangential Following Helical Electronic Gearing Electronic Cam Contouring Teach and Playback

20. 20 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

21. 21 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

22. 22 DMC-40x0 vs DMC-21x3 Features DMC-40x0 Accelera Box-Level Controller DMC-21x3 Econo Card-level Controller Analog Inputs8, standard8, optional with DB-28040 Isolated Inputs8 or 16, standardOptional with ICM-20105 Isolated, high-power Outputs (.5A, 24V) 8 or 16, standardOptional with ICM-20105 Extended digital I/O32, Standard40, Optional with DB-28040 LCD display2 line x 8chr, includedNot available Ethernet10/100 Base-T10 Base-T only RS232 ports Two ports up to 115 kBaud One port only up to 19.2 kbaud ICMIncludedOptional DC-to-DC converter Included Accepts 20-80 VDC Optional Metal enclosureIncludedOptional

23. 23 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

24. 24 Drive Options Drive Model Number of Axes Motor TypeSpecs AMP-430202 Brush or brushless servo 7A cont, 10A peak 20-80 VDC AMP-430404 Brush or brushless servo 7A cont, 10A peak 20-80 VDC AMP-431404Brush servo 1A +/-12-30 VDC SDM-440404 Full, half, ¼, 1/16 stepper 1.4A/phase 12-60 VDC SDM-441404Microstep3A/phase 12-60 VDC

25. 25 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

26. 26 AMP-430x0 is a “Hybrid” Design AMP-430x0 has both Digital and Analog circuitry  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

27. 27 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

28. 28 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

29. 29 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

30. 30 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”  package includes the multi-axis drives

31. 31 DMC-4080 Controller/Drive Package The DMC-4080 8-axis controller and drive unit connects to 8 servo motors

32. 32 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 Sinusiodal encoder interpolation

33. 33 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

34. 34 For More Info See website for complete specs and pricing information http://www.galilmc.com/products/accelera/dmc40x0.html

35. 35 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.

36. 36 Inverse Kinematics Inverse Kinematics Applications

37. 37 Inverse Kinematics - Agenda What is Inverse Kinematics and why is it used? Simple 2-D example Solution Methods

38. 38 Inverse Kinematics Inverse Kinematics equations allow an Engineer to compute angular (rotary encoder) positions knowing the end-effector location and robot geometry.  Forward Kinematics Inverse Kinematics  Increase in complexity with additional DOF Min/max angular positions, boundary conditions, and ‘keep-out’ zones are critical in providing a complete solution.

39. 39 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

40. 40 Solution Options Three general options: 1.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 2.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 3.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 equations

41. 41 Simple 2-D Example Example of 2 DOF robot arm

42. 42 Simple 2-D Example Given: X hand, Y hand, L 1, L 2 Find: θ 1, θ 2

43. 43 Simple 2-D Example B: Length of imaginary line Q 1 : Angle between X axis and imaginary line B Q 2 : Interior angle between imaginary line B and link L 1

44. 44 Simple 2-D example Equations: B 2 = X hand 2 + Y hand 2 Q 1 = atan(Y hand /X hand ) Q 2 = acos[(L 1 2 - L 2 2 + B 2 )/(2 * L 1 * B)] θ 1 = Q 1 +Q 2 θ 2 = acos[(L 1 2 + L 2 2 - B 2 )/(2 * L 1 * L 2 )]

45. 45 Simple 2-D Example Calculate points along trajectory (150,100)-(250,200) Use Galil motion profiler

46. 46 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 RA XPOS[],YPOS[]; 'SET UP RECORD ARRAY RD _RPX,_RPY; 'RECORD REFERENCE POSITION VP 100,100; 'MOVE TO POSITION 250,200 VE RC1 BGS AMS MG"DONE" EN

47. 47 Simple 2-D Example Resulting trajectory data in Excel:

48. 48 Simple 2-D Example #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 MG"DONE GENR8" EN

49. 49 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

50. 50 Inverse Kinematics Questions?