Galil Motion Control Methods to Control Multiple Axes

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

Importance of Coordinated Motion Reasons to coordinate axes • Mechanically linked axes • Coordinate transformation • Time coordinated

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

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

Coordinate Transformation 6 linear axes provide X, Y, Z, yaw, pitch, roll Coordinate transformation controlled by host PC 9/27/13

Time Synchronization Example

Time Synchronization Example 5 microsecond variation 9/27/13

Hardware Product Overview Multi-axis Motion Controllers For ultra high-speed performance (Accelera) • DMC-40 x 0, DMC-18 x 6 For low-cost precise control (Econo) • DMC-41 x 3, DMC-21 x 3 Single-Axis Motion Controllers • DMC-300 xx Prior Generation Motion Controllers • • DMC-18 x 2, DMC-1800, DMC-1417 DMC-14 x 5, DMC-2200, CDS-3310 Ethernet I/O Controllers (PLC) • RIO-47 xxx

Software Product Overview Galil. Suite • • 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

Benefits High Performance • Handles ultra-high resolution feedback • Incremental quadrature, SSI, BISS, En. Dat, SIN/COS, Resolver Perform complex programming with multitasking Servo update rates up to 32 KHz • • Flexible, Easy-to-Use • • • Available in 1 through 8 axis configurations Optional servo and stepper drives Box or card-level; PCI, RS 232, 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

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

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

Brookhaven National Laboratory Galil Controllers used for development of Multilayer Laue Lens for Directing Synchrotron Light Requirements: Solution: • • 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 • • DMC-4020 with Ethernet Beat performance specification by 4 x Sinusoidal commutation for smooth signal Linear servo amplifier Position Mode for easy programming of the back and forth linear motion of the transport car

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 •