SERVOTRENDS

Galil Motion Control, Inc. 3750 Atherton Road • Rocklin, CA 95765 USA • 800-377-6329 • Phone: 916-626-0101 • Fax: 916-626-0102 • www.galilmc.com

A q u a r t e r l y n ew s l e t t e r p u b l i s h e d b y G a l i l M o t i o n C o n t r o l , I n c . • A u g u s t 2 0 0 1 , V o l ume 1 6 , N umb e r 3

Galil’s already powerful DMC-3425 controller now features severalnew commands designed to quicklyand easily configure master andslave controllers for the Ethernet.One of the new commands is calledHC Handle Configuration. It makesall Ethernet connections and initi-ates communications to all slaves.Plus, this single command alonereplaces what was previously donein 10 commands.

Other new commands includeTH Tell Handle and TZ Tell SlaveI/O, which are useful in trouble-shooting; and the HR HandleRestore command, which restores

a handle if it is dropped. The HSHandle Switch command will reas-sign handle designations.

The DMC-3425 two-axis con-troller is designed to be part of an

Ethernet distributed control system.One DMC-3425 is configured as amaster and can communicate withup to three other DMC-3425 con-trollers that are configured as slaves.The master DMC-3425 receives allcommands from the host PC, free-ing the host computer from thetime-intensive task of commandingeach controller in a distributed con-trol system. Since each DMC-3425is placed close to its respective mo-tors and drives, the system wiring isreduced.

Call Galil at 800-377-6329 formore information.

Galil has developed new softwaredrivers (version 4.0) for its line of PCI,ISA and USB motion controllers.Available for Windows 98SE, ME,2000, XP, and NT4, these drivers offergreater robustness and enhanced plug-and-play than prior versions. In addi-tion, the Install procedure is easierand faster than before. This enablesthe user to install the new softwareand reboot with their controller instal-led inside the PC.

Galil Announces New Software Driversfor PCI, ISA and USB Controllers

Software Driver Name Interface Operating System

GLWDMPCI.sys PCI 98SE, ME, 2000, XPGLWDMISA.sys ISA 98SE, ME, 2000, XPGLWDMUSB.sys USB 98SE, ME, 2000, XPGALILPCI.sys PCI NT4GALIL.sys ISA NT4

DMC-3425 Ethernet Distributed Controller Now Enhanced With New Commands

You can download Galil’s newest drivers for free at:http://www.galilmc.com/support/download.html

or contact Galil to purchase a software CD for $20.

Galil Motion Control, Inc. 3750 Atherton Road • Rocklin, CA 95765 USA • 800-377-6329 • Phone: 916-626-0101 • Fax: 916-626-0102 • www.galilmc.com

Due to increasing demandfor the DMC-2100 seriesEthernet controllers, Galilhad been able to reducemanufacturing costs. As aresult, we are pleased to passthese savings on to you forcontrollers with 3 to 8 axis.The cost for 1 and 2 axiscontrollers remains at theiralready low price.

Prices Reduced for DMC-2100 Series!

Galil’s Optima Series Ethernet controllers now comeavailable with the high-speed 100Base-T option. Forexample, Galil’s new DMC-2200 series has all the highperformance features of the popular DMC-2100 seriesbut with enhanced Ethernet speed. This enables the con-troller to send and receive data packets 10X faster than10Base-T.

In addition, the DMC-2200 includes an auto-negoti-ate function that allows the DMC-2200 to communicatewith either 10Base-T or 100Base-T, full or half duplexdevices.

Also like the DMC-2100, the DMC-2200 series isavailable in one through eight-axis versions and is config-urable for step or servo motor control for any combina-tion of axes. Standard features include PID control withvelocity and acceleration feedforword and notch filterparameters, non-volatile memory for storing multipleprograms, multitasking for concurrent execution of eightprograms, I/O capabilities including 64 programmabledigital inputs and outputs, eight uncommitted analoginputs and high speed position latches. It also acceptsencoder inputs up to 12 MHz and operates steppermotors up to 3 MHz.

Galil’s new DMC-2200 100Base-T Ethernet con-trollers are available now for immediate delivery. Theyare priced $100 higher than the DMC-2100 10Base-Tseries (see pricing in DMC-2100 article above). ContactGalil at 800-377-6329 for more information.

New High Speed, 100Base-T OptionNow Available for Galil’s Ethernet Controllers

Model Number #Axis New Unit Price Former Price

DMC-2110 1-axis $1595 $1595

DMC-2120 2-axis $1995 $1995

DMC-2130 3-axis $2395 $2495

DMC-2140 4-axis $2595 $2995

DMC-2150 5-axis $2895 $3395

DMC-2160 6-axis $3095 $3595

DMC-2170 7-axis $3295 $3795

DMC-2180 8-axis $3495 $3995

Galil Motion Control, Inc. 3750 Atherton Road • Rocklin, CA 95765 USA • 800-377-6329 • Phone: 916-626-0101 • Fax: 916-626-0102 • www.galilmc.com

To ease your purchase process, Galil’s motion con-trol products are now available to buy either directlyfrom Galil or through a network of factory-trained dis-tributors. To order direct from Galil, just fax yoursigned company purchase order to 916-626-0102.Orders are confirmed via fax, within 24 hours and aretypically shipped within 5 business days.

If you prefer, you can place your order with anauthorized Galil distributor. We have recently author-ized several new distributors throughout the UnitedStates, so please consult http://www.galilmc.com/con-tact/distributors.html for the location of the distri-butor nearest you.

For Your Convenience, Purchase Galil ProductsEither Direct Or Through an Authorized Distributor

Jacob Tal To Conduct Motion Control SeminarsIn Silicon Valley and New England

Jacob Tal, the preeminentauthority on motion control,will personally conduct hisacclaimed motion control semi-nars this Fall season. Both thehalf-day Basic Seminar and full-day Advanced Seminar will beoffered in the Silicon Valleyand Boston. In addition, Galil’stwo-day Product Workshop willbe conducted at Galil head-quarters in Rocklin, California.Course summaries, pricing andlocations are detailed above:

� Motion Control Made Easy

Half-day (4 hours) $79

– Mon. 10/1/01 Santa Clara, CA

– Mon. 10/15/01 Hartford, CT

– Tues. 10/16/01 Boston, MA

This Basic introduction on howto successfully implement motioncontrol systems covers such subjectsas selecting system elements, servotuning, programming and applica-tion examples. Also available onvideo and as a web-based trainingcourse.

� Advanced Motion Control

Full-day $150

– Tues. 10/2/01 Santa Clara, CA

– Wed. 10/17/01 Boston, MA

Attendees will gain in-depth,advanced knowledge of motion con-trol systems to ensure outstandingcontroller performance. Topics in-clude dual-loop control, notch filter,and tension control. Completion ofthe Basic course is a prerequisite.

� Product Workshop

Two-days $250

– Thur. 9/13/01 andFri. 9/14/01 Rocklin, CA

Users of Galil motion controllerswill gain detailed understandingabout connecting system elements,tuning, motion programming andtrouble-shooting. They can testtheir application on actual hardwareand review it with Galil specialists.Attendees must have purchased and/or used a Galil controller.

Over 10,000 engineers have at-tended Jacob’s seminars to gain andexpand their motion control knowl-edge and to increase their produc-tivity. Your complete satisfaction isguaranteed or your money back.Call Galil at 800-377-6329 to reserveyour seat or register on-line at www.galilmc.com/training/seminars.html.

Hurry! Register by September 7and get $10 off! Enrollment is limit-ed. If a live seminar isn’t held nearyou, the half-day seminar is availableon video or as a web-based trainingcourse.

Galil Motion Control, Inc. 3750 Atherton Road • Rocklin, CA 95765 USA • 800-377-6329 • Phone: 916-626-0101 • Fax: 916-626-0102 • www.galilmc.com

Recent years have seen the development of a newtype of actuator: the ultrasonic motor. With these, themotion is generated by a piezo ceramic device, which isvibrated such that it pushes a slide sideways. This resultsin unrestricted motion of the slide, performed by a non-magnetic actuator.

The most dominant feature of the ultrasonic motoris its high level of friction which, typically, can be asmuch as 20% of the drive capability. The friction hasone advantage in that once the motor gets to the finalposition and the control is shut off, the load remainsin place due to the holding friction.

On the other hand, the large friction can be a prob-lem because it takes longer to reach the required posi-tion precisely. Even worse, if the motor overshoots thetarget, it takes a relatively long time before it can reversedirection and correct the error.

In order to help users control such motors, Galil hascollaborated with Nanomotion, the leading manufactur-er of ultrasonic motors, to develop some features tohelp with the control. These include:

1. Anti-friction compensation—User selects positiveand negative levels of bias. These bias levels are addedto the command signal by the controller according tothe polarity of the position error, thereby reducing theeffect of friction.2. Fast deceleration—To avoid overshoot, user can se-lect a negative velocity feedforward signal during thedeceleration phase. Such a signal results in a greaterdeceleration rate that prevents overshoot. Also, notethat the feedforward signal is open loop and, therefore,does not affect the system stability.3. In-target shutdown—User defines a range of posi-tions with acceptable errors, i.e., ± 2 counts. Whenthe motor comes to a stop and lands within the accept-able range the controller shuts off, thereby assuring nomotion. A larger range, i.e., ± 4 counts, can be definedas the correction range. If the position error exceeds thisrange, the controller comes alive and drives the actuatorback into the acceptable range.

Galil can add some more features, such as two setsof PID, and friction mapping for better accuracy.

The Control of Ultrasonic Motors By Jacob Tal

Galil Motion Control provides thebest value in high performance motioncontrollers by guaranteeing the indus-try’s lowest prices in minimum quanti-ties of 100. Galil controllers are readyfor a wide range of applications fromsimple point-to-point positioning tocomplex coordinated motion usingmultiple axes. The product line is com-prised of packaged, industrial con-trollers; advanced, multi-axis card-levelcontrollers; and economical, single-axis controllers. Galil also providesaccessories that enable you to com-plete your project quickly. Theseinclude software design tools for quickand easy setup, tuning and analysis;and servo amplifiers, motors andencoders. With over 200,000 con-trollers in the field, Galil is truly theleading supplier of motion controllers.

Optima Series–Highest Performance

1-8 axes. Program memory, multitasking, up to 64 configurable I/O, sinusoidal commutation.

DMC-2100 Series. Ethernet, RS232DMC-2000 Series. USB, RS232DMC-1800 Series. PCI busDMC-1700 Series. ISA busDMC-1600 Series. CompactPCI busDMC-13x8 Series. VME busDMC-1200 Series. PC/104 busEcono Series–Single Axis Controllers

DMC-1410. ISA busDMC-1411. PC/104 busDMC-1412. RS-232DMC-1417. PCI busDMC-1415. Ethernet, RS232DMC-1416. Ethernet with amplifierDMC-1425. Ethernet, RS232, 2 axesDMC-18x2. PCI bus, 1-4 axes

E-Series–Ethernet

Distributed Controllers

DMC-3425 Ethernet. 2 axes

Software Tools

Drivers for DOS, QNX, Linux and allcurrent versions of Windows™. Includesterminal emulator.

WSDK. Servo tuning and analysis soft-ware including a 4-channel storage scopefor display of motion.

ActiveX™ Toolkit. Custom controls forVisual Basic®or other ActiveX software.

C-Programmers Toolkit. Provides theflexibility and control of programmingin C/C++. C libraries and functions.

CAD-to-DMC Translator. Translates anAutoCAD® DXF file into a DMC con-troller file.

Delivering the Best Value in Motion Control