Galil offers many upgrade options for its controllers. The standard upgrade options are listed below by category and detailed in the following pages.
- Control Algorithms
Two sets of PID filter for move and stop
Antifriction bias
Ceramic Motor Control
- Optional Sensors
Absolute Binary Encoders
SSI Encoder Interface
- Motion Profile
Backlash and Lead Screw Error Compensation
Profile Smoothing
Anti-Resonance Profiling
- System Parameters
High-Resolution Gearing
Increased Radius
- Hardware Options
Expanded Memory
DC Power Input
- Error Handling
Encoder Failure Detection
Battery Backup
- Other
Password Protection
- Future Options
Coordinate Transformation
Closed Loop Steppers
Customized upgrades-consult Galil
Description: Controller has two sets of PID filter parameters per axis. One set is used while the motor is commanded to move and the other is used when the motor is commanded to stop. The switching between the two sets is done automatically by the controller. Usage: Effective in systems with heavy friction. Such systems tolerate higher gain when stopped, allowing faster settling. Limitation: This method produces discontinuities in the command signal at the switching time One-time set-up charge: $800 Additional unit cost: none Controller: Accelera, Optima, Econo |
Description: The controller generates programmable bias voltages, ZP and ZN according to the polarity of the error. A deadband can be programmed where the output bias is zero. Usage: To eliminate the effect of friction and to reduce settling time Limitation: none One-time set-up charge: $800 Additional unit cost: none Controller: Accelera, Optima, Econo |
Description: Ultrasonic motors made of ceramic are a special type of motor used in some applications. The unique characteristics and non-linearity of these motors require special methods of tuning. Galil has worked on many applications using ceramic motors and has developed unique compensation methods for optimum performance. Usage: Commands added to compensate for Ceramic Motor Non-Linearity such as: Deadband with hysterises, Anti-friction bias, and Negative Velocity Feed-forward. Click Here for Tuning Procedure Limitation: Same as fast firmware. Consult individual controller manuals for specifics on the limitations of fast firmware. One-time set-up charge: $400 (Can be ordered by specifying -CERAMIC after Controller Model #) Additional unit cost: none Controller: Accelera, Optima, Econo |
Description: A binary absolute encoder with n bits can be used as a feedback device. Both single turn and multi turn options are available. Usage: For absolute position Limitation: Must be used with appropriate I/O expansion hardware (see table below) to connect all the binary inputs. One-time set-up charge: $800 Additional unit cost: This option requires extended I/O described in the following table |
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| Controller | Required I/O Hardware | Unit Price (U.S.) |
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| DMC-1200 | DB-12064: Extended I/O daughterboard | $395 | |||
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| DMC-1415 & DMC-1425 | DB-14064: Extended I/O daughterboard | $295 | |||
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| DMC-17x8 | None (Controller has extended I/O on-board) | none | |||
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| DMC-1750 thru DMC-1800 | DB-14064: Extended I/O daughterboard | $295 | |||
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| DMC-2000 & DMC-2200 | None (Controller has extended I/O on-board) | none | |||
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Description: Absolute encoder with SSI interface may be used for feedback. Binary or Gray code, multi-turn or single-turn configurations possible. Contact Galil for details. Limitation: Must be used with appropriate I/O expansion hardware (see table below) to connect all the binary inputs. One-time set-up charge: $800 Additional unit cost: This option requires extended I/O described in the following table |
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| Controller | Required I/O Hardware | Unit Price (U.S.) |
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| DMC-1200 | DB-12064: Extended I/O daughterboard | $395 + $50 | |||
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| DMC-1415 & DMC-1425 | DB-14064: Extended I/O daughterboard | $295 + $50 | |||
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| DMC-17x8 | None (Controller has extended I/O on-board) | $50 | |||
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| DMC-1750 thru DMC-1800 | DB-14064: Extended I/O daughterboard | $295 + $50 | |||
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| DMC-2000 & DMC-2200 | None (Controller has extended I/O on-board) | $50 | |||
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| DMC-21x2/21x3 | DB-28040: Extended I/O daughterboard | $295 + $50 | |||
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Description: This option consists of two independent parts. The first part, the backlash compensation, adds or subtracts a programmable number of n counts to the commanded position. The polarity of the correction is the same as the polarity of the commanded velocity. The second function corrects for Leadscrew error. A correction table allows the user to describe the error as a function of the absolute position. The table consists of 257 elements per axis, and linear interpolation is used between table points. The correction may be defined in 1-D for error induced by the axis itself, as well as the addition of 2-D correction factors which are induced by the position of another axis. 2-D Correction Application Note Usage: To compensate for backlash and leadscrew errors. Commonly used in machine tool. Note that the correction is open loop in nature. Limitation: This method causes discontinuities in the command signal when direction is reversed. May require the elimination of the ECAM table or a reduction in array space or in application program space. One-time set-up charge: $800 Additional unit cost: none Controller: Accelera, Optima |
Description: The motion trajectory generated by the LM and VM modes may be smoothed by applying a low pass filter to the individual axis trajectories. The form of the filter is identical to that of the IT command. Usage: To smooth sharp corners in the trajectory. Limitations: The smoothing introduces position errors. The greater the smoothing, the larger the errors. This function also extends the motion time by an increment determined by the filtering time constant. One-time set-up charge: $800 Additional unit cost: none Controller: Optima |
Description: The motion trajectory can be filtered to remove all frequency components at a resonance frequency or its harmonics. Usage: For faster settling time, especially effective for system with low frequency structural resonance. Limitations: Extends motion time by an increment equals the period of the slowest resonance frequency. One-time set-up charge: Contact Galil Controller: Accelera, Optima |
Description: The normal ratio of the gearing function is within ±127.9999 with a resolution of 0.0001. With high resolution gearing, the resolution is increased to 10-7. Usage: application requiring high resolution gearing, such as winding machine systems. Limitations: none One-time set-up charge: $800 Additional unit cost: none Controller: Accelera, Optima, Econo |
| Description: The largest radius allowed in circular move is 6,000,000 counts. This feature allows increasing the radius to 100,000,000 counts. Usage: Where large radius is required Limitations: 1. Since the product of Radius × Delta-Theta is limited to 4.5 × 108, as the radius is increased, the allowed angle, Delta-Theta is reduced. 2. The angle resolution is 1/65,536 of a degree. This may cause discontinuities in the profile. One-time set-up charge: $400 Additional unit cost: none Controller: Accelera, Optima |
Description: This feature expands the memory for application programs and/or array space. Typically, the application program space is increased to 2400 lines and the array space is increased to 10,000 elements. Usage: Allows for longer programs and larger arrays Limitation: none One-time set-up charge: $800 Additional unit cost: none Controller: Accelera, Optima, DMC-21x2/x3 (Contact Galil for more controller options) |
Description: Controller will operate with input voltage between 18-60V DC instead of 110-220 AC. Usage: For systems with DC Power only |
Description: With this feature, the controller monitors the encoder signals; when the controller applies torque, if motor movement is not detected within a user specified time, the controller will disable the motor. Usage: Safety Feature for monitoring encoder disconnect or failure |
Description: Provides continuous operation of the main processor, RAM and the encoders under conditions of power failure. When power is removed, the controller will enter into a "low power" mode; the controller will disable the motors, abort program execution, and maintain encoder position and variables. Usage: For systems requiring graceful recovery of power failure Limitation: This option is intended for short term power failure (less than 10 hours) One-time set-up charge: $800 Additional unit cost: $100 user supplies battery, $200 with 6.5Ahr Lead Acid Battery Controller: DMC-2000, DMC-2200 |
Description: This feature protects an application program by requiring a password before the functions Edit, List, Trace and Upload are allowed. Usage: To protect the content of an application program. Limitation: none One-time set-up charge: $800 Additional unit cost: none Controller: Optima, Econo |
Description: The controller performs the coordinate transformation required to perform motion in the cartesian coordinate plane. SCARA or other type of robots can be handled. Call Galil to review your application requirements.
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Description: Position monitoring via encoder feedback is now available as a standard feature for new controllers. See Application Note #2445 - Stepper Motor Position Maintenance Mode |