Two Sets of PID

• 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

Anti-Friction Bias

• 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
• Limitations: none
• One-time setup charge: $800
• Additional unit cost: none
• Controller: Accelera, Optima, Econo

Ceramic Motor Control

• 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
• Limitations: Same as fast firmware. Consult individual controller manuals TM command for specifics on the limitations of fast firmware.
• One-time setup charge: $400 (Can be ordered by specifying -CERAMIC after Controller Model #)
• Additional unit cost: none
• Controller: Accelera, Optima, Econo

Absolute Encoder

• Description: Possible options available for connecting to absolute encoder devices include: Parallel, BiSS, SPI, and Resolver. Both single turn and multi turn options are available. Contact Galil for more information.
• Usage: For absolute position
• Limitations: Must be used with appropriate I/O expansion hardware.
• One-time setup charge: Contact Galil
• Additional unit cost: This option requires extended I/O hardware. Contact Galil for additional hardware requirements.
  See Techtalk Article on Alternative Feedback Options

SSI Encoder Interface

• Description: Absolute encoder with SSI interface may be used for feedback. Binary or Gray code, multi-turn or single-turn configurations possible. See Application Note #2438 for details.
• Limitations: Must be used with appropriate I/O expansion hardware (see table below).
• One-time setup charge: None
• Additional unit cost: This option requires extended I/O described in the following table

Controller	Required I/O Hardware	1-4 axis	5-8 axis
DMC-1415 & DMC-1425	DB-14064: Extended I/O daughterboard	$295 + $50	N/A
DMC-18x0/18x2	DB-14064: Extended I/O daughterboard	$295 + $50	$295 + $100
DMC-18x6	DB-28040: Extended I/O daughterboard	$295 + $50	$295 + $100
DMC-21x2/21x3	DB-28040: Extended I/O daughterboard	$295 + $50	$295 + $100
DMC-40x0	None (Controller has extended I/O on board)	+$50	+$100

Backlash and Leadscrew Error Compensation

• 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. For rotary table applications - please contact Galil.
• Limitations: 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 setup charge: $800
• Additional unit cost: none
• Controller: Accelera, Optima, Econo

Profile Smoothing

• 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 setup charge: $800
• Additional unit cost: none
• Controller: Optima, Econo. Standard feature on Accelera Series IT command.

Anti Resonance Profiling

• 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 setup charge: Contact Galil
• Controller: Accelera, Optima, Econo

High Resolution Gearing

• 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 setup charge: $800
• Additional unit cost: none
• Controller: Accelera, Optima, Econo

Increased Radius

• 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:
  • 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.
  • The angle resolution is 1/65,536 of a degree. This may cause discontinuities in the profile.
• One-time setup charge: $400
• Additional unit cost: none
• Controller: Accelera, Optima, Econo

Expanded Memory

• 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
• Limitations: none
• One-time setup charge: $800
• Additional unit cost: none
• Controller: Optima, DMC-21x2/x3 (Contact Galil for more controller options). Accelera Series has 2000 lines x 80chars standard.

DC Power Input

• Description: Controller will operate with input voltage between 18-60V DC instead of 110-220 AC.
• Usage: For systems with DC Power only
• Limitations: none
• One-time setup charge: $0
• Additional unit cost: $100
• Controllers: DMC-14x5-BOX, DMC-22x0

Encoder Failure Detection

• 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
• Limitations: Works best with systems of constant load characteristics
• One-time setup charge: $800
• Additional unit cost: none
• Controller: Optima, Econo. Standard feature on Accelera Series - see OA command.

Password Protect

• Description: This feature protects an application program by requiring a password before the functions Edit, List, Trace and Upload are allowed. A programmable password is added using the PW command and the ^L^K command locks and unlocks the program.
• Usage: To protect the content of an application program.
• Limitations: none
• One-time setup charge: $800
• Additional unit cost: none
• Controller: Optima, Econo. Standard feature on Accelera and RIO Series - see PW and ^L^K commands.

Closed Loop Stepper

• 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

Coordinate Transformation

• 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.
  See Techtalk Article on Coordinate Transformation Options
• Usage: Typically used for non-cartesian robots, where motion must be specified in cartesian coordinates

Laser Control

• Description: Galil can provide precision generation of the laser control signal. Hardware acceleration and firmware integration provide high performance control that is accessible to the standard motion features of the Galil command set. See Techtalk Article on Laser Control Options
• Usage: Galil Laser Control options focus around a group of specific application requirements found primarily in laser marking, inscribing, raster imaging, and intensity control.

Communications

• Description: Galil can implement custom communication protocols involving RS-485, Ethernet, modified Data Record, and Data Logging
• Usage: Anywhere that a custom communication protocol is needed.

Amplifiers

• Description: Amplifier options included modified gain settings, special voltage range, special current output, modified microstepping resolution, or mixing servo/steppers
• Usage: When the standard amplifier is not meeting the application requirements.

Software

• Description: Galil can implement custom software solutions including private labeling existing software products and enhanced API functionality
• Usage: To speed time to market for software development.

Custom Products

• Galil is determined to provide a solution for your project. If our current product offering does not meet your project requirements, we will build to your specifications.That's right! We are geared to deliver customized solutions quickly and cost-effectively.
  
  For example, hardware specials such as modified board size, custom connectors, different communication, or additional I/O are typically completed within a 12-week period with engineering charges as low as $5000. Firmware specials can be written for an unlimited number of requirements and are typically complete in 2 weeks with engineering charges as low as $400.