Galil has recently released GalilSuite Software, a new version of GalilTools, providing a more powerful and flexible tool for configuring, analyzing and tuning Galil motion control systems. GalilSuite includes enhanced servo tuning capabilities with multiple tuning methods and allows the various analysis tools such as the scope, tuner and terminal tools to be executed individually. The new software also allows multiple connections to be made from GalilSuite to multiple controllers. The GalilSuite software package provides five tools for working with Galil controllers:

Terminal - for entering and receiving controller commands

Editor - for writing, saving and executing application programs

Tuner - for selecting controller PID parameters for optimal servo system response

Scope - for plotting controller data such as motor position and velocity

Watch - for displaying controller and I/O status

In GalilSuite each of these tools are independent and can be launched and run individually. This feature makes it easier for the design engineer to create a flexible development environment for testing control systems. Individual tools can be shown in a full screen for the best viewing, while other tools may be minimized or not executed at all.

Enhanced features of the individual tools are described below. A DMC-4020 two-axis motion controller with AMP-43020 two-axis servo drive was used as a demo system to capture the data shown in the example screen shots below.

Terminal Tool

Figure 1: Terminal Tool Allows Easy Communication with Galil Controllers

The Terminal Tool allows Galil's 2-letter instructions to be easily sent to and from Galil controllers. Figure 1 demonstrates the command Tell Position (TP) being sent to the DMC-4020 motion controller along with the commands to return the PID values of KP, KI and KD. As shown, the Terminal offers a convenient drop-down box for uploading and downloading programs and arrays. A new feature of the Terminal Tool is the Command Helper with Syntax checker. The categories of Galil controller commands are displayed on the right side of the screen. Selecting a category brings up all the individual commands in that category. When a command is selected, a pop-up window shows the command definition and syntax. The Command Helper display may be toggled on or off.

Editor Tool

Figure 2: Editor Tool For Writing Programs

The Editor Tool allows controller programs to be opened, edited and saved. The enhanced editor is full featured and provides cut, paste, copy, insert and find/replace functions in addition to a syntax helper which includes label detection and syntax help. The new release includes buttons for executing, stopping, uploading and downloading programs. Another new feature of the editor is that it allows for a collection of programs to be saved in a project and multiple projects can be created. Figure 2 shows the new enhanced Editor Tool available in GalilSuite.

Tuner Tool

Figure 3: Auto-crossover Frequency Test

The Tuner Tool has many enhancements. It provides numerous methods for servo tuning including Crossover, General, Curve Follower and Manual that allows the user to select the optimum method for the system. The user can also select the final test profile as a sine wave, step response, profiled move or custom user code. For each method, the tuner scope captures and displays the controller command position, encoder position, position error and torque in response to the specified test profile.

Figure 3 displays the screen for the Crossover Tuning Method that measures the current system parameters and then calculates the appropriate KP, KI, and KD for the crossover frequency that is specified. In this method, the user specifies the pulse magnitude and duration in addition to the desired crossover frequency. Figure 3 illustrates the results of the crossover frequency tuning for a step response profile and a crossover frequency of 30 Hz. Following the automatic tuning, the command position, actual position, position error and torque waveforms are displayed along with the KP, KI, and KD values determined by the test. An auto-crossover frequency option is available where the system will try to determine the optimum crossover frequency for the system.

In the General Tuning Method the distance, speed, acceleration, deceleration and dwell time for the command profile are selected along with a range for KP, KI and KD values. The resulting waveforms for the command position, actual position, position error and torque waveforms are displayed along with the optimum KP, KI and KD values.

Figure 4: Curve Follower Tuning Method

Figure 4 shows the Curve Follower Tuner Method that is used to select the best PID values which result in a minimum following error along a curve. This method lets the user specify the magnitude and frequency of the impulse command. The tuning algorithm then calculates the best KP, KI and KD values and reports the best minimum error along a curve.

Figure 5 shows the screen for the Manual Tuner Method that allows the KP, KI and KD parameters to be manually adjusted for the best response. The Manual Method also has advanced settings that allow parameters such as feedforward, notch, poles and integrator limit to be specified.

Figure 5: Manual Tuning Method with Advanced Settings

Scope Tool

Figure 6: Scope Tool Allows Multiple Traces to be Displayed

The Scope Tool is easier to use and has more features than previous generations. One enhanced feature is that a virtually unlimited number of traces can be displayed. The scope also provides a drag and drop feature allowing selection of a parameter from the controller data record by dragging it into the scope display. The scope has better triggering for data capturing and a snap feature for viewing specific data points that have been captured. Figure 6 shows five different measurements of axis A being displayed on the Scope Tool: reference position, actual position, position error, velocity and torque. Note that the scale for each trace can be adjusted separately along with its position on the scope display. Many other types of data can also be selected for measurement and display including I/O status, Ethernet handle status and amplifier status.

Watch Tool

Figure 7: Watch Tool Displays I/O Status

The improved Watch Tool provides an easy-to-read display of various controller data such as controller and amplifier status, I/O, and motion parameters. As seen in Figure 7, digital input and output status is displayed with virtual LEDs. Data such as axis position and error are shown in numeric format in a table. The update rate of the data capture is selectable.

Ordering Information

GalilSuite software is in BETA release and is available for free download to users of Galil controllers. GalilSuite currently works with Windows 7 or Windows XP operating systems (Mac and Linux support will be available in the future). More information and the BETA download can be found at: http://www.galil.com/downloads/software Please contact a Galil application engineer at (800) 377-6329 or support@galil.com for more information.