BIRDIE Electrical Data Package
Contents
1. 1790 1791 Current DC Power Supply Models 1790 1791 cost effective high power regulated DC power supplies with 640 Watt output They are linear high current DC power supplies suitable for bench operation or standard 9 rack operation These linear power supplies are high power workhorses that will easily deliver clean power to your high current circuits Ideol for telecom opplicotion Since noise elimination is critical for telecom application the 1790 amp 1791 DC power supplies offer low noise output so that power sup ply noise does not interfere with testing of telecom devices The 1790 amp 1791 are ideal for manufacturers who build equipment for telecom industry that operates from 48V or higher DC rail such as base stations switches public and private telecom network equip ment PBX system and DC to DC power supplies that provide power to this equipment These well regulated constant voltage constant current supplies deliv er 0 32V at 0 20A Model 1790 or 0 64V at 0 I0A Model 1791 They can be adjusted continuously throughout the output range by fron2. SW BIRDIE Tolerance 127 ENG APPR PROPRIETARY AND CONFIDENTIAL MFG APPR Gimbal Gimbal String Slide Top THE INFORMATION CONTAINED IN THIS QA DRAWING IS THE SOLE PROPERTY OF PTFE BIRDIE COMMENTS REPRODUCTION IN PART OR 5 A WHOLE FINISH WITHOUT THE WRITTEN PERMISSION OF BEST AS SZE DWG NO 01 07 06 REV BIRDIE IS PROHIBITED A DO NOT SCALE DRAWING WEIGHT SHEET 1 OF 1 18 c PROPRIETARY AND CONFIDENTIAL THE INFORMATION CONTAINED IN THIS DRAWING IS THE SOLE PROPERTY OF BIRDIE ANY REPRODUCTION IN PART OR AS A WHOLE WITHOUT THE WRITTEN PERMISSION OF BIRDIE IS PROHIBITED NEXT ASSY USED ON NAME DATE SEM BIRDIE Tolerance mm 127 CHECKED ENG APPR APPR Gimbal Gimbal 7 Top MATERIAL Q A Al 6061 T6 COMMENTS FINISH APPLICATION DO NOT SCALE DRAWING SIZE DWG NO 01 07 07 REV WEIGHT SHEET 1 OF 1 NAME DATE BIRDIE Tolerance mm 127 CHECKED ENG APPR PROPRIETARY AND CONFIDENTIAL MFG APPR Gimbal Gimbal z Washer THE INFORMATION CONTAINED IN THIS RET QA i DRAWING
3. 6 A equo 00 90 10 0618 eww 91 9202 jonuod ___ 120 80 10 ozis 2 ____ 0818 97096 eww v uwsxe exec SS Sire 1009 Alquiessv 100 50 10 960 760 995 39815 cog OL XZ wa way ooo 0010 1009 jeuu Aiquiessy 100 70 10 0818 970 DUES Ovoj 0818 06056 9111909 5 epno 04040 871 91 49091 669 656 2 CUS uuv 10 40 10 06 172 17117 OW Aquiessv 00 60 10 0818 9906 orne DUNE pour 200001 1017 507 14909 60 9 00 569 5 120 20 10 8718 vro 91 4909 669 656 2 Cis uuv eee NN IER 1909 jejuozuoH OW Aiquessy 00 20 10 ovs 1016 Analy 9171909 9 Spio 180 10
4. SEE BIRDIE Tolerance mm 127 ENG APPR PROPRIETARY AND CONFIDENTIAL APPR Assembly Control Arm Inner THE INFORMATION CONTAINED IN THIS QA MATERIAL DRAWING IS THE SOLE PROPERTY OF Al 7075 16 BIRDIE REPRODUCTION IN PART AS WHOLE FINISH WITHOUT THE WRITTEN PERMISSION OF SUSEDRON ud DWG NO 01 04 01 REV BIRDIE IS PROHIBITED A APPLICATION DO NOT SCALE DRAWING NEUE mE Pil PROPRIETARY AND CONFIDENTIAL THE INFORMATION CONTAINED IN THIS DRAWING IS THE SOLE PROPERTY OF BIRDIE ANY REPRODUCTION IN PART OR AS A WHOLE WITHOUT THE WRITTEN PERMISSION OF BIRDIE IS PROHIBITED NEXT ASSY USED ON NAME DATE N BIRDIE Tolerance 127 CHECKED ENG APPR MFG APPR Assembly Control Arm Outer Q A MATERIAL AS Made FINISH APPLICATION DO NOT SCALE DRAWING SIZE A DWG NO 01 05 00 REV WEIGHT SHEET 1 OF 1 E 0 60 PROPRIETARY AND CONFIDENTIAL THE INFORMATION CONTAINED IN THIS DRAWING IS THE SOLE PROPERTY OF BIRDIE ANY REPRODUCTION IN PART OR AS A WHOLE WITHOUT THE WRITTEN PERMISSION OF BIRDIE IS PROHIBITED Tolerance mm 127 NAME DATE
5. NEXT ASSY USED ON NAME DATE n BIRDIE Tolerance mm 127 CHECKED ENG APPR MEG APPR Gimbal Gimbal y Washer MATERIAL COMMENTS FINISH APPLICATION DO NOT SCALE DRAWING SIZE A DWG 01 06 02 WEIGHT SHEET 1 OF 1 PROPRIETARY AND CONFIDENTIAL THE INFORMATION CONTAINED IN THIS DRAWING IS THE SOLE PROPERTY OF BIRDIE ANY REPRODUCTION IN PART OR AS A WHOLE WITHOUT THE WRITTEN PERMISSION OF BIRDIE IS PROHIBITED NEXT ASSY USED ON NAME DATE p BIRDIE Tolerance mm 127 CHECKED ENG APPR MFG APPR Gimbal Gimbal y MATERIAL 6061 6 COMMENTS FINISH APPLICATION DO NOT SCALE DRAWING SIZE DWG 01 06 01 WEIGHT SHEET 1 OF 1 PROPRIETARY AND CONFIDENTIAL THE INFORMATION CONTAINED IN THIS DRAWING IS THE SOLE PROPERTY OF BIRDIE ANY REPRODUCTION IN PART OR AS A WHOLE WITHOUT THE WRITTEN PERMISSION OF BIRDIE IS PROHIBITED Tolerance mm 127 NAME DATE DRAWN BIRDIE CHECKED ENG APPR MFG APPR MATERIAL As Purchased QA NEXT ASSY USED ON FINISH APPLICATION DO NOT SCALE DRAWING COMMENTS Gimbal Gimbal z Bear
6. PROPRIETARY AND CONFIDENTIAL THE INFORMATION CONTAINED IN THIS DRAWING IS THE SOLE PROPERTY OF BIRDIE ANY REPRODUCTION IN PART OR AS A WHOLE WITHOUT THE WRITTEN PERMISSION OF BIRDIE IS PROHIBITED NAME DATE DRAWN BIRDIE Tolerance 127 80 APPR MATERIAL PTFE COMMENTS NEXT ASSY USED ON FINISH APPLICATION DO NOT SCALE DRAWING Control Arm Outer SIZE A DWG NO 01 05 02 WEIGHT SHEET 1 OF 1 2 DATE B R D DRAWN Tolerance 127 CHECKED PROPRIETARY AND CONFIDENTIAL MFG APPR t A P 2 THE INFORMATION CONTAINED THIS MATERIAL In DRAWING IS THE SOLE PROPERTY OF 303 Stainless Steel BIRDIE COMMENTS REPRODUCTION IN PART OR AS A WHOLE FINISH WITHOUT THE WRITTEN PERMISSION OF BEAT AS DWG 01 04 02 REV BIRDIE IS PROHIBITED A 3 APPLICATION DO NOT SCALE DRAWING WEIGHT SHEET 1 OF 1 PROPRIETARY AND CONFIDENTIAL THE INFORMATION CONTAINED IN THIS DRAWING IS THE SOLE PROPERTY OF BIRDIE ANY REPRODUCTION IN PART OR AS A WHOLE WITHOUT THE WRITTEN PERMISSION OF BIRDIE IS PROHIBITED
7. 20 80 10 7 ueq us Ee 1009 uio Aiquiessy 00 80 10 BERE at ma eg 00 7010 80186 80 9171909 0606 0 901 bums zjequro equiO 90 20 10 loves lt 7 35 96 21 4 equiO 190 20 10 zos 40 exew z 91 1909 Urt apis zegui requ a 21 E re eaw wami urapa qu EX SENE ET AES naj IS S ESI Tere 1 1 ___ Tq qe cs js osa j je 24 1 Joye Aiquessy 100 60 20 81 52 PROPRIETARY AND CONFIDENTIAL THE INFORMATION CONTAINED IN THIS DRAWING IS THE SOLE PROPERTY OF BIRDIE ANY REPRODUCTION IN PART OR AS A WHOLE WITHOUT THE WRITTEN PERMISSION OF BIRDIE IS PROHIBITED NEXT ASSY USED ON NAME DATE DRAWN R D Tolerance mm 127 gt APPR APPR bly B q MATERIAL
8. C watt min L 5 Motor Constant N m VW 8 63 6 09 02 Torque 2 1 6 1 1 02 Ko H 155 Alternate Winding 7 70 Sleeve or Ball Bearings Modified Output Shaft Custom Cable Assembly Special Brushes EMI RFI Suppression Spur or Planetary Gearbox Special Lubricant Optional Encoder Fail Safe Brake Speed amp Current vs Torque Speed Power amp vs Torque Output Power Current Efficiency 4 000 24 180 90 3 500 21 160 80 3 000 18 70 120 2 500 15 lt 2 100 50 5 2 000 12 5 5 80 40 9 1 500 9 5 8 8 60 30 1 000 6 40 20 500 3 20 10 0 0 0 0 0 30 60 90 120 150 180 210 240 0 30 60 90 120 150 180 210 240 Torque oz in Torque oz in All values are nominal Specifications subject to change without notice Graphs are shown for reference only 2001 Pittman 343 Godshall Drive Harleysville PA 19438 Phone 877 PITTMAN Fax 215 256 1338 E mail info pittmannet com Web Site www pittmannet com UNCONTROLLED WIRE PAGKAGES AVAILABLE SEE WORK ORDER FOR SPECIFIC PART NUMBERS 350 MAX 1 TERMINAL 890 NOTES 1 SHAFT ROTATI
9. Q A sse m e COMMENTS FINISH ud SIZE APPLICATION DO NOT SCALE DRAWING A DWG NO 01 01 00 WEIGHT SHEET 1 OF 1 59 58 28 33 NAME DATE BIRDIE CHECKED ENG APPR PROPRIETARY AND CONFIDENTIAL MFG APPR Assembly CAG Horizontal Slide THE INFORMATION CONTAINED IN THIS AERA OA DRAWING IS THE SOLE PROPERTY OF BIRDIE REPRODUCTION IN PART OR AS A WHOLE FINISH WITHOUT THE WRITTEN PERMISSION OF BIEXT ASSY JUSEDION s W I REV BIRDIE IS PROHIBITED DWG NO 01 02 00 APPLICATION DO NOT SCALE DRAWING WEIGHT SHEET 1 OF 1 269 05 PROPRIETARY AND CONFIDENTIAL THE INFORMATION CONTAINED IN THIS DRAWING IS THE SOLE PROPERTY OF BIRDIE ANY REPRODUCTION IN PART OR AS A WHOLE WITHOUT THE WRITTEN PERMISSION OF BIRDIE IS PROHIBITED NAME DATE ET BIRDIE CHECKED ENG APPR STANS Assembly CAG Vertical Slide MATERIAL COMMENTS FINISH NEXT ASSY USED ON gt SIZE REV A DWG NO 01 03 00 APPLICATION DO NOT SCALE DRAWING WEIGHT SHEET 1 OF 1
10. E 8 06 9 60 26 UNLESS OTHERWISE SPECIFIED NAMED CATE BIRDIE mm 127 CHECKED TITLE ENG APPR WLM Arm INTERPRET GEOMETRIC QA d crn DRAWING 5 THE SOLE PROPERTY 4340 Steel SIZE DWG NO REV ers umon A 01 09 03 BIRDIE IS PROHIBITED LU SO NOTSSXNIEBEASWING SCALE 2 1 WEIGHT SHEET 1 OF 1 5 4 3 2 1 Shannon Luminous Materials SHANNON LUMINOUS MATERIALS INC 1 800 543 4485 gt Your Luminous Solution Provider x Shannon Luminous Materials x Fluorescent Phosphorescent Black Light Shannon s Industries Shannon Provides Solutions Technical Information MSDS Sheets Lumi Concepts Black Light MSDS Sheets Fluorescence gt History of Shannon Luminous Please Contact file C Documents and Settings Keith Wayman Desktop Data Package Mechanical Material S Technical Material Safety Data Sheets SP Series Shannon Luminous Materials Inc 304 A North Townsend Street Santa Ana CA 92703 Tel 714 550 9931 SECTION ONE IDENTITY INFORMATION TRADE NAME PHOTOLUMINESCENT PIGMENT CAS NUMBER NO CHEMICAL FAMILY NAME ALKALINE EARTHMETAL ALUMINATE OXIDE EUROPIUM DOPED PRODUCT TYPE PLO FORMULA MO AI
11. DRAWN BIRDIE CHECKED ENG MFG APPR Q A MATERIAL AS Made NEXT ASSY USED ON FINISH APPLICATION DO NOT SCALE DRAWING COMMENTS Assembly Gimbal y SIZE DWG NO 01 06 00 REV WEIGHT SHEET 1 OF 1 6 2 PROPRIETARY AND CONFIDENTIAL THE INFORMATION CONTAINED IN THIS DRAWING IS THE SOLE PROPERTY OF BIRDIE ANY REPRODUCTION IN PART OR AS A WHOLE WITHOUT THE WRITTEN PERMISSION OF BIRDIE IS PROHIBITED NEXT ASSY USED ON NAME DATE n BIRDIE Tolerance mm 127 ENG APPR MFG APPR Assembly Gimbal z MATERIAL 5 COMMENTS FINISH APPLICATION DO NOT SCALE DRAWING SIZE DWG NO 01 07 00 REV WEIGHT SHEET 1 OF 1 10 PROPRIETARY AND CONFIDENTIAL THE INFORMATION CONTAINED IN THIS DRAWING IS THE SOLE PROPERTY OF BIRDIE ANY REPRODUCTION IN PART OR AS A WHOLE WITHOUT THE WRITTEN PERMISSION OF BIRDIE IS PROHIBITED NEXT ASSY USED ON NAME DATE DRAWN B R D E Tolerance mm 127 CHECKED ENG APPR AFGR Assembly Joint Y Joint MATERIAL Q A As Made COMMENTS FINISH APPLICATION DO NOT SCALE DRAWING SIZE DWG
12. 01 08 00 WEIGHT SHEET 1 OF 1 PROPRIETARY AND CONFIDENTIAL THE INFORMATION CONTAINED IN THIS DRAWING IS THE SOLE PROPERTY OF BIRDIE ANY REPRODUCTION IN PART OR AS A WHOLE WITHOUT THE WRITTEN PERMISSION OF BIRDIE IS PROHIBITED DATE DRAWN BIRDIE Tolerance mm 127 CHECKED ENG APPR MFG APPR MATERIAL QA AS Mad COMMENTS FINISH NEXT ASSY USED ON APPLICATION DO NOT SCALE DRAWING Assembly Support Beam SIZE DWG NO 02 01 00 WEIGHT SHEET 1 OF 1 800 1000 1500 on BIRDIE Tolerance mm 127 CHECKED ENG APPR PROPRIETARY AND CONFIDENTIAL MFG APPR Assembly Test Strucure THE INFORMATION CONTAINED IN THIS MATERIAL DRAWING IS THE SOLE PROPERTY As Mode mE BIRDIE ANY REPRODUCTION IN PART OR AS A WHOLE FINISH WITHOUT THE WRITTEN PERMISSION OF NEXT ASST DWG NO 02 02 00 BIRDIE IS PROHIBITED A t APPLICATION DO NOT SCALE DRAWING mE PROPRIETARY AND CONFIDENTIAL THE INFORMATION CONTAINED IN THIS Tolerance mm 127 NAME DATE DRAWN BIRDIE CHECKED ENG APPR MFG APPR DRAWING
13. APPLICATION DO NOT SCALE DRAWING COMMENTS Bed Support Lower SIZE DWG NO 01 01 03 REV WEIGHT SHEET 1 OF 1 PROPRIETARY AND CONFIDENTIAL THE INFORMATION CONTAINED IN THIS DRAWING IS THE SOLE PROPERTY OF BIRDIE ANY REPRODUCTION IN PART OR AS A WHOLE WITHOUT THE WRITTEN PERMISSION OF BIRDIE IS PROHIBITED NEXT ASSY USED ON NAME DATE DRAWN DI Tolerance 127 CHECKED ENG APPR MFG APPR Bed Support Upper MATERIAL Al 6061 16 COMMENTS FINISH APPLICATION DO NOT SCALE DRAWING SIZE DWG NO 01 01 02 WEIGHT SHEET 1 OF 1 PROPRIETARY AND CONFIDENTIAL THE INFORMATION CONTAINED IN THIS DRAWING IS THE SOLE PROPERTY OF BIRDIE ANY REPRODUCTION IN PART OR AS A WHOLE WITHOUT THE WRITTEN PERMISSION OF BIRDIE IS PROHIBITED 5 NEXT ASSY APPLICATION 4 eet 2 79 USED ON 3 56 UNLESS OTHERWISE SPECIFIED 127 INTERPRET GEOMETRIC TOLERANCING PER AI 6061 76 FINISH DO NOT SCALE DRAWING 3 DRAWN CHECKED ENG APPR MFG APPR Q A COMMENTS 6 76 NAME DATE BIRDIE ME Bracket Control Arm Guide SIZE DWG NO REV 01 02 01 SCALE 1 1 WEIGHT SHEET 1
14. new gear setting The parameter GP corrects for any accumulated errors in gearing during the ramp to gearing phase Example Electronic Gearing PROGRAM INTERPRETATION GAY Y Specify Y axis as master of X and Z GR 2 4 Specify gear ratios for X and 2 PRY 50000 Specify end position of master ACY 1000000 Specify acceleration of master DCY 1000000 Specify deceleration of master SPY 10000 Specify slew speed of master BGY Begin motion 10 www galilmc com Galil Motion Control Inc Galil Controllers General Description Contouring The contouring mode CM is extremely flexible as it allows any arbitrary profile on any set of axes to be prescribed Here the user bypasses the controller profiler and directly inputs the position versus time trajectory The trajectory is described as the position increment CD over a defined time period DT Additionally the controller per forms linear interpolation between prescribed points The contour mode is useful for following complex computer generated paths or for teach ing position paths An automatic data recording feature allows the con troller to learn a path and then follow it in the contour mode Example Contouring Generate an XY motion according to a file of points specifying the posi tion increments every 16 msec To simplify the example it is assumed that only 4 segments are required An array is used for each axis Segment DX DY 1 40 40
15. 12 70 06 35 UNLESS OTHERWISE SPECIFIED DAT BIRDIE DRAWN Tolerance mm 127 CHECKED TITLE ENG APPR MFG APPR CAG Linear Bearing INTERPRET GEOMETRIC QA COMMENTS MATERIAL DRAWING IS THE SOLE PROPERTY OF PTFE SIZE DWG NO REV BIRDIE ANY REPRODUCTION IN PART OR AS A WHOLE FINISH 0 1 02 03 WITHOUT THE WRITTEN PERMISSION OF NEXT ASSY USED ON BIRDIE IS PROHIBITED APPLICATION DO NOT SCALE DRAWING SCALE 221 WEIGHT SHEET 1 OF 1 5 4 3 2 1 63 05 _ x CN ais UNLESS OTHERWISE SPECIFIED DATE R D DRAWN CHECKED TITLE Tolerance mm 127 APPR MFG APPR CAG String Support Horizontal INTERPRET GEOMETRIC QA pL MATERIAL DRAWING IS THE SOLE PROPERTY OF Al 6061 6 SIZE DWG REV BIRDIE ANY REPRODUCTION IN PART OR AS A WHOLE FINISH WITHOUT THE WRITTEN PERMISSION OF NEXT ASSY USED ON BIRDIE IS PROHIBITED APPLICATION DO NOT SCALE DRAWING WEIGHT SHEET 1 OF 1 5 4 3 2 1 45 05 2 54 22 53 UNLESS OTHERWISE SPECIFIED NAMES BIRDIE DRAWN Tolerance 127 CHECKED TITLE ENG APPR MEG AFPR CAG String Support Vertical INTERPRET GEOMETRIC Q A PROPRIETARY AND CONFIDENTIAL 1 THE INFORMATION CONTAINED IN THIS MATERA COMMENTS DRAWING IS THE SOLE PROPERTY OF SIZE DWG NO REV BIRDIE ANY REPRODUCTION IN PART OR AS A WHOLE FINISH WITHOUT
16. 80 45 is NAME DATE s BIRDIE Tolerance mm 127 CHECKED ENG APPR Support Beam Arm Vertical Upper PROPRIETARY AND CONFIDENTIAL MFG APPR THE INFORMATION CONTAINED IN THIS DRAWING IS THE SOLE PROPERTY 16061 16 BIRDIE ANY REPRODUCTION IN PART AS WHOLE FINISH WITHOUT THE WRITTEN PERMISSION OF NEXT ASST S7 DWG NO 02 01 03 REV BIRDIE IS PROHIBITED A APPLICATION DO NOT SCALE DRAWING TWEEN 25 on BIRDIE Tolerance mm 127 CHECKED ENG APPR PROPRIETARY AND CONFIDENTIAL MFG APPR Support Pin THE INFORMATION CONTAINED IN THIS QA DRAWING IS THE SOLE PROPERTY OF 303 Stainless Steel BIRDIE ANY COMMENTS REPRODUCTION IN PART OR AS A WHOLE FINISH WITHOUT THE WRITTEN PERMISSION OF NEXT ASST SE DWG NO 02 01 05 REV BIRDIE IS PROHIBITED A APPLICATION DO NOT SCALE DRAWING SEXIES NEGT 6 35 R D DRAWN Toleronce 127 CHECKED ENG APPR PROPRIETARY AND CONFIDENTIAL MFG APPR Support Beam Roller THE INFORMATION CONTAINED IN THIS MATERIAL QA
17. DRAWING IS THE SOLE PROPERTY OF PTFE EENS BIRDIE ANY MMENTS REPRODUCTION IN PART OR AS A WHOLE FINISH WITHOUT THE WRITTEN PERMISSION OF BIEXT ASSY USED NO REV BIRDIE IS PROHIBITED A 02 01 DO 5 DRAWING SCALE 2 1 WEIGHT SHEET 1 OF 1 PROPRIETARY AND CONFIDENTIAL THE INFORMATION CONTAINED IN THIS DRAWING IS THE SOLE PROPERTY OF BIRDIE ANY REPRODUCTION IN PART OR AS A WHOLE WITHOUT THE WRITTEN PERMISSION OF BIRDIE IS PROHIBITED NAME DATE SEE BIRDIE Tolerance 127 CHECKED ENG APPR MFG APPR MATERIAL gt Q A COMMENTS 55 USED i5 pi SIE DWG NO REV 02 01 00 APPLICATION DO NOT SCALE DRAWING SCALE 1 10 WEIGHT SHEET 1 OF 5 PROPRIETARY AND CONFIDENTIAL THE INFORMATION CONTAINED IN THIS DRAWING IS THE SOLE PROPERTY OF lt INSERT COMPANY NAME HERE gt ANY REPRODUCTION IN PART OR AS A WHOLE WITHOUT THE WRITTEN PERMISSION OF lt INSERT COMPANY gt 5 PROHIBITED 5 NEXT ASSY APPLICATION 4 USED ON UNLESS OTHERWISE SPECIFIED DIMENSIONS ARE IN INCHES TOLERANCES FRACTIONAL ANGULAR MACH BEND TWO PLACE DECIMAL THREE PLACE DECIMAL GEOMETRIC TOLERANCING PER MATERIAL
18. 2 100 20 3 80 40 4 40 20 PROGRAM INTERPRETATION D DM DX 4 DY 4 Define arrays 0 40 DY 0 40 DX 1 100 DY 1 20 DX 2 80 DY 2 40 DX 3 40 DY 3 20 CMXY Specify contour DT4 P 0 Time interval LOOP Loop CD DX P DY P Specify contour data 1 Increment counter Wait to complete JP LOOP P lt 4 Loop until done 00 0 Contour data for end DTO Set time interval to 0 to end mode EN Endprogram Electronic Any slave axis or set of slave axes can be linked to a master axis to simulate the motion of a mechanical Cam Here the master axis be motor driven axis or a master encoder The Cam functions are specified table that allows complex profiles with varying gear ratios to be pre scribed Any follower axis may be engaged or disengaged independently at specific points along a cycle This allows the user to select engagement and disengagement points where the speed change of the follower is minimal The electronic Cam is an ideal mode for periodic operation especially those requiring a varying gear ratio along the motion cycle Applications include flying shears rotating knives and packaging systems Galil s Cam generating software can assist the user in defining the Cam table 1 0 Error Handling Dedicated 1 0 is provided for the following safety controls forward and reverse limit inputs for each axis home input for each axis amplifier enable output for each a
19. 03 Eu STATEMENT THIS MATERIAL SAFETY DATA SHEET MSDS HAS BEEN PREPARED COMPLIANCE WITH TIE FEDERAL OSHA HAZARD COMMUNICATION STANDARD 29 CFR 1910 1200 THIS PRODUCT IS CONSIDERED TO BE A NON HAZARDOUS SUBSTANCE UNDER THAT STANDARD SECTION TWO HAZARDOUS INGREDIENTS INGREDIENTS GAS NUMBER ACGIH TLV OSHA PEL AS INERT DUST TOTAL 2mg m ACGIN TLV 3mg m OSHA PEL SECTION THREE PHYSIGAL DATA APPEARANCE LIGHT GREEN POWDER NO ODER MELTING POINT DISSOCIATES 12000 C VAPOR PRESSURE N AP VAPOR DENSITY N AP SOLUBILITY IN WATER SOLUBLE WEIGHT PER CUBE METER 3 0 3 6 PLAMMABILITY CLASS N AP EXTINGUSHING MEDIA WATER SPECIFIC GRAVITY 3 0 3 6 FREEZING POINT N AP PERCENT VOLATILE N AP EVAPORATION RATE N AP PH IN WATER FLASH POINT N AP AUTO IGNITION TEMP N AP FIRE FIGHTING PROCEDURE SPECIAL Page 1 of3 12 4 2006 Shannon Luminous Materials file C Documents and Settings Keith Wayman Desktop Data Package MechanicalVMaterial S FIRE FIGHTERS SHOULD WEAR SELF CONTALNED BREATHING APPARATUS WHEN FIGHING CHEMICAL FIRES USE WATER SPRAY TO COOL NEARBY CONTAINTERS AND STRUCTURES EXPOSED TO FIRE UNUSUAL FIRE AND EXPLOSION HAZARDS THIS PRODUCT WILL BURN USE APPROPRIATE TECHNIQUES TO FIGHT SUROUNGING FIRE SECTION FOUR REACTIVITY DATA STABILITY STABLE HAZARDOUS POLYMERIZATION WILL NOT OCCUR CONDITIONS TO AVOID CON
20. Acceleration 2 500000 Deceleration VP 4000 0 lt 25000 gt 5000 Segment 500 90 180 Segment 1000 1000 lt 25000 gt 5000 Segment CD 500 90 180 Segment DE VP 0 0 lt 25000 Segment EA VE Specify end of path BGS Begin motion sequence EN End program VECTOR SPEED VECTOR DISTANCE www galilmc com Galil Motion Control Inc 9 INTR0 N a Lu l Galil Controllers General Description Linear Interpolation for controllers with two or more axes The linear interpolation mode LM allows any arbitrary path of up to 8 axes to be defined as a set of linear segments LI The vector speed VS vector acceleration VA vector deceleration VD and vector smoothing VT are also defined Up to 511 LI segments can be given prior to the start of motion and additional segments can be sent during motion to allow paths of unlimited length to be followed Example tinear Interpolation Move a cartesian robot through the following points with the coordinates indicated in inches PO 0 0 0 P1 4 2 1 P2 6 6 2 P3 8 8 0 Assume that the resolutions of all the axes are 1000 counts inch and set the required speed to 1 2 inches sec 1200 counts sec and the accelera tion and deceleration to 100 in sec2 100000 counts sec2 Note that the LM mode requires defining the segments in incremental form Point Coordinate Difference PO 0 0 0 1 4000 2000 1000
21. FINISH DO NOT SCALE DRAWING 3 DRAWN CHECKED ENG APPR MFG APPR QA COMMENTS TITLE SIZE DWG NO SupporABeam Support Be SCALE 1 10 WEIGHT REV SHEET 2 OF 5 UNLESS OTHERWISE SPECIFIED NAME DATE DIMENSIONS ARE IN INCHES DRAWN TOLERANCES FRACTIONAL TITLE ANGULAR MACH BEND TWOPLACEDECIMAL ENG DEER THREE PLACE DECIMAL MEG APPR INTERPRET GEOMETRIC QA 2 TOLERANCING CONVENIS THE INFORMATION CONTAINED IN THI MATERIAL SIZE DWG NO REV DRAWING IS THE SOLE PROPERTY OF lt INSERT COMPANY NAME HERE gt ANY REPRODUCTION IN PART OR AS A WHOLE FINISH U O r e U O NEXT ASSY USED WITHOUT THE WRITTEN PERMISSION OF lt INSERT COMPANY NAME HERE IS PROHIBITED APPLICATION DO NOT SCALE DRAWING SCALE 1 10 WEIGHT SHEET 3 OF 5 5 4 3 2 1 UNLESS OTHERWISE SPECIFIED NAME DATE DIMENSIONS ARE IN INCHES DRAWN TOLERANCES FRACTIONAL CHECKED TITLE ANGULAR MACH BEND TWOPLACE DECIMAL ARPES THREE PLACE DECIMAL MFG APPR INTERPRET GEOMETRIC Q A PROPRIETARY AND CONFIDENTIAL x TOLERANCING PER COMMENTS THE INFORMATION CONTAINED IN THIS MATERIAL SIZE DWG NO REV DRAWING IS THE SOLE PROPERTY OF INSERT COMPANY NAME HERE ANY Neat OR AS OU SupporABeam Support WITHOUT THE WRITTEN PERM
22. IS THE SOLE PROPERTY OF BIRDIE ANY MATERIAL REPRODUCTION IN PART AS WHOLE WITHOUT THE WRITTEN PERMISSION OF NEXTASSY USED ON FINISH BIRDIE IS PROHIBITED APPLICATION DO NOT SCALE DRAWING COMMENTS Assembly WLM SIZE A DWG NO 01 09 00 REV SCALE 1 2 WEIGHT SHEET 1 OF 1 82 58 14 35 PROPRIETARY AND CONFIDENTIAL THE INFORMATION CONTAINED IN THIS DRAWING IS THE SOLE PROPERTY OF BIRDIE ANY REPRODUCTION IN PART OR AS A WHOLE WITHOUT THE WRITTEN PERMISSION OF BIRDIE IS PROHIBITED Tolerance mm 127 NAME DATE DRAWN BIRDIE CHECKED ENG APPR MFG APPR MARAL Al 6061 T6 QA NEXT ASSY USED ON FINISH APPLICATION DO NOT SCALE DRAWING COMMENTS Bed Support Back SIZE WEIGHT SHEET 1 OF 1 PROPRIETARY AND CONFIDENTIAL THE INFORMATION CONTAINED IN THIS DRAWING IS THE SOLE PROPERTY OF BIRDIE ANY REPRODUCTION IN PART OR AS A WHOLE WITHOUT THE WRITTEN PERMISSION OF BIRDIE IS PROHIBITED Tolerance mm 127 DRAWN BIRDIE CHECKED ENG APPR MFG APPR MATERIAL A 6061 16 QA NEXT ASSY USED ON FINISH
23. IS THE SOLE PROPERTY OF Derlin BIRDIE MMENTS REPRODUCTION IN PART OR AS A WHOLE FINISH WITHOUT THE WRITTEN PERMISSION OF PIEXT ASSY JUSEDION SHE WG NO 01 07 08 REV BIRDIE IS PROHIBITED A i DO 5 DRAWING 210 PROPRIETARY AND CONFIDENTIAL THE INFORMATION CONTAINED IN THIS DRAWING IS THE SOLE PROPERTY OF BIRDIE ANY REPRODUCTION IN PART OR AS A WHOLE WITHOUT THE WRITTEN PERMISSION OF BIRDIE IS PROHIBITED Tolerance mm 127 NAME DATE DRAWN BIRDIE CHECKED ENG APPR MFG APPR Gimbal Rotary Bearing MATERIAL As Purchased QA NEXT ASSY USED ON FINISH APPLICATION DO NOT SCALE DRAWING COMMENTS DWG NO 01 06 03 REV PROPRIETARY AND CONFIDENTIAL THE INFORMATION CONTAINED IN THIS DRAWING IS THE SOLE PROPERTY OF BIRDIE ANY REPRODUCTION IN PART OR AS A WHOLE WITHOUT THE WRITTEN PERMISSION OF BIRDIE IS PROHIBITED NEXT ASSY USED ON NAME DATE DRAWN BIRDIE Tolerance mm 127 ENG APPR A Joint Inner MATERIAL A Brass C260 COMMENTS FINISH APPLICATION DO NOT SCALE DRAWING SIZE A DWG 01 08 01 WEIGHT SHEET 1 OF 1 10 0
24. OF 1 6 35 13 35 PROPRIETARY AND CONFIDENTIAL THE INFORMATION CONTAINED IN THIS DRAWING IS THE SOLE PROPERTY OF BIRDIE ANY REPRODUCTION IN PART OR AS A WHOLE WITHOUT THE WRITTEN PERMISSION OF BIRDIE IS PROHIBITED NEXT ASSY APPLICATION 4 USED ON UNLESS OTHERWISE SPECIFIED mm 127 INTERPRET GEOMETRIC TOLERANCING PER UP Al 6061 16 FINISH DO NOT SCALE DRAWING 3 518 NAME DATE DRAWN CHECKED ENG APPR MFG APPR Q A COMMENTS BIRDIE TITLE CAG Bracket Horizontal SIZE A SCALE 2 1 DWG NO 01 01 04 WEIGHT REV SHEET 1 OF 1 102 57 ___ 6 35 UNLESS OTHERWISE SPECIFIED NAME DATE DRAWN CHECKED TITLE Tolerance mm 127 ENG APPR APPR CAG Guide Bracket Horizontal INTERPRET GEOMETRIC MATERIAL DRAWING IS THE SOLE PROPERTY OF Al 6061 16 SIZE DWG NO REV BIRDIE ANY REPRODUCTION IN PART OR AS A WHOLE FINISH A 0 1 0 1 07 WITHOUT THE WRITTEN PERMISSION OF NEXT ASSY USED ON BIRDIE IS PROHIBITED APPLICATION DO NOT SCALE DRAWING SCALE 1 2 WEIGHT SHEET 1 OF 1 5 4 3 2 1 82 58 6 35 UNLESS OTHERWISE SPECIFIED NAME DATE BIRDIE Tolerance mm 127 CHECKED TITLE ENG APPR MEG APPR CAG Guide Bracket Vertical INTERPRET GEOMETRIC QA sss DRAWING IS THE SOLE PROPERTY
25. OF Al 606 6 SIZE DWG NO REV BIRDIE ANY A 01 01 08 REPRODUCTION IN PART OR AS WHOLE FINISH WITHOUT THE WRITTEN PERMISSION OF NEXT ASSY USED ON BIRDIE IS PROHIBITED LU SCALE 1 2 WEIGHT SHEET 1 OF 1 5 4 3 2 UNLESS OTHERWISE SPECIFIED NAME DATE DRAWN Tolerance 127 TITLE ENG APPR MEAND CAG Guide Control Arm Horizontal INTERPRET GEOMETRIC Q A PROPRIETARY AND TOLERANCING PER COMMENTS THE INFORMATION CONTAINED IN THI MATERIAL DRAWING IS THE SOLE PROPERTY OF Al 6061 6 SIZE DWG REV BIRDIE ANY REPRODUCTION IN PART OR AS WHOLE FINISH A 0 02 02 WITHOUT THE WRITTEN PERMISSION OF NEXT ASSY USED ON BIRDIE IS PROHIBITED APPLICATION DO NOT SCALE DRAWING SCALE 1 2 WEIGHT SHEET 1 OF 1 T 5 4 3 2 1 6 35 69 05 UNLESS OTHERWISE SPECIFIED NAME DATE BIRDIE DRAWN HECKED TITLE Tolerances mm 127 SEES ENG APPR MFG APPR Guide Control Arm Vertical INTERPRET GEOMETRIC Q A PROPRIETARY AND CONFIDENTIAL THE INFORMATION CONTAINED IN THIS 1 COMMENTS MATERIAL DRAWING IS THE SOLE PROPERTY OF Al 6061 76 SIZE DWG REV BIRDIE ANY 01 03 01 REPRODUCTION IN PART OR AS A WHOLE FINISH WITHOUT THE WRITTEN PERMISSION OF NEXT ASSY USED ON BIRDIE IS PROHIBITED LU SCALE 1 2 WEIGHT SHEET 1 OF 1 5 4 3 2 27352
26. mode 0 5 10mA CC mode Operating Temperature 32 to 104 F 0 to 40 C Power Requirement 120 230V 60 Hz 1096 Dimension W x H x D 19 x 5 25 x 15 75 483 x 133 x 400mm Weight 62 lbs 28 1 kg Accessories Two Year Warranty SUPPLIED User Manual OPTIONAL TL 30 Hook up leads 4 3 Specifications Features PHANTOM Auto Exposure EDR Extreme Dynamic Range HYGE configuration optional Continuous recording Pre trigger recording Post trigger recording On chip global shuttering Strobe sync Segmented image memory Continuous color video output IRIG B timing capture with phase shift 10 100 Gigabit Ethernet Sensor 800 x 600 pixel SR CMOS sensor Image Bit Depth 10 bit Sensitivity 4800 ISO ASA mono chrome 1200 ISO ASA color Pictures per Second PPS Full sensor to 1 000pps Exposure Time Variable independent of sample rate to 10 microseconds 2 microseconds option Trigger Continuously variable pre post Imager Control 10 100 Gigabit Ethernet or RS232 serial interface Preview and Focusing Via computer monitor or continuous video out Lens Mounts 1 C mount standard Many other lens mounts available including Nikon Inputs Outputs via integrated quick release connector Trigger Rising falling TTL pulse w filter or switch closure Sync Image TTL pulse Event Marker TTL pulse or switch closure Ready Signal TTL pulse IRIG B Timi
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29. 2 y Ih PROPRIETARY AND CONFIDENTIAL THE INFORMATION CONTAINED IN THIS DRAWING IS THE SOLE PROPERTY OF BIRDIE ANY REPRODUCTION IN PART OR AS A WHOLE WITHOUT THE WRITTEN PERMISSION OF BIRDIE IS PROHIBITED Tolerance mm 127 NAME DATE DRAWN BIRDIE CHECKED ENG APPR MFG APPR MATERIAL QA 303 Stainless Steel NEXT ASSY USED ON FINISH APPLICATION DO NOT SCALE DRAWING COMMENTS Joint Pin SIZE DWG NO 01 08 02 REV WEIGHT SHEET 1 OF 1 1 SE BIRDIE Tolerance 127 CHECKED ENG APPR PROPRIETARY AND CONFIDENTIAL MFG APPR J Ol W 5 THE INFORMATION CONTAINED IN THIS On MATERIAL DRAWING 15 THE SOLE PROPERTY Bross BIRDIE ANY COMMENTS REPRODUCTION IN PART OR AS A WHOLE Eyr FINISH WITHOUT THE WRITTEN PERMISSION OF SIZE REV BIRDIE IS PROHIBITED DWG NO 01 08 03 APPLICATION DO NOT SCALE DRAWING TERIOR 10 2 70 PROPRIETARY AND CONFIDENTIAL THE INFORMATION CONTAINED IN THIS DRAWING IS THE SOLE PROPERTY OF BIRDIE ANY REPRODUCTION IN PART OR AS A WHOLE WITHOUT THE WRITTEN PERMISSION OF BIRDIE IS PROHIBITED To
30. 4 0 062 0 0 0 969 15 aii 3509 509 HUN 1230 1 zeg 19597 MW 0001 Plul pue amas ZXY 0 2 ASN 99009 Sd4 0001 009 008 peeds 46 _____ ss JeO e qeo o qnS d GL uono Ieg Jepooue 005 M Ave 00N OMeS M Ove A _______ Ethernet Wing Mechanism Ethernet Controller 24 V DC 2 Power Ground 2 120 V AC Bus 96 Pin Power Supply 24 V DC 3 3 Ana Ground Index CH A Amplifier Vcc Ch B Servo Encoder 1 24 V DC 3 3 Index Vcc Ch Vcc Ch 24 V DC 3 3 Amax Ground Index CH A Servo Encoder 3 Servo Encoder 2
31. 4000 2000 1000 2 6000 6000 2000 2000 4000 1000 P3 8000 8000 0 2000 2000 2000 PROGRAM INTERPRETATION C Label CAS Set coordinate system LM XYZ Define XYZ space VS 1200 Vector speed VA 100000 Vector acceleration VD 100000 Vector deceleration LI 4000 2000 1000 Segment 0 LI 2000 4000 1000 Segment 2 LI 2000 2000 2000 Segment P2 P3 LE End of move BGS Start the motion EN End program Electronic Gearing The electronic gearing mode makes it easy for Galil controllers to simulate the motion of mechanical gears electronically Any slave axis or set of slave axes can be geared to a master at a prescribed gear ratio defined by the GR command The gear ratio can be changed on the fly and the controller permits multiple masters as defined by the GA com mand A powerful feature of electronic gearing is that an axis can be geared and simultaneously be commanded to perform an independent or vector move This is useful for the position correction required in packaging applications or when shapes must be cut on a moving con veyer belt The electronic gearing mode is also useful for gantry applica tions where a special gantry mode GM command tightly couples two axes by ensuring that gearing cannot be disabled The gearing mode allows for a gradual ramp to gearing which results in smoother transitions when the gear ratio is changed GD sets the distance of the master axis over which the slave will be engaged or changed to
32. 50 5 automatic tuning routines set the best PID values and display the step response of the system 90 www galilmc com Galil Motion Control Inc Tuning Software WSDK Storage Scopes Edt Graph Scope 7 Commanded Pcolion Zoom Normal Tm gan d yow The top graph The bation gech shows pour system amplitude vertus frequency Commanded Actus Position Comoarson tatus Text le WSDK displays the X versus Y positions allowing the 2 D motion path to be easily recorded WSDK5 main menu provides many options for system set up The multi channel storage scope records up to four channels of information Many types of data can be observed including actual and command position velocity error torque and 0 status A terminal emulator and editor allows programs to be easily entered The WSDK performs a closed loop frequency response test on the actual hardware allowing the system bandwidth and any resonances to be observed System parameters are displayed in a convenient matrix format Motion Control Serva Design Kit Terminal Help Select Option AK Tuning Methods Storage Scopes Galil Motion Control System domain Servo Design Kit amp Set up and Corfiguration Diagnostics aoe Statue Co
33. A PDF MERGER DEMO BIRDIE Electrical Data Package 454695202 46 000 60000 Nooosnioam ng 4L 9X 9 SX c uopeziensiA 20000 29 10000 Aqu ss 00020 ng Hg 2 100 10 s nge uPuelwWi usueuoewDuw ____ 90010 90067047 ng 8 0 sooro 5 5 666 806 66 Addng semog wsjueysay 700 10 Aiddng 6000 PHOS nghi 6 8 77 0 6 ______ 2000 Angi 0 607 uopo 10040 Buin 000 10 Jequinw An 52110 429134 JequinN gt NENNEN CENE EGENT sot EIS LO 6 229 il 6 6 62 0 006 1 5 00006 1 5 6612 6612 070 005 62 067 889 jeuondo 00 06z 0 04 0 969 L 625 0 Sc 626
34. Acceleration VD 500000 Deceleration VS 5000 Vector speed VP 4000 0 Move AB CR 500 90 180 Move BC VP 1000 1000 Move CD CR 500 90 180 Move DE 0 0 Move EA VE Indicate end of path BGS Start motion sequence EN Endprogram D 1000 1000 C 4000 1000 1000 0 0 0 4000 0 Another feature of the vector mode is tangential following that allows a third axis to remain tangent to the trajectory which is ideal for cutting tools Helical motion is also possible by commanding the third axis to follow the coordinated path at the same rate Example Coordinated Motion with Maximum Feedrate Repeat the previous example but set the feedrate to the maximum values allowed Due to accuracy requirements the vector speed must be limited to 5000 counts sec on the circular segments BC and DE the linear segment the motor speed is limited to 25 000 counts sec This operation is simplified given the controller s ability to associate two speeds with each segment upper and lower limits These limits are designated by the lt and gt symbols The resulting motion will accelerate the motors to the maximum allowed speed but will assure that the speed at end of segment is the one indicated by the gt symbol The resulting vector speed is m shown as a function of the path in the figure below COMMAND INTERPRETATION m B label CAS Set coordinate system Define XY plane 500000
35. C NET API Toolkit Imports Galil use Galil namespace Public Class Forml Inherits System Windows Forms Form declare controller object Dim Controller DMCAPI Windows Form Designer generated code Private Sub Forml_Load ByVal sender As System Object _ ByVal e As System EventArgs Handles MyBase Load allocate memory for controller object Controller New DMCAPI open communications Controller apiOpen 1 System IntPtr Zero declare response string Dim sResponse As String send command to controller Controller apiCommand TPX sResponse display response TextBox1 Text X position sResponse End Sub Private Sub 1 Closed ByVal sender As Object _ ByVal e As System EventArgs Handles MyBase Closed close communications Controller apiClose End Sub End Class lt gt m www galilmc com Motion Control Inc 89 lt LL 72 SOFTWARE Servo Tuning Software WSDK Product Description The WSDK Windows Servo Design Kit allows easy sys tem setup tuning and evaluation This powerful soft ware package is recommended for all first time users of Galil controllers WSDK software provides automatic PID tuning for optimizing performance Several tuning methods are provided allowing automatic tuning for a wide variety of systems and loads A four channel storage scope provides a display of the actual p
36. ISSION OF NEXT ASSY USED ON NOT SCALE DRAWING SCALE 1 10 WEIGHT SHEET 4 OF 5 PROHIBITED APPLICATION 5 4 3 2 1 UNLESS OTHERWISE SPECIFIED NAME DATE DIMENSIONS ARE IN INCHES DRAWN TOLERANCES FRACTIONAL CHECKED TITLE ANGULAR MACH BEND TWO PLACE DECIMAL ENG ARER THREE PLACE DECIMAL MEG APPR INTERPRET GEOMETRIC PROPRIETARY AND CONFIDENTIAL x TOLERANCING PER COMMENTS THE INFORMATION CONTAINED IN THIS MATERIAL SIZE DWG NO REV DRAWING IS THE SOLE PROPERTY OF INSERT COMPANY NAME HERE ANY Neat OR AS OU SupporABeam Support WITHOUT THE WRITTEN PERMISSION OF NEXT ASSY USED ON 7 D S DO NOT SCALE DRAWING SCALE 1 10 WEIGHT SHEET 5 OF 5 PROHIBITED APPLICATION 5 4 3 2 1 1 59 717 45 UNLESS OTHERWISE SPECIFIED NAME DATE DRAWN CHECKED TITLE Toleronce mm 127 ENG APPR MFG APPR Test Structure Uni 8 M INTERPRET GEOMETRIC Q A PROPRIETARY AND CONFIDENTIAL THE INFORMATION CONTAINED IN THIS MATERA oe DRAWING IS THE SOLE PROPERTY OF SIZE DWG REV BIRDIE ANY REPRODUCTION IN PART OR AS A WHOLE FINISH WITHOUT THE WRITTEN PERMISSION OF NEXT ASSY USED ON BIRDIE IS PROHIBITED APPLICATION DO NOT SCALE DRAWING SCALE 1 20 WEIGHT SHEET 1 OF 1 5 4 3 2 1 1 5 917 45 4 7 UNLESS OTHERWISE SPECIFIED NAME DATE BIRDIE DRAWN HECKED TITLE Toleranc
37. ON IS CW WHILE VIEWING THE MOUNTING END WITH POSITIVE VOLTAGE APPLIED 1 TERMINAL ALL SHAFT DIMENSIONS NOTED ARE STANDARD 13 407 000 FOR ALL OTHER SHAFT CONFIGURATIONS REFER TO DATA SHEET FOR SHAFT PART NUMBERS 3 BALL BEARINGS PRELOAD PER 107 4 MOLEX HOUSING 2695 SERIES WILL ACCEPT MOLEX MATING TERMINALS 2759 Ay ENCLOSED IS H P HEDS 91X0 OPTICAL ENCODER MODULE DATE mmm uman w m F REVISED ENDBELL DMs BRUSH HOLDER Dis er 6 52 2 X 250 DEEP 4 HOLES EQ SP ON A 1 531 005 B C OUTLINE AND MOUNTING DIMS DWG NO REV pee 150 229 BIRDIE Software Data Package 00015 e9en sewa wol 5 900 0006 uonouns 00 0 0006 TT uonsog ejejow ojjeuonejou uonpund 06 1000 uonsogjeuonejoM _ uonisogjeuongjou ___ uopounj 2000 2 00 08 JHIA uonisog jeuogejoN uonisog jeuone suej ayejOY sueil uonounj 000 10 3509 1503 pun Jain JequinN 12301 8 1 O 994 eie vos Computer Pre Processing Input Input Inp
38. T THE WRITTEN PERMISSION OF NEXT ASST SIE REV BIRDIE IS PROHIBITED A APPLICATION DO NOT SCALE DRAWING 6 35 83 15 PROPRIETARY AND CONFIDENTIAL THE INFORMATION CONTAINED IN THIS DRAWING 15 THE SOLE PROPERTY OF BIRDIE ANY REPRODUCTION IN PART OR AS WHOLE WITHOUT THE WRITTEN PERMISSION OF BIRDIE IS PROHIBITED 55 USED DATE BIRDIE Tolerance mm 127 CHECKED ENG APPR MFG APPR Support Beam Arm Horizontal MATERIAL Al 6061 6 COMMENTS FINISH APPLICATION DO NOT SCALE DRAWING SIZE DWG NO 02 01 01 REV WEIGHT SHEET 1 OF 1 2 102 50 WI lt ISINU I NEST 2 6 am gt 15 PROPRIETARY AND CONFIDENTIAL THE INFORMATION CONTAINED IN THIS DRAWING IS THE SOLE PROPERTY OF BIRDIE ANY REPRODUCTION IN PART OR AS A WHOLE WITHOUT THE WRITTEN PERMISSION OF BIRDIE IS PROHIBITED NEXT ASSY USED ON NAME DATE DRAWN R D 127 CHECKED ENG APPR MFG APPR Support Beam Arm Vertical Lower MATERIAL Q A Al 6061 16 FINISH APPLICATION DO NOT SCALE DRAWING SIZE A DWG NO 02 01 02 REV SCALE 1 2 WEIGHT SHEET 1 OF 1
39. TACT WITH ACIDS INCOMPATIBILITY CONTACT WITH ACIDS HAZARDOUS DECOMPOSITION PRODUCTS WILL NOT OCCUR SECTION FIVE HEALTH HAZARD DATA RESPIRATORY EQUIPMENT LOCAL EXHAUST MECHANICAL GENERAL PROTECTIVE GLOVES PLASTIC OR NEOPRENE EYE PROTECTION CHEMICAL GLASSES VENTILATION OTHER PROTECTIVE EQUIPMENT LAB COAT THRESHOLD LIMIT VALUE OSHA PEL TOTAL DUST 3mg m PRIMARY ROUTES OF EXPOSURE INHALATION INGESTION SKIN OSHA PEL 3mg m ACGIN TLV 2mg m EFFECTS OF OVEREXPOSURE MAY CAUSE IRRIATION TO EYES SKINS amp MUCOUS MEMBRANES LISTED CARCINOGEN NONE SECTION SIX EMERGENCY amp FIRST AID DATA SKIN WASH OFF WITH SOAP amp WATER EYES FLUSH WITH WATER FOR 5 MINUTES INHALATON REMOVE TO FLESH AIR INGESTION DRINK QUANTITIES OF WATER amp INDUCE VOMITING SECTION SEVEN TOXICOLOGY INFORMATION THIS PRODUCT IS OF NON TUXIC PLEASE CONTACT THE MANUFACTURE FOR FURTHER INFORMATION SECTION EIGHT SPILL LEAK PROCEDURES SPILL PROCEDURES WEAP APPROPRIATE PROTECTIVE EQUIPMENT AVOID Page 2 of 3 12 4 2006 Shannon Luminous Materials file C Documents and Settings Keith Wayman Desktop Data Package Mechanical Material_S THE GENERATION OF DUST VACUUM OR SHOVEL MATERIAL AND PLACE IN CLOSABLE CONTAINER S FOR DISPOSAL WASTE DISPOSAL METHODS DISPOSE IN ACCOURDANCE WITH STATE AND LOCAL REGULATIONS SECTION NINE REGULATORY INFORMATION SARA 313
40. THE WRITTEN PERMISSION OF NEXT ASSY USED ON BIRDIE IS PROHIBITED APPLICATION DO NOT SCALE DRAWING SCALE 1 1 WEIGHT SHEET 1 OF 1 5 4 3 2 1 BIRDIE Tolerance 127 mm ENG APPR PROPRIETARY AND CONFIDENTIAL MEG BEER Control Arm Inner THE INFORMATION CONTAINED IN THIS QA DRAWING IS THE SOLE PROPERTY OF Al 7075 16 OME 5 BIRDIE REPRODUCTION IN PART AS WHOLE FINISH WITHOUT THE WRITTEN PERMISSION OF NEXT A xu DWG NO 01 04 01 BIRDIE 15 PROHIBITED A APPLICATION DO NOT SCALE DRAWING RI 4 76 28 58 E PROPRIETARY AND CONFIDENTIAL THE INFORMATION CONTAINED IN THIS DRAWING IS THE SOLE PROPERTY OF BIRDIE ANY REPRODUCTION IN PART OR AS A WHOLE WITHOUT THE WRITTEN PERMISSION OF BIRDIE IS PROHIBITED NEXT ASSY USED ON NAME DATE SEN BIRDIE TOLERANCES mm 127 CHECKED ENG APPR Control Arm Linear Bearing MATERIAL COMMENTS FINISH APPLICATION DO NOT SCALE DRAWING SIZE DWG 01 05 01 REV WEIGHT SHEET 1 OF 1 NO nu
41. TITLE TOXIC SUBSTANCE CONTROL ACT TSCA ALL INGREDIENTS IN THIS PRODUCT ARE LISTED ON THE U S EPA TSCA INVENTORY OF CHEMICAL SUBSTANCES SECTION TEN SPECIAL PRECAUTIONS FOR INDUSTRIAL USE ONLY HANDLING amp STORAGE INFORMATION STORE CLOSED IN COOL DRY AREA WHEN HADLING WEAR PROTECTIVE CLOTHING amp RESPIRATORY PROTECTION AVOID SCATTER INTO THE OTHER PRECAUTIONS MAINTAIN A SCHEDULE OF REGULAR HOUSEKEEPING TO INSURE CLEANLINESS SECTION ELEVEN ADDENDUM DEFINITIONS AND ABBREVIATIONS ACGIH AMERICAN CONFERENCE OF GOVERNMENTAL INDUSTRIAL HYGIENISTS CAS GHEMIGAL ABSTRACTS SERVICE REGISTRY HUMBER EPA ENVIRONMENTAL PROTECTION AGENCY N AP NOT APPLICATION N AY NOT AVAILABLE NOISH NATIONAL INSTITUTE FOR OCCUPATIONAL SAFETY AND HEALTH OSHA OCCUPATIONAL SAFETY AND HEALTH ADMINISTRATION PEL PERMISSIBLE EXPOSURE LIMITS SARA SUPERFUND AMENDMENTS AND REAUTHORIZATION ACT Home Products Services Industries Technical History Policies Site Map Contact Us Links Copyright 1939 2001 Shannon Luminous Materials Inc All Rights Reserved 304 A North Townsend Street Santa Ana CA 92703 Toll Free 1 800 543 4485 Phone 714 550 9931 Fax 714 550 9938 Email WebMaster Page 3 013 12 4 2006
42. e mm 127 SEES ENG APPR MFG APPR Teste Structure Uni 1 M INTERPRET GEOMETRIC a SEET mon MATERIAL DRAWING IS THE SOLE PROPERTY OF SIZE DWG NO REV BIRDIE ANY REPRODUCTION IN PART OR AS A WHOLE FINISH WITHOUT THE WRITTEN PERMISSION OF NEXT ASSY USED ON BIRDIE IS PROHIBITED APPLICATION DO NOT SCALE DRAWING SCALE 1 20 WEIGHT SHEET 1 OF 1 5 4 3 2 1 5 51 11 29 23 UNLESS OTHERWISE SPECIFIED NAME DATE BIRDIE CHECKED TITLE Tolerance mm 127 WLM Co e NU INTERPRET GEOMETRIC DRAWING IS THE SOLE PROPERTY As Purchosed SIZE DWG NO REV PART OR AS WHOLE FINISH A 0 09 02 WITHOUT THE WRITTEN PERMISSION OF NEXT ASSY USED ON BIRDIE IS PROHIBITED APPLICATION DO NOT SCALE DRAWING SCALE 5 1 WEIGHT SHEET 1 OF 1 5 4 3 2 1 3 36 5 67 6 87 19 08 15 11 1 91 UNLESS OTHERWISE SPECIFIED NAME DATE BIRDIE DRAWN CHECKED TITLE Tolerance mm 127 WLM Collet INTERPRET GEOMETRIC QA MATERIAL DRAWING IS THE SOLE PROPERTY OF As Purchased SIZE DWG NO REV BIRDIE ANY REPRODUCTION IN PART OR AS A WHOLE FINISH A 0 1 09 0 1 WITHOUT THE WRITTEN PERMISSION OF NEXT ASSY USED ON BIRDIE IS PROHIBITED APPLICATION DO NOT SCALE DRAWING SCALE 221 WEIGHT SHEET 1 OF 1 5 4 3 2 1
43. er Tool Galil s MotorSizer is a free web based tool for easy sizing of your motion system This easy to use tool lets you specify your load and motion requirements for various mechanical systems MotorSizer performs a thorough analysis to select motors and amplifiers or enter your own that can drive your load to the motion requirements Galil s MotorSizer tool analyzes both stepper and servo motor systems MotorSizer is password protected registration is required and automatically saves your data for future reference Access MotorSizer at http www galilmc com support motorsizer index html 88 www galilmc com Galil Motion Control Inc Galil Utilities C C Programmers Toolkit Galil s C C Programmers Tool Kit includes DMCWIN software that provides C libraries Linux DOS and QNX versions are also available sample programs utilities complete terminal program and full documentation With this kit all Galil motion controllers can be pro grammed using standard C C compilers including Borland Microsoft Watcom and others The kit is also compatible with Galil ActiveX Tool Kit Partial DLL API list The following represents a partial list from over 60 functions DMCOpen Open communications DMClose Close communications DMCCommand Send a command DMCBinaryCommand Send binary command DMCDownloadFile Download file from hard disk DMCArrayUpload Upload an array API T
44. given by the PA command The ST Stop command is used to exit the Position Tracking mode Jogging In the jog mode each axis is given a jog speed and direction JG acceleration AC and deceleration DC Upon begin BG the controller ramps up to the jog speed at the prescribed acceleration following a trapezoidal profile A smoothing function IT is provided to smooth abrupt velocity transitions The stop command ST stops the motion at the prescribed deceleration rate The jog speed and direction accelera tion and deceleration may be changed at any time during motion The average speed can be interrogated at any time using the Tell Velocity TV command Example Velocity Control by a Potentiometer To control the motor velocity by a potentiometer connect the potentiometer to analog input 1 and read its voltage Set the motor speed in proportion to the analog input with a maximum speed of 100 000 counts sec for a 10 Volt input Also limit the acceleration and deceleration to 500 000 counts sec2 COMMAND INTERPRETATION A Label 160 Initial speed 500000 Acceleration DC 500000 Deceleration BGX Begin motion 100 Label JGGAN 1 10000 Read potentiometer and update speed JP LOOP Repeat EN End program 8 www galilmc com Galil Motion Control Inc Galil Controllers General Description 2D Linear and Circular Interpolation for controllers with two or more axes The Vector Mode VM is an ex
45. ing SIZE DWG NO 01 07 01 REV WEIGHT SHEET 1 OF 1 PROPRIETARY AND CONFIDENTIAL THE INFORMATION CONTAINED IN THIS DRAWING IS THE SOLE PROPERTY OF BIRDIE ANY REPRODUCTION IN PART OR AS A WHOLE WITHOUT THE WRITTEN PERMISSION OF BIRDIE IS PROHIBITED Tolerance mm 127 NAME DATE DRAWN BIRDIE CHECKED ENG APPR MFG APPR MATERIAL Al 606 1 T6 QA NEXT ASSY USED ON FINISH APPLICATION DO NOT SCALE DRAWING COMMENTS Gimbal Gimbal z Side SIZE DWG NO 01 07 04 REV WEIGHT SHEET 1 OF 1 _ 8 59 2 99 N 2 06 N NE BIRDIE Q Tolerance mm 127 CHECKED ENG APPR PROPRIETARY AND CONFIDENTIAL MFG APPR Gimbal Gimbal z String Slide Side THE INFORMATION CONTAINED IN THIS MERIAL QA DRAWING IS THE SOLE PROPERTY OF PTFE BIRDIE ANY REPRODUCTION PART AS WHOLE FINISH WITHOUT THE WRITTEN PERMISSION OF NEXT A S NO 01 07 05 BIRDIE IS PROHIBITED A APPLICATION DO NOT SCALE DRAWING TERIOR 0 35 3 18
46. lerance mm 127 NAME DATE DRAWN BIRDIE CHECKED ENG APPR MFG APPR MAIRAL 7075 16 QA NEXT ASSY USED ON FINISH APPLICATION DO NOT SCALE DRAWING COMMENTS Joint y SIZE DWG NO 01 08 04 REV WEIGHT SHEET 1 OF 1 25 40 LO NO 50 68 4 B D E DRAWN CHECKED ENG APPR PROPRIETARY AND CONFIDENTIAL MFG APPR 1 THE INFORMATION CONTAINED IN THIS DRAWING IS THE SOLE PROPERTY OF As Purchased BIRDIE ANY REPRODUCTION IN PART OR WHOLE FINI WITHOUT THE WRITTEN PERMISSION OF NEXTASSY SEE BIRDIE IS PROHIBITED A APPLICATION DO NOT SCALE DRAWING 4 76 2035 WEIGHT SHEET 1 OF 1 O LO 2 ERR BIRDIE CHECKED ENG APPR PROPRIETARY AND CONFIDENTIAL MEG BEER Motor String Pulley THE INFORMATION CONTAINED IN THIS MATERIAL QA DRAWING IS THE SOLE PROPERTY OF As Purchased BIRDIE ANY REPRODUCTION IN PART OR AS A WHOLE FINISH WITHOU
47. long the motion path regardless of backlash Most Galil controllers also include a sinusoidal commutation feature that allows designers to use lower cost servo drives This feature assures smooth motion and reduces torque ripple when using brushless motors Each axis of sinusoidal commutated motion requires two DAC outputs that are phase shifted by 120 The servo amplifier generates the third commutation signal The commutation can be initialized with or with out hall sensors Two controller axes are required for each brushless motor For example a two axis controller is required to drive one brush less motor with sinusoidal commutation i gt rm Dual loop Block Diagram BACKLASH LOAD MOTOR ENCODER www galilmc com Galil Motion Control Inc 7 INTRO 72 LLI Galil Controllers General Description Modes of Motion Point to Point Motion Any combination of axes can be operated in the Point to Point Motion mode to allow the target position PA or PR slew speed SP acceleration and deceleration DC to be specified independently for each axis That way motion on any axis can be started and stopped inde pendently Upon begin BG the controller generates a trapezoidal veloci ty profile where the speed and acceleration can be changed anytime dur ing motion For applications that require smooth motion without abr
48. nd execute complex application programs designed by the user Application programs can be downloaded directly to the con troller and executed without host intervention The main benefit is that this frees the PC for system level tasks fact Galil controllers permit multitasking which allows up to eight programs to execute simultane ously Also special commands are available for application programming including event triggers IF THEN ELSE statements conditional jumps subroutines symbolic variables and arrays PID Block Diagram Servo Motor Compensation Features Galil controllers provide a compensation filter which includes a PID Proportional Integral Derivative filter followed by a notch filter and a low pass filter The compensation also includes velocity and acceleration feedforward filter parameters are adjustable allowing servo system tuning for best performance Dual loop control is provided for reducing the effect of backlash The dual loop DV feature enables the controller to compensate for mechanical backlash Typically dual loop systems use rotary encoder on the motor and a linear encoder on the load most Galil controllers accept inputs from two encoders per axis as a standard feature Dual loop control changes the standard PID control and closes the position loop with the load encoder PI and derives the damping terms D from the motor encoder This method provides smooth and accurate control a
49. ng IRIG B code modulated or unmodulated input with IRIG B output lock and variable phase shift Strobe Sync TTL Pulse RS232 Network 10 100 Gigabit Ethernet Video out RS 170 NTSC PAL and SDI Serial Digital Interface Power 24VDC 1 0 Amp MEMORY Standard 256 Megabytes integral image memory Records 512 images for 0 5 second of continuous recording at 1 000pps full format Longer recording times for lower sample rates and allocated formats example 5 seconds at 100pps Optional Up to 2 048 megabytes of integral image memory Records 4 096 images for 4 0 seconds continuous recording at 1 000pps full format Longer recording times for lower sample rates and allocated formats example 40 seconds at 100pps Optional Non Volatile Flash Memory up to 6 gigabyte recommended for all HYGE applications ENVIRONMENTAL Ambient Temperature 32 F and 104 F 0 C and 40 C Maximum humidity 80 non condensing at 5 C SOFTWARE Phantom operates in a Windows environment with familiar commands found in familiar places Standard functions include Acquisition Image capture IRIG B timing capture amp standard time annotation Field of view amp focus Sample rate amp aspect ratio selection Shutter speed Histogram Brightness contrast amp gamma adjust Trigger modes Continuous record Save amp recall setups Analytical playback Immediate playback of cine Variable playback speed in fo
50. nnected with OME 1040 4 ais controller revision 1 Smart Terminal Edt Took 10110 v De where x 5 X Y Z W A B C D E F G or jon to specty the axis or axes The TP command gives the motor postion in encoder counts Status connected with 2280 8 was controller revin 1 0k Ser 4295 Set up and Configuration Quacretire Normal Quadrature v 4 Off 2147483047 2147483548 2147483547 2147483548 Derivative Constant Proportional Constant 35 380 Integrator Lint 99988 9 3998 0 000 mmm 16384 Off on Error Dvesbled pes 01 Acceleration Feedforward 0 D Status Connected wih Gall OMC 1040 4 axis controller revision 1 5b MX ce lt gt m www galilmc com Galil Motion Control Inc 91 Mechanical Data Package 1009 z jequild Aquessv 00 20 10 82046 6 0 ____ 0800 6 06 Jezo ng 1995 39185 cog wu OL XZ 20 80 10 5 06 uediews 0925 5528 8 E jeuu 09800 BocP 660 72 05 _ 108
51. oolkit Galil has taken its C Application Programming Interface API and ported it to NET Framework v1 1 This object oriented API uses NET native types to provide a commu nication interface to Galil Motion Controllers It can be used from any of the VisualStudio NET managed lan guages C Gf Jit The DMC API includes objects for basic commu nications data record access array operations and Galil registry modifications Exception based error handling as well as many other forms of the traditional function calls are implemented to make the API very versatile and help reduce programming Dynamic help files and sample code are also included Users of the older C API should find the new version familiar and that it fits more naturally into the NET environment In NET the Galil NET API objects can be imported to your project by simply adding a reference to the DMCdNet dll class library The simple VB NET example below shows how the DMCAPI object is used to send to the controller and display the response a text box Example Program tells the controller to move the X axis motor 1000 counts include lt windows h gt include lt Dmccom h gt long HANDLEDMC hDmc char szBuffer 64 int main void DMCOpen 1 0 amp hDmc DMCCommand hDmc PR1000 BGX szBuffer sizeof szBuffer re DMCClose hDmc return 0 DM
52. osition velocity error and torque The WSDK software also provides several tests for design and analysis of servo systems These tests include impulse step and frequency response Bil Tuning Methods Terminal and KON system This test will then calculate the appropriate and tor the crossover frequency Tuning Method auto Crossover Frequency z Axis F 3 PID Filter KD 25425 4 gt P Tuna KP Perform Tuning Test S 5538 aj gt Z Show Step Response K Crossover Frequency RAD S mer 500 Sample Period 2 ms System Requirements 16MB RAM 25MB disk space Galil controller installed 88 Windows 985 or newer Features E Allows easy setup tuning and analysis of motion systems ES Menu driven no programming experience required Four channel storage scope for displaying real time position velocity error and torque E Displays X versus Y position for viewing actual 2 0 motion path Terminal emulator and program editor for easy communication with the motion controller Automatic tuning procedures for quick and easy selection of controllers PID parameters optimizes performance of actual system hardware Provides impulse step and frequency response tests on actual hardware Il Displays system parameters and motion status in convenient matrix format
53. pdat ing flash firmware Also includes DMCNet an Ethernet utility for detecting and addressing Ethernet controllers DMCSetup Utility to upload download view and save burned parameters to disk DMCDOS Utility programs and example source code for communicating in the DOS environment DMCQNX QNX utilities DMCLNX Linux Terminal with PCI and Ethernet drivers E DMC Smart Terminal Tools View Help 9 where 2 or H or any combination to specify the axis or axes The TP command gives the motor position in encoder counts Status connected with DMC 2260 8 axis controller revision 1 0k 4296 NM DMCSETUP Galil s set up software is for easily displaying and edit ing the configuration parameters of Galil controllers You can see the contents of the controller registers at a glance You can view motor type filter parameters default settings switch status etc change a parameter you merely click on that parameter with the mouse and enter a new value This makes setting up the con troller a snap The software tool also lets you save and load parameters to and from a file This is useful prior to master resets or changing firmware The software also has a terminal and on line help This software is includ ed on the Galil software CD Web based MotorSiz
54. quiring precise synchronization of posi tion to external events such as coordinate measurement machines The high speed position compare feature produces an output pulse at a precise position The starting position for the initial pulse and incre mental distance for subsequent pulses are programmable i J m www galilmc com Galil Motion Control Inc 11 142045006 Lo Cog DC Servo Motor Assembly Data Symbol Units Value Included rpm rad s 3 702 388 Features ozin 25 oz in N m 204 1 4E 00 2 Pole Stator 1083 Ceramic Magnets Motor Data Heavy Guage Steel Housing 8 67 6 12E 02 11 Slot Armature Resistance Rr e oz in A V krpm V rad s 6 41 6 12 02 Silicon Steel Laminations Stainless Steel Shaft Copper Graphite Brushes Diamond Turned Commutator Motor Ball Bearings 3 _ f N19 oz in s kg m 3 7E 03 2 6E 05 Electrical Time Constant ms Customization Options Mechanical Time Constant ms R Gearbox Data __ O Data Channels Resolution 1 Specified at max winding temperature at 25 C ambient without heat sink 2 Theoretical values supplied for reference only c lo oz in krpm N m s 1 2E 05 oz in krpm N m s 3 7 03 F
55. rward or reverse including freeze frame amp endless loop Random Go to Image View single images at random from any cine Tile cascade multiple images on one screen Timing data displayed with each image Cine editor Multi Cine Viewer Measurements Linear or angular measurements Displacement image English and metric units Generate Velocity RPMs 100 data points per measurement reports Report files amp images are compatible with spread sheet software and image analysis software such as TrackEye Image Express or Falcon Image processing Smooth sharpen psuedocolor negative image and edge detection Brightness contrast amp gamma adjust 3x3 and 5x5 filter matrix for custom image processing File management Organize save compress and export cines or single images File formats are compatible with most word processing desktop publishing and presentation software DIMENSIONS Size 4 25 x 3 37 x 8 25 inch HWD 10 8 x 8 56 x 20 96 cm HWD Weight 4 5 lbs 2 0kg Power 24VDC 1 Amp Mounting 1 4 20 inch and four 10 32 threaded hole pattern in base and top Mounting Axis Any position Material amp Finish Machined aluminum housing plated finish Country of Origin The United States of America STANDARD ACCESSORIES Phantom software Single user license 256 Megabyte integral image memory Ethernet Sync output pulse trigger pretrigger video out and IRIG B 110 220VAC 24VDC In
56. t panel controls The units will automatically cross over from constant voltage to constant current mode and vice versa if the output exceeds preset limits Front panel LED meters are provided for monitoring voltage and current The load terminals and remote sense terminals are located on the front panel Either the positive or nega tive output terminal may be grounded or floated up to a maximum of 300VDC above ground Special features include the ability to set constant current with no load and remote sense to compensate for wire loss The 1790 and 1791 are designed to meet CE specifications and have superior performance to comparable models costing 20 to 30 more Constant Voltage Constant Current Operation Remote Programming Facility Facility for Presetting the Output Voltage and Load Current Limits Separate DC Output Switch Remote Sensing Facility High Stability and Close Regulation 0 01 Meet Specifications 1790 1791 Specifications 1790 1791 Output DC 0 32V 0 64V Output Current DC 0 20A 0 10A Constant Voltage Mode Line Regulation 120 10 0 01 2 Load Regulation 0 01 2mV Ripple and Noise lt ImV rms max Constant Current Mode Line Regulation 120V 10 0 05 10 Load Regulation 0 05 10 Ripple and Noise 6mA rms Overload Protection Stability Constant current type 0 2 in CV
57. ternational Power Adapter 12 foot 3 7 power cord One year warranty QUESTIONS For technical assistance systems integration custom options or information on imaging techniques or training please call us tool free 1 800 RESOLUTION US amp Canada 1 800 737 6588 For the most up to date information specifications and options please visit our website www visionresearch com ViSiON GEE Specifications and features subject to change without notice Other options available Phantom is manufactured in the USA under US Patent Number 5625412 and patents pending Phantom EDR and Memory Gate are registered trademark of Vision Research Inc Windows and Windows logo are trademarks of Microsoft Corporation Vision Research Inc 100 Dey Road Wayne New Jersey 07470 USA 973 696 4500 Fax 973 696 0560 Rev 11 9 06 Galil Controllers General Description Command Language Galil s Command Language is comprised of intuitive two letter English like ASCII commands that make programming as quick and easy as possible For example the BG command begins motion while the SP 2000 4000 command sets the speed of the X axis as 2000 and the Y axis to 4000 Commands are included for system set up tuning prescribing motion error handling and application programming Custom commands can be created upon request One of the more powerful features of all Galil controllers is their ability to store a
58. tremely powerful mode where any two dimensional path consisting of straight line VP and arc segments CR can be prescribed Up to 511 segments can be given prior to the start of motion and additional segments can be sent during motion allowing unlimited motion paths to be followed without stopping The vector speed VS vector acceleration VA vector deceleration VD and motion smoothing VT are also prescribed The vector speed can be changed at any time during motion permitting feedrate override slow down around corners and assignment of different speeds to specific segments Setting the vector speed to zero and increasing the vector speed to resume can easily accomplish a pause during motion The vector mode can be operated on two sets of coordinated axes at the same time using the CA command which specifies the plane of motion as S and T By having dual sets of coordinated motion users can accomplish completely separate coordinated motion tasks with a single controller It can even handle more complex motion control functions such as collision avoidance Example Coordinated Motion Perform a move along the trajectory shown in the figure starting at the point A and move counter clockwise toward Set the vector velocity to a uniform rate of 5000 counts sec and set the accel decel rate along the vector to 500000 counts sec COMMAND INTERPRETATION PATH Label CAS Set coordinate system VMXY Define plane as XY VA 500000
59. upt velocity transitions a motion smoothing function IT is provided The position TP and position error TE may be interrogated at any time Example Point to Point Motion COMMAND INTERPRETATION 1000000 Specify acceleration DC 1000000 Specify deceleration SP 20000 Specify slew speed PR 40000 Specify distance BG Begin motion Example Change Speed on Input Move the x axis forward a distance of 20000 counts at an initial speed of 50000 counts sec and with an acceleration and deceleration of 1000000 counts sec2 As soon as the motor activates the sensor con nected to input 1 reduce the speed to 25000 counts sec PROGRAM INTERPRETATION A Label PR 20000 Distance SP 50000 Initial speed AC 1000000 Acceleration rate DC 1000000 Deceleration rate BGX Start the motion 1 Wait for the sensor input SP 25000 Reduce the speed EN Endprogram VELOCITY TIME INPUT 1 Position Tracking The Position Tracking mode allows an axis to precisely follow a randomly generated position target In this mode a new absolute posi tion may be specified even if the axis is in motion The controlled axis is commanded to move to the new position following a trapezoidal velocity profile The PT command places the controller in the Position Tracking mode which allows the host to issue absolute position commands on the fly The axis moves to the new position and waits until a new position target is specified and
60. ut Vertical p Horizontal Z Motion Rotational Y Motion X Motion Function Function Function Translational Translational Rotational to to Rotational to Rotational Rotational Controller Executes Program Amplifier Uploaded b Motor Motor Encoder Encoder Control Hardware Real Time Computer Real Time Encoder Position Velocity Acceleration Plotted Motor Encoder Onboard Camera Onboard Camera Computer Post Processing Real Time Post Processing Conversion from Image Import Image Find Illuminated Store Pixel to Format 2 a Acquisition with camera into ENVI Pixels Indices software Check for Mor Images Compare to Commanded Position and Angle Compute Position and Angle for Every set of Pixel Indices No PID Block Diagram lt LL 72 SmartTERM SOFTWARE Galil Utilities SmartTERM DMCSetup MotorSizer CToolkit API Toolkit Galil Utilities All Galil software programs can be downloaded from the Galil website or accessed from the CD ROM All nec essary device drivers and DLLs are included for current Windows operating systems SmartTERM Terminal program for sending com mands downloading and editing programs and u
61. xis configurable abort inputs for each axis master abort input and error output Also the controller provides the following safety functions in software upper and lower software travel limits position error limits and automatic shut off on excess position error Program interrupts are provided for error and limit conditions and run time program errors The program interrupts cause the program sequencer to automatically branch to an error handling subroutine In order to provide flexibility and system protection the error handling subroutine can be customized by the user User 1 0 In addition to dedicated inputs for home and limits Galil controllers provide user 1 0 for synchronizing motion with external events such as switches and relays The DMC 18x0 controller for example includes 8 analog inputs 8 digital inputs and 8 digital outputs for 1 to 4 axis models and 8 analog inputs 24 inputs and 16 outputs for 5 8 axis models All Galil controllers include many commands for handling 1 0 such as input interrupts 1 0 triggers and timers The combination of user 1 0 and application programming often eliminates the need for a PLC As part of the user 1 0 Galil controllers provide a high speed position capture and position compare feature for each axis The high speed position capture latches the exact position within 0 1 microseconds 40 psec with optoisolation of the occurrence of an input Position cap ture is crucial for applications re
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