Absolute Encoder
Position feedback device that provides absolute change in position by producing position data that is unique for every location within a specified rotational range. Position data is maintained through system power cycles and resets.AMP(amplifier)
AMP (amplifier or drive): Accepts the +/- 10V motor command signal from the Galil Motion Controller. AMPs can be internal to the motion controller, or they can be third party devices that are externally controlled by the Galil Motion Controller. Galil internal amplifiers are transconductance amplifiers, such that the differential input voltage, or motor command signal, produces an output current to the motor resulting in motor torque. As a result, motor torque is then proportional to the motor command voltage.
Brushless Modulo
Defines the electrical cycle, or magnetic cycle, of the motor with respect to the encoder pulses (counts) experienced per electrical cycle. The electrical cycle is defined as the resulting displacement of the motor shaft after one complete energizing sequence of each motor phase. This is a sine amplifier specific property that is configured in the Galil Motion Controller with the Brushless Modulo command, BM. The brushless modulo of an axis can be calculated as follows: BM = (encoder counts per revolution) / (number of motor pole pairs)
Commutation
Excitation to the proper motor phase at the proper time to generate controlled motion. The commutation methods will differ based on the motor technology: Brushed motor: Commutation is achieved mechanically via a rotating mechanical commutator using brushes connected to the motor winding. Brushless Motor Trapezoidal Commutation: Uses hall effect sensors to determine the orientation of the motor coils to the motor's magnetic field. Using this feedback, the amplifier switches current between the three motor phases to generate motion. Brushless Motor Sinusoidal Commutation: Uses the motor encoder to determine the orientation of the motor coils to the motor's magnetic field. Sinusoidal commutation ensures higher resolution in torque control versus Trapezoidal commutation.
Crossover-Cable
A type of twisted pair cable that allows direct Ethernet connections between older PC's and Ethernet devices without the use of an Ethernet Switch. This cabling was prevalent for early Ethernet devices and is not required for connecting to current generation Galil Ethernet based motion controllers.
Dedicated Network
This type of network isolates all devices required for an application to a single local area network. A dedicated network can be as simple as a PC and Galil Motion Controller or include mutiple PC's and Ethernet Devices. What makes a dedicated network different from an Open network is that ONLY application specific information is exchanged on the Dedicated Network.
ELO
Electronic Lock Out. This is a committed input on a Galil Motion Controller that will shut down internal amplifiers at a hardware level when the input is triggered. This input should be used for ESTOP type events where all motor power must be cut instantaneously. ELO is only available with Galil's line of internal servo and stepper amplifiers.
Ethernet Switch
Device used to link computers/devices together on a common Local Area Ethernet network. Cat5 Ethernet cables are used to make the wired connections from each Ethernet device on the network to the Ethernet switch.
Firmware
A layer of code, written by Galil, that serves as the interface between the hardware and the user specified DMC code. Firmware provides a simple interface for the user to link the application programming to the hardware. The firmware performs additional functions such as: motion profiling, closing the position loop and monitoring I/O. Firmware can be updated in the field via GDK Software.
Hall Sensor
A sensor that changes state in the presence of a magnetic field. These sensors are used in motion control to achieve commutation of trapezoidal amplifiers/drives.
ICM
This is a term used by Galil that stands for Interconnect Module. ICM's provide access to hardware signals through external connections.
Incremental Encoder
Position feedback device that provides relative change in position by producing a discrete number of uniform pulses per revolution or length segment. Position is not maintained through system power cycles, homing to a known location is recommended if the Galil controller is reset or power cycled.
Index Pulse
A pulse generated by the encoder once per revolution. This signal is often referred to as the Z-Channel, Z-Pulse, Index, or Index Pulse in motor/encoder datasheets and is usually used in homing routines to ensure a system is homed to within one encoder count.
IP Address
A unique string of numbers that identifies each computer/device on network. Each device on the network must have a unique IP address and must operate on the allowed subnet. For example, with a subnet mask of 255.255.255.0, the devices on this network must share the first three terms, and the fourth term must be different: device 1 IP address = 192.168.1.1 (PC for example), device 2 IP address = 192.168.1.41 (Galil Motion Controller for example).
Magnetic Cycle
The resulting displacement of the motor position after one full energization sequence of each motor phase.
NIC
NIC = Network Interface Controller a.k.a. Network Adapter; connects a computer or other Ethernet device to a communication network and/or Galil controller(s).
Open Network
An Ethernet network that can be used by any device in the vicinity. This is typically a company network that utilizes a DHCP server to dynamically assign devices that join the network a unique IP address.
Servoed
The term 'servoed' implies that an axis is in an enabled state following the servo here command, SH. The motion controller profiler is active when the axis is in a servoed state. A servoed motor will 'fight', via the controller's PID control loop, attempts to move it from it's current location.
Sine Drive
Sinusoidal commutation drives – provide sinusoidal varied current to the motor phases per electrical cycle of the motor. Sine drives decrease torque ripple and do not require hall effect sensors for commutation.
Straight Through Cable
A type of twisted pair cable for local area network use where the RJ-45 connectors on each end have the same pinout. This type of Ethernet cable is referred to as a Category 5, or Cat5, cable.
Subnet Mask
A string of numbers that defines the range of IP addresses that can be used on a network. For example, 255.255.255.0 implies the subnet (first three terms of the IP address) must be exactly the same, where the fourth digit can be any number between 1 and 255.
Trapezoidal Drive
Trapezoidal commutation drives – provide discrete current to a specific motor phase based on the hall effect sensor states. Trapezoidal drives do required hall effects sensor to achieve commutation.
Trapezoidal Velocity Profile
A motion profile where the acceleration and deceleration segments are linear and the slew speed is constant. This profile gets it's name from the resulting shape when plotted as velocity vs. time. Trapezoidal velocity profiles are created by defining the acceleration (AC), deceleration (DC), slew speed (SP), and the move distance via the PR or PA commands. Trapezoidal profiles are not to be confused with trapezoidal commutation.