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.
A new feature of the Terminal Tool is the Command Helper with Syntax checker. The enhanced Editor Tool 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. 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.
The Tuner Tool 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. The Manual Method has advanced settings that allow parameters such as feedforward, notch, poles and integrator limit to be specified.
The Scope Tool is easier to use and has more features than the previous version. 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.
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. 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.
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) with current generation Galil controllers. More information and the BETA download can be found at: http://www.galilmc.com/support/software-downloads.php
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