Galil

Configuring an Galil motor controller

This chapter explains how to configure an Galil motor controller.

Supported features

Encoder Shutter Trajectories
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Specific Galil controller parameters

  • url: controller hostname or IP address

Specific IcePAP axis parameters

  • type: is the motor type, default value is SERVO == 1. Values could be:
    • 1: Servo Motor
    • -1: Servo motor with reversed polarity
    • -2: Step motor with active high step pulses
    • 2: Step motor with active low step pulses
    • -2.5: Step motor with reversed direction and active high step pulses
    • 2.5: Step motor with reversed direction and active low step pulses
  • vect_acceleration: acceleration rate of the vector in a coordinated motion sequence. default value is 262144
  • vect_deceleration: deceleration rate of the vector in a coordinated motion sequence. default value is 262144
  • vect_slewrate: speed of the vector in a coordinated motion sequence. Default value is 8192
  • encoder_type: the quadrature type or the pulse and direction type. Default value is QUADRA == 0. Values can be:
    • 0: Normal quadrature
    • 1: Normal pulse and direction
    • 2: Reversed quadrature
    • 3: Reversed pulse and direction
  • kp: Proportional Constant. default value is 1.0
  • ki: Integrator. default value is 6.0
  • kd: Derivative Constant. default value is 7.0
  • integrator_limit: limits the effect of the integrator function in the filter to a certain voltage. For example, integrator_limit 2 limits the output of the integrator of the A-axis to the ±2 Volt range. default value is set to the maximum value (9.998)
  • smoothing: Independent Time Constant. default value is 1.0
  • error_limit: the magnitude of the position errors for each axis that will trigger an error condition. default value is 16384
  • cmd_offset: bias voltage in the motor command output. default value is 0.0
  • torque_limit: the limit on the motor command output. For example, torque_limit of 5 limits the motor command output to 5 volts. Maximum output of the motor command is 9.998 volts. default value is set to the maximum.

YAML configuration file example

 - class: GalilDMC213
   tcp:
     url: galildevice
   axes:
    - name: phi
      steps_per_unit: 26222.2
      velocity: 14.4
      acceleration: 28.8
      unit: deg