This article describes how to create a class that has properties and methods that can be used to enhance the functionality of the standard GalilTools API in a .NET environment. The default API provides a good base communication shell that allows the user to connect to a controller, send commands, upload/download programs, upload/download arrays, and work with the controllers built in memory map (called the Data Record). However, for more advanced functions - the user can implement a Class that adds a layer of customization to the bare API. For example, to access the value of analog input 1 on the controller, the simplest approach is to do the following:

The RIO-47122 Pocket PLC now accepts inputs from two position sensors such as quadrature encoders, SSI encoders and BiSS encoders. The new RIO options are listed below.   Additional position channels and I/O options are available upon request.

Summary

Galil now offers users the option of ordering motion controllers with  on board Coordinate Transformation.  This option allows a user with a complex kinematic transform to have that calculation performed directly on the Galil controller.  Working with a Galil application engineer, the user will review the forward and reverse kinematic transformation for their particular machine.  These equations are then written into the firmware of the Galil controller.  The end result of this process is that the transformation now occurs upon the calculation of each servo update (up to 32kHz), and the user can command the system in machine coordinates rather than simple encoder counts.  In addition, this saves the PC from the burden of performing these sometimes complex calculations.

In some motion control applications, an S-curve motion profile can help to smooth the motion and reduce the possibility of exciting a vibration or oscillation.  The "S-curve" refers to the rounded "S" shape of the velocity versus time graph.  To understand where the "S" comes from we have to first look at the acceleration vs time graphs.  In a standard trapezoidal motion profile, the acceleration vs time graph is essentially a "step" function.  In an s-curve profile, the acceleration vs. time graph is a triangle (as shown in the image below) or possibly a trapezoid.