This article discusses the basics of the options for using a BiSS encoder with a Galil motion controller or Pocket PLC.

The Galil BiSS interface is a standard upgrade option for the following controllers:

This article deals with using custom Classes with the GalilTools API.  In the first article located here:

http://www.galil.com/news/software/how-create-custom-class-library-galiltools

we created a new custom class that was able to access the RIO Data Record and parse it.  In this article, we will use the class that was created (RIO_DataRecord.cs) and show how to include it into a new C# application.  First create a new C# project and call it RIO_DR_class_demo as shown here:

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.