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.