When running Galil motion controllers in standard dual loop mode, the PID motion control loop is split up between the load and the motor encoder. The Derivative (KD) loop is closed around the motor encoder. The Proportional (KP) and Integral (KI) loops are closed around the load encoder. The motor encoder is wired into the auxiliary encoder inputs, and the load encoder is wired into the main encoder inputs.

When working with a small network, it is important to maintain a record of each node's IP address and function. With Galil motion controllers, this task is easy, as the GalilTools connections window will automatically detect Galil devices on the network:

Galil introduces Ladder Interface software for its RIO Pocket PLC. This software converts standard Relay Ladder Logic (RLL) programs into deterministic code for the RIO I/O controller.

Galil's RIO-47120 Pocket PLC is available with bipolar analog I/O. The analog I/O are user configurable for +/-10V, +/-5V, 0-10V and 0-5V. Default ADC/DAC is 12-bits with 16-bits available as an option.

Figure 1: Artist's Rendering of the Thirty Meter Telescope

     Galil has a decades long history of collaboration with projects on the cutting edge of science. Astronomy, Physics, Biology, and Geology are some of the many fields of scientific research that call on the need for deterministic motion control and data collection. The ease of use and support offered by Galil makes it a natural fit for the rapid prototyping and automation that is characteristic of large scale scientific research.