Application Note 4417 - Galil Motion Control
Contents
1. Galil Motion Control Inc e 3750 Atherton Road Rocklin CA 95765 USA e 800 377 6329 e Ph 916 626 0101 e Fax 916 626 0102 e www galilmc com 3 Ifa device is found the Hardware Wizard will then ask if the device is on a list of found devices Say no and proceed to the next dialog box In Win 2000 the next window will display a list of devices Select Add a new device from the top of the list Add Remove Hardware Wizard Choose a Hardware Device Which Hardware device do you want to troubleshoot The following hardware i already installed on your computer IF you are having problems With one of these devices select the device and then click Next IF you are attempting to add a device and itis not shown below select Add a new device and then click Next Devices ACPI Fixed Feature Button m Inteli 82802 Firmware Hub Device m System timer E Direct memon access controller a 4 F lt Back Cancel 4 The Hardware Wizard prompts for Windows to search for the new device This feature is for devices such as modems that can be found by random queries of all available communication ports Select No and proceed to the next dialog eo ae Galil Motion Control Inc e 3750 Atherton Road Rocklin CA 95765 USA e 800 377 6329 e Ph 916 626 0101 e Fax 916 626 0102 e www galilmc com Add Remove Hardware Wizard Find New Hardware Windows can also detect hardware that is not Plug and2. GALIL WE MOVE THE WORLD Application Note 4417 Establishing Communication to Galil Controllers in Windows 98 SE ME 2000 NT 4 and XP Note Refer to the controller manual for installation procedures in DOS Windows 95 and Windows 98 First Edition Cleaning out old Galil Software If older installations of Galil software exist on the PC it is necessary to clean out the system before loading the new software The first step 1s to go to the Start menu and then to Settings Control Panel Add Remove Programs just go to Control Panel Add Remove Programs in Win XP there is no Settings Within the Add Remove Programs utility delete all Galil programs and or driver installations DMCWIN32 DMCTERM WSDK32 etc If the system OS is Windows 98 SE ME 2000 or XP click on the System icon in the Control Panel At this point a System Properties window with several tabs on it will appear In 98 SE and ME go to the Device Manager tab and delete any Galil controllers under the Galil diamond In 2000 and XP click on the Hardware tab in the System Properties menu and then go to Device Manager Within Device manager delete all Galil Devices under the Galil Motion Control diamond sj Galil Motion Control Inc e 3750 Atherton Road e Rocklin CA 95765 USA e 800 377 6329 e Ph 916 626 0101 e Fax 916 626 0102 e www galilmc com System Properties 4 2x General Network Identification Hardware User Profiles Advanced
3. Back Cancel If the controller is a DMC 1700 the DMA Channel and Data Record Refresh Rate can also be selected See the DMC 1700 user manual for more information on using DMA Once the appropriate Registry information has been entered Select OK and close the registry window After rebooting the computer communication to the ISA and PC 104 cards can be established Reopen one of the Galil communication programs and select the controller from the registry list If there are communication problems the program will pause for 3 15 seconds The top of the dialog box will display the message Status not connected with Galil motion controller and the following error will appear STOP Unable to establish communication with the Galil controller A time out occurred while waiting for a response from the Galil controller If this error occurs in Windows NT 4 check for an address conflict in the computer If the default address of 1000 causes a conflict Galil recommends the base addresses of 816 or 824 since they are likely to avoid conflict Please refer to the section Changing the 1 0 Address of the DMC 1410 and DMC 1411 to change the address Once communication is established click on the menu for terminal and a colon prompt will appear Communicating with the controller is described in later sections USB DMC 2000 Like PCI USB is a plug and play communication bus To establish communication to a USB controller plug the ca
4. Hardware Wizard The Hardware wizard helps you install uninstall repair unplug eject and configure your hardware Hardware Wizard Device Manager as The Device Manager lists all the hardware devices installed on your computer Use the Device Manager to change the properties of any device Driver Signing Hardware Profiles Hardware profiles provide a way for you to set up and store different hardware configurations Hardware Profiles OF Cancel Appl System Properties Window in Windows 2000 E Device Manager oe Raa 0 x action vew gt Go e 2 alam E Computer Disk drives ll Display adapters 4 23 DYDICD ROM drives 4 4 Floppy disk controllers 2 Floppy disk drives Galil Motion Controller eg ool DMC 18 0 Motion Controller IDE ATAJATAFI controlers a Keyboards Mice and other pointing devices Monitors 9 Network adapters Other devices Sf PCI Device F y Ports COM amp LPT 41 lt Sound video and game controllers MB System devices Universal Serial Bus controllers Device Manager in Windows 2000 Continue to the next step if the system OS is Windows NT since there is no Device Manager ae Galil Motion Control Inc e 3750 Atherton Road Rocklin CA 95765 USA e 800 377 6329 e Ph 916 626 0101 e Fax 916 626 0102 e www galilmc com After removing the controllers from the Device Manager go
5. Play compatible When Windows detects new hardware it checks the current settings for the device and installs the corect driver Do vou want Windows to search for your new hardware Yes search for new hardware lt Back Cancel 5 With DMCWIN or DMC Terminal already installed the following window will say Select the type of hardware you want to install Click on the Diamond with either Galil or Galil Motion Controller written to the side of it and the list of Galil controllers will be displayed Select the appropriate ISA or PC 104 card from the list Note If there is no Galil diamond on the Hardware Type window click on Other Devices instead At that point the list Galil ISA and PC 104 cards will appear Add Remove Hardware Wizard Hardware Type What tyoe of hardware do you wantto install select the type of hardware you want to install Hardware types Bateries al Display adapters Q Galil Motion Controller Gh Handspring Handheld E IDE ATAATAPI controllers Sy EEE 1394 Bus host controllers EA Imaging devices il Infrared devices Eh komon tachnnloan s dri ar g Galil Motion Control Inc e 3750 Atherton Road Rocklin CA 95765 USA e 800 377 6329 e Ph 916 626 0101 e Fax 916 626 0102 e www galilmc com Add Remove Hardware Wizard Select a Device Driver Which diver do you want to install for this device Select the manufacturer and model of your hardware devi
6. back to the Desktop and right click on the Start menu button The pop up window will allow the user to Search or Find files that currently exist on the PC Perform a search on the extension GALIL SYS in the C drive If this search brings up the files GALILPCI SYS GALIL SYS and or GALILUSB SYS delete them all from the system Search Results File Edit View Favorites Tools Help Back mp E search L Folders history a U amp wy Eg Address N Search Results Go BJ Search for Files and Folders Search for files or folders named GALIL sys Containing test Look in Local Harddrives C Search Now Search Options gt gt Search for other items Files or Folders Computers F l j Select an item to view Ts its description Search Results In Folder C Documents and Ci Documents and 2z2KE System File 30 KB System file Galil sys GallPCI sys Searching C WwINNT java Search Results Window in Windows 2000 Finally before installing the new software be sure to shut down the PC and physically remove any Bus based controllers from their respective slots Once the new software is loaded then the controllers can be put back into the PC Installing the New Communication Software The communication software can be downloaded from the Galil website at www galilmc com support download html The two free software
7. 0101 e Fax 916 626 0102 e www galilmc com System Properties El Ed General Device Manager Hardware Profiles Performance 0 View devices by type View devices by connection Computer l CDROM H E Disk drives aa Display adapters aS Floppy disk controllers Ep Gall fee Gall OMC 1420 Motion Controller Gall OMC 1427 Motion Controller Ai Gall OMIC 1 740 Motion Controller Sy Hard disk controllers ae Keyboard oo Monitors By Mouse et Network adapters FY Other devices ee PEI Multimedia Audio Device io ea W mea remade LATY Refresh Remove Print OF Cancel Device Manager in Win 98 SE Select the device from the list go to the resource tab and reassign the resources to those that match the address and interrupt IRQ jumpers on the controller see the user manual appendix for Address Settings NOTE For Version 7 Drivers and ISA PC 104 controllers with new firmware a jumper MUST be installed on one of the IRQ jumper pins in order to use Interrupt Communication the default method of communication Match the IRQ jumper on the board with an IRQ Setting that displays No Conflicts in the Device Manager If No IRQ lines are available or Interrupt Communication is not desired the user must go to the Controller Registration menu and uncheck the Interrupt Communication method Stall or Delay methods of communication will then be used A Communication Timeout error w
8. ble into the controller and Windows will automatically recognize it and start the USB device driver The controller will be entered into the Windows and Galil Registries and the user can communicate to it immediately with DMCTERM WSDK32 or DMCWIN32 To make sure that all unsolicited messages are _15 Galil Motion Control Inc e 3750 Atherton Road Rocklin CA 95765 USA e 800 377 6329 e Ph 916 626 0101 e Fax 916 626 0102 e www galilmc com sent via the USB port turn the USB dipswitch on when communicating in this fashion This dipswitch is located on the front of the DMC 2000 controller Note If additional USB devices are connected to the DMC 2000 by using one of the two USB OUT ports the computer will require the USBHUB SYS file to be installed from the Windows installation Disk RS 232 RS 232 controllers can be registered through the Galil Registry in all of the operating systems Select the button that says New Controller under the Non PnP Tools and then select the appropriate controller from the pull down menu If there is more than one way to communicate to the controller i e Serial and Ethernet for the DMC 2100 select Serial under the Connection Type and then choose Next If the controller only has serial communication capabilities this option will not be given The final step is to select the Comm Port being used on the PC and the Comm Speed for data transfer Hardware handshaking will be selected by defaul
9. ce and then click Next IF you have a disk that contains the driver you want to install click Hawe Disk Models Galil OMIC 1 020 Motion Controller 3 Galil OMC 1480 Motion Controller Galil OMC 14817 Motion Controller Galil OMC 148 Motion Controller Galil OMC 160 Motion Controller Galil OMC 1 780 Motion Controller Gall ORC 1 82 Minton Controller x Have Disk lt Back Cancel 6 With the device selected the OS then needs to allocate any required resources i In Win 98 SE and ME the OS automatically assigns resources that are most likely incompatible Add New Hardware Wizard O Windows can install your hardware using the following settings Warning Your hardware may not be set to use the resources listed You can Use Device Manager to adjust these settings before restarting your Computer Click start point to Settings click Control Panel click System and then click the Device Manager tab To change your hardware settings see the documentation that came with your hardware To continue installing the software needed by your hardware click Nest Setting Print Input Output Range O214 0217 Interrupt Request 05 lt Back Cancel Automatically Assigned resources in Win 98 SE At this point the user must reboot the computer and go to the Device Manager under My Computer Properties _9 Galil Motion Control Inc e 3750 Atherton Road Rocklin CA 95765 USA e 800 377 6329 e Ph 916 626
10. e IA command When connecting to a controller via Ethernet the user must be aware of the type of Ethernet cable being used and the method of communication To connect the controller directly to the PC use a crossover or null modem Ethernet cable This type of cable allows for the crossing of signals between the PC and the controller If instead the connection to the controller is through a network hub a straight through cable must be used Hubs perform the signal crossing function of a null modem cable If the wrong cable is used communication with the controller will not be possible 18 Galil Motion Control Inc e 3750 Atherton Road e Rocklin CA 95765 USA e 800 377 6329 e Ph 916 626 0101 e Fax 916 626 0102 e www galilmc com Note If an Ethernet controller is connected in a LAN make sure the assigned IP address is allowed Also Galil strongly recommends the IP address selected cannot be accessed across the Gateway The Gateway is an application that controls communication between an internal network and the outside world Ask the network administrator for acceptable IP addresses Finally in order to assure that all unsolicited messages are sent via the Ethernet port make sure that the ENET dipswitch is on 19 Galil Motion Control Inc e 3750 Atherton Road e Rocklin CA 95765 USA e 800 377 6329 e Ph 916 626 0101 e Fax 916 626 0102 e www galilmc com
11. ems are nearly identical but the dialog boxes look a little different The following procedure depicts the ISA PC104 installation process Add Remove Hardware Wizard Welcome to the Addi Remove Hardware Wizard This wizard helps you add remove unplug and troubleshoot your hardware To continue click Next 4 Back Cancel Windows 2000 Hardware Wizard 5 Galil Motion Control Inc e 3750 Atherton Road Rocklin CA 95765 USA e 800 377 6329 e Ph 916 626 0101 e Fax 916 626 0102 e www galilmc com Note All the pictures in this Hardware Wizard section are from Windows 2000 unless specified otherwise 1 On the first dialog select Add Troubleshoot 4dd Remove Hardware Wizard Choose a Hardware Task 3 Which hardware task do vou want to perfor Select the hardware task wou want to perform and then click Mert f Add Troubleshoot a device Choose this option if you are adding a new device to your computer or are having problems getting a device working C Uninstall Unplug a device Choose this option to uninstall a device or to prepare the computer to unplug a device Back Cancel 2 Let the Hardware Wizard try to detect a new Plug and Play device 4dd Remove Hardware Wizard Hew Hardware Detection The wizard automatically locates new Plug and Play hardware Windows i searching for new Plug and Play hardware to install Searching 4 Back Next gt Cancel Sex
12. ernet Parameters x IP Address 10 865 120 75 Assign IF Address M Do Not Open Multicast Handle Ethernet Protocol TCF Unsolicited Messages f Use current CF Setting f UDP Receive Through second Handle CF is sentto redirect messages r Receie Through same Handle CCF is sentto redirect messages lt Back Cancel In the Ethernet Parameters properties there are additional options for Unsolicited Messages to Use current CF Setting Receive Through Second Handle and Receive Through Same Handle If Receive Through Second Handle is selected the controller will open a second TCP UDP handle between the controller and computer over which unsolicited message are sent With DMCTERM a second thread listens for messages which provides a faster response when compared to receiving messages through the same handle If Receive Through Same Handle is selected unsolicited message are sent back through the same handle that the terminal is using Now DMCTERM must poll to get these messages which slows the response time For more information contact Galil Once all the Ethernet parameters are entered select Assign IP Address The software will search for controllers that do not have IP addresses Once the controller has been found and the IP address is assigned select Finish and the controller will be entered in the Galil Registry Connect to the controller through the Term
13. ess the registry in DMCTERM and WSDK click on the File menu and Register Controller In DTERM32 select the Registry menu see Galil Motion Control Inc e 3750 Atherton Road Rocklin CA 95765 USA e 800 377 6329 e Ph 916 626 0101 e Fax 916 626 0102 e www galilmc com Edit Registry Properties Non PrF Tools Hew Controller Find Ethernet Controller ee o B Plug and Play Device B Non Plug and Play Device Close Once in the Galil Registry select New Controller under Non PnP Tools Select the appropriate controller from the pull down menu and adjust the timeout as seen fit Click Next to continue Select Model and General Parameters Model DMC 1415 Timeout DMC 1416 milliseconds DMC 1425 DMC 3425 DMC 1500 OMC 1 700 Cancel The registry information for the ISA and PC 104 cards will show a default address of 1000 This information should be changed as necessary to reflect any changes to the controller s address jumpers Hardware interrupts may also be set in the registry although for initial communication these are not necessary The default interrupt selection is None 14 Galil Motion Control Inc e 3750 Atherton Road e Rocklin CA 95765 USA e 800 377 6329 e Ph 916 626 0101 e Fax 916 626 0102 e www galilmc com ISA Bus Parameters IO Port Address Interrupt Line None Data Record Access None Jese Wata Reto retest eate Poo SY
14. ill occur if this is not done 10 Galil Motion Control Inc e 3750 Atherton Road e Rocklin CA 95765 USA e 800 377 6329 e Ph 916 626 0101 e Fax 916 626 0102 e www galilmc com Gall OMC 1420 Motion Controller Properties A p Uee automate settimgs Basic configuration 0 Interrupt Request Input Output Range 0218 0216 Edit Input Output Range 3 Es 0338 033B 2 No devices are conflicting Edit Input Output Range in Win 98 SE When changing the settings the operating system will inform the user if there are any resource conflicts If there are resource conflicts it is necessary to compare the available resources to those available on the Galil Motion Control Inc 3750 Atherton Road Rocklin CA 95765 USA e 800 377 6329 e Ph 916 626 0101 e Fax 916 626 0102 e www galilmc com jumpers jumpers A2 A7 see the controller user manual for additional information and select a configuration that 1s compatible If all configurations have a resource conflict then the user will have to reconfigure or remove another card to free up some resources This is most likely to occur with IRQs Note The Input Output Range is used to assign a communication address to the controller This address is given in hexadecimal which means the user should use the scientific calculator in Start Programs Accessories to convert the decimal address desired into its hexadecimal equivalent As a quick reference the table be
15. inal ee Galil Motion Control Inc e 3750 Atherton Road Rocklin CA 95765 USA e 800 377 6329 e Ph 916 626 0101 e Fax 916 626 0102 e www galilmc com Another method of connecting to an Ethernet Controller is using the DMCNET utility in the Registry Select Find Ethernet Controller under Non PnP Tools and the DMCNET window will appear and search for all controllers on the network Once DMCNET is finished searching the user can highlight one of the listed controllers and give it an IP address by selecting the Assign button From there the user can add the controller to the Galil registry by selecting the Register button The Connects button in DMCNET will provide a list of communication handles the controller maintains Furthermore the Free Handles button frees all handles See the controller manual for more information on Ethernet handles Show Galil Ethernet Controller Network ag Xx File Help Seral Number IP Address Available Sessions DML2230 Rev hbeta 12 10 0 41 49 G Gall DMC 2120 2 axis controller revision hbeta 10 0 47 50 Assign Connections Free Handles Register Refresh Close Ready DMCNET Utility If the two methods above are unsuccessful in assigning an IP address to a controller the third option is connecting to the controller serially and using the IA command to assign the IP address See the controller command reference for information on th
16. low has three of the most common addresses used on Galil controllers along with the required jumper settings The X denotes that the jumper is installed o S PERSETTINGS S O pate 30o dx x XX o 8a 3s dx x f S Sx o S S Sx Jx Address Table for ISA and PC 104 Controllers 11 In Win 2000 the procedure is the same except the user has the opportunity to set resources examine conflicts without rebooting first Highlight the Interrupt Request and Input Output Range individually and select Change Setting to make the appropriate adjustments Similar to Windows 98 the Input Output Range must be assigned as a hexadecimal number 2 1 lt Galil Motion Control Inc e 3750 Atherton Road Rocklin CA 95765 USA e 800 377 6329 e Ph 916 626 0101 e Fax 916 626 0102 e www galilmc com Add New Hardware Wizard Properties E 2 xl Resources D Unknown Device Resource settings Setting Interrupt Request W put Dutput Range 7 Setting based or Basic configuration ODODO F Use automatic settings Change Setting Conflicting device list 7 Once the controller is properly entered into the Windows registry it should also be present in the Galil Registry Connect to the controller through the Terminal utility in DTERM32 WSDK32 or DMCTERM ISA and PC 104 in NT 4 To use an ISA or PC 104 card in Win NT4 add the controller using the Galil Registry dialog To acc
17. n of the device driver The controller will be identified by model name and then be entered into the Galil Registry Now the user can communicate to the controller using DMCTERM DMCWIN32 or WSDK32 If there is only one controller in the registry the Galil Programs will establish communication automatically upon opening the application Otherwise the user will need to select from available controllers in the registry list Note The Galil software must be loaded prior to installing the card to allow the PC to recognize the plug and play controller as a Galil device _4 Galil Motion Control Inc e 3750 Atherton Road Rocklin CA 95765 USA e 800 377 6329 e Ph 916 626 0101 e Fax 916 626 0102 e www galilmc com Select Motion Controller Controller OMC 14s7 PCL Address 5 7332 Interrupt Level 19 Sernal 0 Controller DMC 1800 PCI Address 57246 Interrupt Level 18 Senalf 1 234 Cancel DMC 1417 and DMC 1800 in the Galil Registry ISA and PC 104 in Win 98 SE 2000 ME and XP Using an ISA or PC 104 card in a plug and play OS Win 98 SE 2000 ME XP will require the user to add the controller to the system in the Windows Device Manager In Win 98 SE and ME this feature is accessed through the Start Settings Control Panel Add New Hardware shortcut In Win 2000 it can be accessed through the Add New Hardware control panel shortcut or through My Computer Properties Hardware HardwareWizard The procedures on the two operating syst
18. packages are DMCWIN and DMCTERM Both packages provide a terminal that allows programs to be downloaded and commands to be sent directly to Galil controllers Also available at an added cost to the user is the Windows Servo Design Kit WSDK32 This program has the additional functionality of automatic tuning tests a setup utility and multiple storage scopes WSDK can be ordered online via the website address above aoe Galil Motion Control Inc e 3750 Atherton Road Rocklin CA 95765 USA e 800 377 6329 e Ph 916 626 0101 e Fax 916 626 0102 e www galilmc com fig DMC Win InstallShield Wizard me Welcome to the InstallShield Wizard for DRICWin The InstallShieldi Fi Wizard will install DMC Win on your computer To continue click West GALIL WE MOVE THE WORLD WARNING This program is protected by copyright law and international treaties Back Cancel Initial Install Window for DMCWIN32 After completing the Setup procedure the user will need to reboot the PC PCI and Compact PCI The controller must be entered in the Windows Registry to allow the Windows software to communicate with the Galil controller In Windows 98 SE ME 2000 NT 4 and XP operating systems PCI and Compact PCI cards are plug and play This means that on power up the computer will automatically detect the card and install the appropriate device driver A Found New Hardware dialog box may appear during installatio
19. t Select Next and the controller will be entered into the registry Connect to the controller by selecting the Terminal utility and choosing the controller from the registry list Serial Parameters a x Comm Fort X Comm Speed 19200 Handshake Options Hardware ATS CT5 f Recommended Requires all 9 pins to be connected f Software On Off lt Back Cancel Note Be sure to configure the controller for the specified Comm Speed and hardware handshaking with the necessary dipswitch or jumper settings gt 16 Galil Motion Control Inc e 3750 Atherton Road Rocklin CA 95765 USA e 800 377 6329 e Ph 916 626 0101 e Fax 916 626 0102 e www galilmc com Ethernet Ethernet controllers can also be configured through the Galil Registry utility Select New Controller under the Non PnP tools and select the controller from the pull down menu Select Ethernet under the Connection Type and then Next The following screen will allow the user to enter an IP address for the controller This is a 4 byte number each byte separated by periods Also select the Ethernet Protocol as either TCP or UDP Galil recommends TCP because if information is lost during communication it will be resent using this protocol UDP is a more efficient protocol but does not resend lost information See the controller user manual for more detailed information on Ethernet and communication protocols Eth
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