Python drivers for Galil motion controllers, used as analog voltage sources:

• DMC30000 (src/galil/dmc30000.py): DMC-30000 series (single-axis), e.g. the DMC-30014. Uses the controller's two analog outputs (AO1, AO2, +/-10V, 16-bit). Manuals: datasheet, user manual
• DMC1846 (src/galil/dmc1846.py): DMC-1846 (4-axis PCI card). It has no general purpose analog outputs, so it uses the +/-10V motor command lines of axes A-D (+/-9.9982V), with the servo gains zeroed and the voltage set by the offset (OF) command. Manual: DMC-1806 firmware command reference (covers the DMC-18x6 family)

Both share their gclib connection and command code through GalilBase (src/galil/base.py). The drivers know nothing about what is wired to the outputs; mapping outputs to a device (e.g. the FSM's X/Y axes) is the job of the higher-level code.

for this to work you need to have gclib installed on your machine you can do this on Windows or Linux but on macos you have to do some shenanigins (rosetta 2)

Installing Galil gclib on Linux

python3 -m venv .venv
source .venv/bin/activate
pip install -e ".[dev]"
pip install --upgrade --index-url https://www.galil.com/sw/pub/python gclib

check version

import gclib
gclib.version()
# should show 2.5.0

Userflow

Enter python shell with python

Assign IP Address to Galil (If Applicable)

import gclib
gclib.ip_requests()
gclib.addresses()
# find address you want
# define variables mac_address and ip_addr or just input directly
# ip address should be same subnet as host computer
gclib.assign_ip(f'{mac_address}', f'{ip_addr}')

Connect Controller

from galil import DMC30000
driver = DMC30000()
driver.connect(str(ip_addr)) # ip_addr must be ip address of the galil and be a string

Initialize and Set Analog Outputs

driver.initialize()  # required before AO1 can be used as a general analog output
driver.set_analog_output(1, 0.5)  # AO1 to 0.5 V
driver.set_analog_output(2, -1.0)  # AO2 to -1.0 V
driver.get_analog_output(1)  # voltage currently output on AO1

DMC-1846 (PCI)

The DMC-1846 connects through Galil's PCI driver rather than ethernet, so there is no IP to assign. Analog outputs are named by axis letter.

from galil import DMC1846
driver = DMC1846(analog_axes=("A", "B"))  # only axes not driving a motor
driver.connect("GALILPCI1")  # Windows; on Linux use "/dev/galilpci0"
driver.initialize()  # zeroes the gains and maxes TL on the analog axes, servo on at 0V
driver.set_analog_output("A", 0.5)
driver.get_analog_output("A")  # motor command voltage currently output on axis A

Status and Errors

driver.zero_outputs()  # set every analog output to 0V
driver.get_axis_status("A")  # AxisStatus flags, e.g. AxisStatus.MOTOR_OFF means the axis isn't driving its output
driver.get_stop_code("A")  # why the axis stopped, e.g. StopCode.STOPPED_BY_OFF_ON_ERROR
driver.last_error  # ErrorCode from the controller (TC) for the last failed command, or None

The codes are defined in src/galil/codes.py.

Disconnect When Done

driver.disconnect()

Useful Other Command

driver._send_command("MG@AO[1]") # or 2
driver._read_reply()

Useful Windows commmands

.\.venv\Scripts\activate.ps1 to activate venv Set-ExecutionPolicy -Scope Process -ExecutionPolicy Bypass to temporarily allow scripts to run Set-ExecutionPolicy RemoteSigned to perminantly allow scripts to run (requires administrative privileges) ipconfig to find current ip and subnet