Do you have any experience with beta I/O links? I would love to keep it simple with that if possible. So I just get the drive and connect it to the I/O on the control and im good to go? Match it with an appropriately sized beta servo? Sounds great. I guess the devil is in the details because the Galil controller seems to be well supported with software and PC interfacing, automatic tuning etc. What am I going to run into if I end up going with the all-Fanuc setup?