Galil DMC-3425 Manual De Usuario
56 • Chapter 4 Communication
DMC-3425
Axis Status Information (2 Byte)
BIT 15
BIT 14
BIT 13
BIT 12
BIT 11
BIT 10
BIT 9
BIT 8
Move in
Progress
Progress
Mode of
Motion
Motion
PA or
PR
PR
Mode of
Motion
Motion
PA only
(FE)
Find
Edge in
Progress
Find
Edge in
Progress
Home
(HM) in
Progress
(HM) in
Progress
1st Phase
of HM
complete
of HM
complete
2
nd
Phase
of HM
complete
or FI
command
issued
complete
or FI
command
issued
Mode of
Motion
Motion
Coord.
Motion
Motion
BIT 7
BIT 6
BIT 5
BIT 4
BIT 3
BIT 2
BIT 1
BIT 0
Negative
Direction
Move
Direction
Move
Mode of
Motion
Motion
Contour
Motion
is
slewing
is
slewing
Motion is
stopping
due to ST
or Limit
Switch
stopping
due to ST
or Limit
Switch
Motion is
making
final
decel.
making
final
decel.
Latch is
armed
armed
Off-On-
Error
occurred
Error
occurred
Motor
Off
Off
Coordinated Motion Status Information for plane (2 Byte)
BIT 15
BIT
14
14
BIT 13
BIT 12
BIT 11
BIT
10
10
BIT 9
BIT 8
Move in
Progress
Progress
N/A N/A N/A
N/A N/A N/A N/A
BIT 7
BIT 6
BIT 5
BIT 4
BIT 3
BIT 2
BIT 1
BIT 0
N/A N/A Motion
is
slewing
Motion is
stopping due
to ST or
Limit
Switch
stopping due
to ST or
Limit
Switch
Motion is
making
final
decel.
making
final
decel.
N/A N/A N/A
Notes Regarding Velocity and Torque Information
The velocity information that is returned in the data record is 64 times larger than the value returned
when using the command TV (Tell Velocity). See command reference for more information about
TV.
when using the command TV (Tell Velocity). See command reference for more information about
TV.
The Torque information is represented as a number in the range of +/-32767. Maximum negative
torque is -32767. Maximum positive torque is 32767. Zero torque is 0.
torque is -32767. Maximum positive torque is 32767. Zero torque is 0.
QZ Command
The QZ command can be very useful when using the QR command, since it provides information
about the controller and the data record. The QZ command returns the following 4 bytes of
information.
about the controller and the data record. The QZ command returns the following 4 bytes of
information.
BYTE #
INFORMATION
0
Number of axes present
1
Number of bytes in general block of data record
2
Number of bytes in coordinate plane block of data record
3
Number of Bytes in each axis block of data record