Galil Motion Control CDS-3310, User Manual

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Chapter 4 Communication CDS-3310
Explanation of Status and Axis Switch Information
Header Information – Byte 0, 1 of Header:
BIT 15 BIT 14 BIT 13 BIT 12 BIT 11 BIT 10 BIT 9 BIT 8
1 N/A N/A N/A N/A I Block
Present
T Block
Present S Block
Present
BIT 7 BIT 6 BIT 5 BIT 4 BIT 3 BIT 2 BIT 1 BIT 0
H Block
Present G Block
Present F Block
Present E Block
Present D Block
Present C Block
Present B Block
Present A Block
Present
Bytes 2, 3 of Header:
Bytes 2 and 3 make a word, which represents the Number of bytes in the data record, including the
header.
Byte 2 is the low byte and byte 3 is the high byte
NOTE:
The header information of the data records is formatted in little endian.
General Status Information (1 Byte)
BIT 7 BIT6 BIT5 BIT4 BIT3 BIT 2 BIT 1 BIT 0
Program
Running N/A N/A N/A N/A Waiting for
input from IN
command
Trace On Echo On
Axis Switch Information (1 Byte)
BIT 7 BIT 6 BIT 5 BIT 4 BIT 3 BIT 2 BIT 1 BIT 0
Latch
Occurred State of
Latch
Input N/A N/A State of
Forward
Limit
State of
Reverse
Limit State of
Home
Input N/A
Axis Status Information (2 Bytes)
BIT 15 BIT 14 BIT 13 BIT 12 BIT 11 BIT 10 BIT 9 BIT 8
Move in
Progress Mode of
Motion
PA or
PR
Mode of
Motion
PA only
(FE)
Find
Edge in
Progress Home
(HM) in
Progress 1
st
Phase
of HM
complete
2
nd
Phase
of HM
complete
or FI
comman
d issued
Mode of
Motion
Coord.
Motion
BIT 7 BIT 6 BIT 5 BIT 4 BIT 3 BIT 2 BIT 1 BIT 0
Negative
Direction
Move Mode of
Motion
Contour
Motion
is
slewing Motion
stopping
due to
ST or
Limit
Switch Motion
is
making
final
decel. Latch is
armed Off On
Error
armed Motor
Off