Galil DMC-2010, User Manual

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Data Record
The DMC-2x00 can provide a block of status information with the use of a single command, QR. This
command, along with the QZ command can be very useful for accessing complete controller status.
The QR command will return 4 bytes of header information and specific blocks of information as
specified by the command arguments:
QR ABCDEFGHST
Each argument corresponds to a block of information according to the Data Record Map below. If no
argument is given, the entire data record map will be returned. Note that the data record size will
depend on the number of axes.
Data Record Map
DATA TYPE ITEM BLOCK
UB 1
st
byte of header Header
UB 2
nd
byte of header Header
UB 3
rd
byte of header Header
UB 4
rth
byte of header Header
UW sample number I block
UB general input 0 I block
UB general input 1 I block
UB general input 2 I block
UB general input 3 I block
UB general input 4 I block
UB general input 5 I block
UB general input 6 I block
UB general input 7 I block
UB general input 8 I block
UB general input 9 I block
UB general output 0 I block
UB general output 1 I block
UB general output 2 I block
UB general output 3 I block
UB general output 4 I block
UB general output 5 I block
UB general output 6 I block
UB general output 7 I block
UB general output 8 I block
UB general output 9 I block
UB error code I block
UB general status I block
UW segment count of coordinated move for S plane S block
UW coordinated move status for S plane S block
SL distance traveled in coordinated move for S plane S block
UW segment count of coordinated move for T plane T block
UW coordinated move status for T plane T block
DMC-2X00 Chapter 4 Communication
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