Galil DMC-2010, User Manual

Page: 68 / 267

in Data
Record in Data
Record in Data
Record
BIT 7 BIT 6 BIT 5 BIT 4 BIT 3 BIT 2 BIT 1 BIT 0
H Block
Present
in Data
Record G Block
Present
in Data
Record F Block
Present
in Data
Record E Block
Present
in Data
Record D Block
Present
in Data
Record C Block
Present
in Data
Record B Block
Present
in Data
Record A Block
Present
in Data
Record
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 BIT
6 BIT
5 BIT
4 BIT
3 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 SM
Jumper
Installed
Axis Status Information (2 Byte)
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 1st Phase
of HM
complete 2
nd
Phase
of HM
complete
or FI
command
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 is
stopping
due to ST
or Limit Motion is
making
final
decel. Latch is
armed Off-On-
Error
armed Motor
Off
58
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Chapter 4 Communication DMC-2X00