Galil Motion Control DMC-42 0 Series, Руководство пользователя

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Data Record
The DMC-42x0 can provide a binary block of status information with the use of the
QR
and
DR
commands. These
commands, 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 Key
Acronym Meaning
UB Unsigned byte
UW Unsigned word
SW Signed word
SL Single long record
UL Unsigned long
General Controller Information and Status
ADDR TYPE ITEM ADDR TYPE ITEM
00 UB 1 st Byte of Header 30-31 SW Reserved
01 UB 2 nd Byte of Header 32-33 SW Reserved
02 UB 3 rd Byte of Header 34-35 SW Reserved
03 UB 4 th Byte of Header 36-37 SW Reserved
04-05 UW sample number 38-39 SW Reserved
06 UB general input block 0 (inputs 1-8) 40-41 SW Reserved
07 UB general input block 1 (inputs 9-16) 42 UB Ethernet Handle A Status
08 UB general input block 2 (inputs 17-24) 43 UB Ethernet Handle B Status
09 UB general input block 3 (inputs 25-32) 44 UB Ethernet Handle C Status
10 UB general input block 4 (inputs 33-40) 45 UB Ethernet Handle D Status
11 UB general input block 5 (inputs 41-48) 46 UB Ethernet Handle E Status
12 UB general input block 6 (inputs 49-56) 47 UB Ethernet Handle F Status
13 UB general input block 7 (inputs 57-64) 48 UB Ethernet Handle G Status
14 UB general input block 8 (inputs 65-72) 49 UB Ethernet Handle H Status
15 UB general input block 9 (inputs 73-80) 50 UB error code
16 UB general output block 0 (outputs 1-8) 51 UB thread status – see bit field map below
17 UB general output block 1 (outputs 9-16) 52-55 UL Amplifier Status
18 UB general output block 2 (outputs 17-24) 56-59 UL Segment Count for Contour Mode
19 UB general output block 3 (outputs 25-32) 60-61 UW Buffer space remaining – Contour Mode
20 UB general output block 4 (outputs 33-40) 62-63 UW segment count of coordinated move for S plane
21 UB general output block 5 (outputs 41-48) 64-65 UW below
22 UB general output block 6 (outputs 49-56) 66-69 SL distance traveled in coordinated move for S plane
23 UB general output block 7 (outputs 57-64) 70-71 UW Buffer space remaining – S Plane
24 UB general output block 8 (outputs 65-72) 72-73 UW segment count of coordinated move for T plane
25 UB general output block 9 (outputs 73-80) 74-75 UW Coordinated move status for T plane – see bit field map
26-27 SW Reserved 76-79 SL distance traveled in coordinated move for T plane
28-29 SW Reserved 80-81 UW Buffer space remaining – T Plane
Chapter 4 Software Tools and Communication ▫ 44 DMC-42x0 User Manual