Galil Motion Control DMC-4123 - Data Record

Data Record
The DMC-41x3 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.
The following is the byte map for the binary data.
Data Record Map Key
Acronym Meaning
UB Unsigned byte
UW Unsigned word
SW Signed word
SL Signed long
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 coordinated move status for S plane – see bit field map
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
below
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 ▫ 47 DMC-41x3 User Manual