Galil DMC-2X00 user manual Controller Response to Commands, QZ Command

Switch

Coordinated Motion Status Information for S or T plane (2 Byte)

BIT 15	BIT	BIT 13	BIT 12	BIT 11	BIT	BIT 9	BIT 8
	14				10
Move in	N/A	N/A	N/A	N/A	N/A	N/A	N/A
Progress
BIT 7	BIT 6	BIT 5	BIT 4	BIT 3	BIT 2	BIT 1	BIT 0
N/A	N/A	Motion is	Motion is	Motion is	N/A	N/A	N/A
		slewing	stopping due	making
			to ST or	final
			Limit	decel.
			Switch

Notes Regarding Velocity and Torque Information

The velocity information that is returned in the data record is 64 times larger than the value returned when using the command TV (Tell Velocity). See command reference for more information about TV.

The Torque information is represented as a number in the range of +/-32767. Maximum negative torque is -32767. Maximum positive torque is 32767. Zero torque is 0.

QZ Command

The QZ command can be very useful when using the QR command, since it provides information about the controller and the data record. The QZ command returns the following 4 bytes of information.

BYTE #	INFORMATION
0	Number of axes present
1	number of bytes in general block of data record
2	number of bytes in coordinate plane block of data record
3	Number of Bytes in each axis block of data record

Controller Response to Commands

Most DMC-2x00 instructions are represented by two characters followed by the appropriate parameters. Each instruction must be terminated by a carriage return or semicolon.

Instructions are sent in ASCII, and the DMC-2x00 decodes each ASCII character (one byte) one at a time. It takes approximately 0.5 msec for the controller to decode each command. However, the PC can send data to the controller at a much faster rate because of the FIFO buffer.

After the instruction is decoded, the DMC-2x00 returns a response to the port from which the command was generated. If the instruction was valid, the controller returns a colon (:) or a question mark (?) if the instruction was not valid. For example, the controller will respond to commands which are sent via the USB port back through the USB port, to commands which are sent via the main RS- 232 port back through the RS-232 port, and to commands which are sent via the Ethernet port back through the Ethernet port.

14 • Chapter 4 Communication DMC-2X00