Galil DMC-3425 user manual Header Information Byte 0, 1 of Header, Bytes 2, 3 of Header, Bit

SL	H axis motor position	H block
SL	H axis position error	H block
SL	H axis auxiliary position	H block
SL	H axis velocity	H block
SW	H axis torque	H block
SW	H axis analog input	H block

NOTE: UB = Unsigned Byte, UW = Unsigned Word, SW = Signed Word, SL = Signed Long Word

Explanation of Status Information and Axis Switch Information

Header Information - Byte 0, 1 of Header:

BIT 15	BIT 14	BIT 13	BIT 12	BIT 11	BIT 10	BIT 9	BIT 8
1	N/A	N/A	N/A	N/A	I Block	T Block	S Block
					Present	Present	Present
					in Data	in Data	in Data
					Record	Record	Record
BIT 7	BIT 6	BIT 5	BIT 4	BIT 3	BIT 2	BIT 1	BIT 0
H Block	G Block	F Block	E Block	D Block	C Block	B Block	A Block
Present	Present	Present	Present	Present	Present	Present	Present
in Data	in Data	in Data	in Data	in Data	in Data	in Data	in Data
Record	Record	Record	Record	Record	Record	Record	Record

Bytes 2, 3 of Header:

Bytes 2 and 3 make a word that 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	BIT	BIT	BIT 2	BIT 1	BIT 0
		5	4	3
Program	N/A	N/A	N/A	N/A	Waiting for	Trace On	Echo On
Running					input from IN
					command

Axis Switch Information (1 Byte)

BIT 7	BIT 6	BIT 5	BIT 4	BIT 3	BIT 2	BIT 1	BIT 0
Latch	State of	N/A	N/A	State of	State of	State of	SM
Occurred	Latch			Forward	Reverse	Home	Jumper
	Input			Limit	Limit	Input	Installed

DMC-3425 Chapter 4 Communication• 55