Galil DMC-3425 user manual Notes Regarding Velocity and Torque Information, QZ Command

Axis Status Information (2 Byte)

BIT 15	BIT 14	BIT 13	BIT 12	BIT 11	BIT 10
Move in	Mode of	Mode of	(FE)	Home	1st Phase
Progress	Motion	Motion	Find	(HM) in	of HM
	PA or	PA only	Edge in	Progress	complete
			Progress
	PR

BIT 7	BIT 6	BIT 5	BIT 4	BIT 3	BIT 2
Negative	Mode of	Motion	Motion is	Motion is	Latch is
Direction	Motion	is	stopping	making	armed
Move	Contour	slewing	due to ST	final
			or Limit	decel.
			Switch

Coordinated Motion Status Information for plane (2 Byte)

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

BIT 9	BIT 8
2nd Phase	Mode of
of HM	Motion
complete	Coord.
or FI
command	Motion
issued
BIT 1	BIT 0
Off-On-	Motor
Error	Off
occurred

BIT 9	BIT 8
N/A	N/A
BIT 1	BIT 0
N/A	N/A

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

0Number of axes present

1Number of bytes in general block of data record

2Number of bytes in coordinate plane block of data record

3Number of Bytes in each axis block of data record

56 • Chapter 4 Communication DMC-3425