Notes Regarding Velocity And Torque Information - Galil Motion Control DMC-14 5 Series Manual

General Status Information (1 Byte)
BIT 7
Program
Running
Axis Switch Information (1 Byte)
BIT 7
Latch
Occurred
Axis Status Information (2 Byte)
BIT 15
Move in
Progress
BIT 7
Negative
Direction
Move
Coordinated Motion Status Information for S or T plane (2 Byte)
BIT 15
Move in
Progress
BIT 7
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.
46 Chapter 4 Communication
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BIT BIT BIT
6 5 4
N/A N/A N/A
BIT 6 BIT 5 BIT 4
State of N/A N/A
Latch
Input
BIT 14 BIT 13 BIT 12
Mode of Mode of (FE)
Motion Motion Find
Edge in
PA or PA only
Progress
PR
BIT 6 BIT 5 BIT 4
Mode of Motion Motion is
stopping
Motion is
due to ST
slewing
Contour
or Limit
Switch
BIT BIT 13 BIT 12
14
N/A N/A N/A
BIT 6 BIT 5 BIT 4
N/A Motion is Motion is
slewing stopping due
to ST or
Limit
Switch
BIT BIT 2 BIT 1
3
N/A Waiting for Trace On
input from IN
command
BIT 3 BIT 2
State of State of
Forward Reverse
Limit Limit
BIT 11 BIT 10
Home 1st Phase
(HM) in of HM
Progress complete
BIT 3 BIT 2
Motion is Latch is
making
armed
final
decel.
BIT 11 BIT
10
N/A N/A
BIT 3 BIT 2
Motion is N/A
making
final
decel.
BIT 0
Echo On
BIT 1 BIT 0
State of SM
Home Jumper
Input Installed
BIT 9 BIT 8
nd
2 Phase
Mode of
of HM
Motion
complete
Coord.
or FI
Motion
command
issued
BIT 1 BIT 0
Off-On- Motor
Error Off
armed
BIT 9 BIT 8
N/A N/A
BIT 1 BIT 0
N/A N/A
DMC-14x5/6