Data Record - Galil Motion Control DMC-21 5 Series User Manual

network. ARP is an application that determines the Ethernet (hardware) address of a device at a specific IP
address. Ping is used to check the communication between the device at a specific IP address and the host
computer.
The DMC-21x5 can communicate with a host computer through any application that can send TCP/IP or UDP/IP
packets. A good example of this is Telnet, a utility that comes with most Windows systems.

Data Record

The DMC-21x5 can provide a binary block of status information with the use of the
commands, along with the
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.
ADDR TYPE ITEM
00 UB 1 st Byte of Header
01 UB 2 nd Byte of Header
02 UB 3 rd Byte of Header
03 UB 4 th Byte of Header
04-05 UW sample number
06 UB general input block 0 (inputs 1-8)
07 UB general input block 1 (inputs 9-16)
08 UB general input block 2 (inputs 17-24)
09 UB general input block 3 (inputs 25-32)
10 UB general input block 4 (inputs 33-40)
11 UB general input block 5 (inputs 41-48)
12 UB general input block 6 (inputs 49-56)
13 UB general input block 7 (inputs 57-64)
14 UB general input block 8 (inputs 65-72)
15 UB general input block 9 (inputs 73-80)
16 UB general output block 0 (outputs 1-8)
17 UB general output block 1 (outputs 9-16)
Chapter 4 Software Tools and Communication ▫ 28
command can be very useful for accessing complete controller status. The
QZ
Data Record Map Key
Acronym
UB
UW
SW
SL
UL
General Controller Information and Status
ADDR
18
19
20
21
22
23
24
25
26
27
28-29
30-31
32-35
36-37
38-39
40-43
QR
Meaning
Unsigned byte
Unsigned word
Signed word
Signed long
Unsigned long
TYPE ITEM
UB general output block 2 (outputs 17-24)
UB general output block 3 (outputs 25-32)
UB general output block 4 (outputs 33-40)
UB general output block 5 (outputs 41-48)
UB general output block 6 (outputs 49-56)
UB general output block 7 (outputs 57-64)
UB general output block 8 (outputs 65-72)
UB general output block 9 (outputs 73-80)
UB error code
UB general status
UW segment count of coordinated move for S plane
UW coordinated move status for S plane – see bit field map below
SL distance traveled in coordinated move for S plane
UW segment count of coordinated move for T plane
UW coordinated move status for T plane – see bit field map below
SL distance traveled in coordinated move for T plane
and commands. These
DR
QR
DMC-21x5 User Manual 1.0a1