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DMC-2x00 Contentsy iii
Chapter 4 Communication 2
Introduction ...............................................................................................................................2
RS232 Ports...............................................................................................................................2
RS232 - Main Port {P1} DATATERM.......................................................................2
RS232 - Auxiliary Port {P2} DATASET................................................................2
*RS422 - Main Port {P1}............................................................................................3
*RS422 - Auxiliary Port {P2}.....................................................................................3
RS-232 Configuration .................................................................................................3
Ethernet Configuration (DMC-2100/2200 only) .......................................................................5
Communication Protocols ...........................................................................................5
Addressing...................................................................................................................6
Communicating with Multiple Devices.......................................................................8
Multicasting.................................................................................................................9
Using Third Party Software.........................................................................................9
Data Record .............................................................................................................................10
Data Record Map.......................................................................................................10
Explanation of Status Information and Axis Switch Information..............................12
Notes Regarding Velocity and Torque Information ..................................................14
QZ Command............................................................................................................14
Controller Response to Commands .........................................................................................14
Unsolicited Messages Generated by Controller.......................................................................15
Galil Software Tools and Libraries..........................................................................................15
Chapter 5 Command Basics 16
Introduction .............................................................................................................................16
Command Syntax - ASCII.......................................................................................................16
Coordinated Motion with more than 1 axis...............................................................17
Command Syntax - Binary ......................................................................................................18
Binary Command Format..........................................................................................18
Binary Command Table ............................................................................................19
Controller Response to DATA ................................................................................................20
Interrogating the Controller .....................................................................................................21
Interrogation Commands...........................................................................................21
Summary of Interrogation Commands ......................................................................21
Interrogating Current Commanded Values................................................................21
Operands....................................................................................................................21
Command Summary..................................................................................................22
Chapter 6 Programming Motion 24
Overview .................................................................................................................................24
Independent Axis Positioning..................................................................................................25
Command Summary - Independent Axis ..................................................................26
Operand Summary - Independent Axis .....................................................................26
Examples...................................................................................................................27
Position Tracking.....................................................................................................................28
Example.....................................................................................................................30
Example.....................................................................................................................31
Trip Points.................................................................................................................33
Command Summary – Position Tracking Mode .......................................................34
Independent Jogging................................................................................................................34
Command Summary - Jogging..................................................................................34
Operand Summary - Independent Axis .....................................................................34
Examples...................................................................................................................35
Linear Interpolation Mode.......................................................................................................36