CI868K01-eA 3BSE048845R2 The processor module

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

Controller Response to Commands

 Most DMC-21x2/21x3 instructions are represented by two characters followed by the appropriate parameters. Each instruction must be terminated by a carriage return or semicolon. Instructions are sent in ASCII, and the DMC-21x2/21x3 decodes each ASCII character (one byte) one at a time. It takes approximately .5 msec for the controller to decode each command. However, the PC can send data to the controller at a much faster rate because of the FIFO buffer.

After the instruction is decoded

the DMC-21x2/21x3 returns a response to the port from which the command was generated. If the instruction was valid, the controller returns a colon (:)or a question mark (?) if the instruction was not valid. For example, the controller will respond to commands which are sent via the main RS-232 port back through the RS-232 port, and to commands which are sent via the Ethernet port back through the Ethernet port. For instructions that return data, such as Tell Position (TP), the DMC-21x2/21x3 will return the data followed by a carriage return, line feed and : . It is good practice to check for : after each command is sent to prevent errors. An echo function is provided to enable associating the DMC-21x2/21x3 response with the data sent. The echo is enabled by sending the command EO 1 to the controller.

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