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DMC-3425 Chapter 2 Getting Started• 31
Note that only one of the 2 axes (per DMC-3425) needs to be assigned with the CH command.
4. In order for the Master controller to be able to make decisions based on the status of the
slave/server controllers, it is necessary for the slaves to generate data records giving their
current status. The record is sent at a rate set by the QW command. The QW command
must be executed by the master before the slave can issue a record under any method.
The format of the command is
QWh=n where h is the handle. n is a number between 4 and 16000.
n sets the number of samples (msec with default TM1000).
n equal to 0 disables the mode.
The data contained in the record is as follows:
reference position
encoder position
position error
velocity
torque
limit and home switches
axis status (in motion, motor off, at speed, stopcode)
uncommitted inputs
uncommitted outputs
user defined variables (4)
Manual Configuration Example
The example below shows a typical setup file for the DMC-3425 distributed control system in manual
mode. This example is for a TCP/IP system, with two handles used per slave. The IP address of the
first slave (Axes C and D) is 160.50.10.1, while the address of the second slave (Axes E and F) is
160.50.10.2. Note that in the two axis setup, different port numbers are used for the second handle to
the same IP address.
Instruction Interpretation
#SETUP Begin Program
IHD=160,50,10,1>2 Set handle D (for commands) to slave 1's IP
IHE=160,50,10,1<510>2 Open handle E for slave 1's data record
IHF=160,50,10,2>2 Set handle F (for commands) to slave 2’s IP
IHG=160,50,10,2<512>2 Open handle G for slave 2's data record
NA6 6 axis total
CHC=D,E Axis C & D assigned to slave 1 (Handle D,E)
CHE=F,G Axis E & F assigned to slave 2 (Handle F,G)
QWE=20 Handle E sends data record every 20 msec
QWG=20 Handle G sends data record every 20 msec
EN
Note: This program is the minimum necessary for manually setting up the controller. An actual
application program should make use of error and status checking. An example would be testing the
operand _IHh2 for successful handle connections. See Command Reference for more details.