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DMC-3425 Chapter 4 Communication• 49
The Galil Registry has an option to disable the opening of the multicast handle on the DMC-3425. By
default this multicast handle will be opened.
Unsolicited Message Handling
Anytime a controller generates an internal response from a program, generates an internal error or
sends a message from a program using the MG command, this is termed an unsolicited message.
There are two software commands that will configure how the controller handles these messages; the
CW and the CF command.
The DMC-3425 has 8 Ethernet handles as well as 1 serial port where unsolicited messages may be
sent. The CF command is used to configure the controller to send these messages to specific ports. In
addition, the Galil Registry has various options for sending this CF command. For more information,
see the CF command in the DMC-3425 Command Reference. The MG can also send the message to a
specific handle using the MG{Eh} syntax, where h is the handle. See the MG command in the
Command Reference for more information.
The CW command has two data fields that affect unsolicited messages. The first field configures the
most significant bit (MSB) of the message. A value of 1 will set the MSB of unsolicited messages,
while a value of 2 suppresses the MSB. The majority of software programs use a setting of CW2,
although the Galil Smart Terminal and WSDK will set this to CW1 for internal usage. If you have
difficulty receiving characters from the controller, or receive garbage characters instead of messages,
check the status of the CW command for a setting of CW2.
IOC-7007 Support
The IOC-7007 is an Intelligent Ethernet I/O controller that can be programmed in standard Galil
language. This module allows various configurations of TTL inputs, opto-isolated inputs, high power
outputs and relay switches to be used in the Galil distributed motion system. Each IOC-7007 may be
populated by up to seven IOM I/O modules.
The IOC-7007 Ethernet I/O controller may be used in a distributed system and commanded by the
master controller. The HC command is used to specify total number of IOC-7007 controllers within
that distributed system. Once configured, the I/O of that IOC-7007 becomes incorporated in the
distributed system, much the same as board level I/O of the DMC-3425 slaves.
Inputs of the IOC-7007 are read using the standard @IN[n] and TI commands as follows:
@IN[n] where n is the IOC-7007 input bit to be read. n is calculated with the equation n =
(HandleNum * 1000) + BitNum. HandleNum is the numeric value of the IOC-7007 handle (1 – 8)
while BitNum is the specific bit number on the IOC to be read.
TIn where n is the IOC-7007 input slot to be read. n is calculated with the equation n =
(HandleNum * 1000) + SlotNum. Again, HandleNum is the numeric value of the IOC-7007 handle (1
– 8). SlotNum corresponds to the location of the IOM input module in the 7 slots of the IOC-7007 (0 –
6). This will return either an 8 bit or 16 bit decimal value depending on which IOM input module is
being used.
Outputs of the IOC-7007 are set and cleared using the standard SB and CB commands, as well as with
the OQ and OB commands. Outputs can be read with the @OUT[n] command. These commands
operate as follows:
SBn or CBn where n is the IOC-7007 output to be set or cleared. n is calculated identically to
the @IN[n] configuration, with n = (HandleNum * 1000) + BitNum.
@OUT[n] where n is the IOC-7007 output to be read. This uses the same n configuration as
SB and CB.
OQn,m where n is the IOC-7007 output location and m is the data to be written. Specifically,
n = (HandleNum * 1000) + SlotNum where HandleNum is the numeric value of the IOC-7007 handle