Response
When the Controller receives the command correctly, the response in the following format is shown in the executing command.
Response Format
ACK 1 Byte | Command 1Byte | Data Variable | ETX 1 Byte | BCC 1 Byte |
ACK : &H06
ETX: &H03
BCC : Checksum of sent and received data
XOR value from the command to ETX per 1Byte
| Command | Format |
|---|---|
Remote command that acquire the value except the following commands | [ACK][Command] (1Byte)[ETX][BCC] |
| GetCurRobot | [ACK]'y'[Robot number] [ETX][BCC] |
| GetIO | [ACK] 'i'[&H00 | &H01] [ETX][BCC] *1 |
| GetMemIO | [ACK] 'o'[&H00 | &H01] [ETX][BCC] *1 |
| GetIOByte | [ACK]'b'[ Byte value (8Bit) (&H00 to &HFF)] [ETX][BCC] |
| GetMemIOByte | [ACK]'t'[ Byte value (8Bit) (&H00 to &HFF)] [ETX][BCC] |
| GetIOWord | [ACK]'w'[Word value (16Bit) (&H0000 to &HFFFF)] [ETX][BCC] |
| GetIOMemWord | [ACK]'u'[Word value (16Bit) (&H0000 to &HFFFF)] [ETX][BCC] |
| GetVariable | [ACK]'v'[Parameter value]*5 [ETX][BCC] |
| GetVariable (in case of array) | [ACK]'v'[Parameter value 1]*5[Parameter value 2]*5 ...[ETX][BCC] *4 |
| GetStatus | [ACK]'S'[Status][Error, Warning code] [ETX][BCC] e.g: [ACK] 'S'[aaaaaaaaaaa][bbbb][ETX][BCC] *2 *3 |
| Execute | If the value is returned as a result of command execution [ACK]'X'"[Execution result]" [ETX][BCC] |
| GetAlm | [ACK]'z' [number of alarms][alarm number]... [ETX][BCC] e.g) When no alarm is occurring &H06&H7A&H00&H03&H79 e.g.) When Alarm 1 and 9 are occurring &H06&H7A&H02&H01&H09&H03&H73 |
*1 [&H00 | &H01] I/O bit ON: &H01/ OFF: &H00
*2 aaaaaaaaaaa: Status
In the example above, 11 digits [aaaaaaaaaaa] is for the following 11 flags.
Test, Teach, Auto, Warning, SError, Safeguard, Estop, Error, Paused, Running, Ready
&H01 is ON /&H00 is OFF
If Ready and Auto are ON, it is
[&H00&H00&H01&H00&H00&H00&H00&H00&H00&H00&H01].
*3 bbbb part: Error / Warning code
It is indicated in 4 digits. If there is no error and warning, it is "0000"(&H30&H30&H30&h30).
Example1: [ACK]
'S[&H00&H00&H01&H00&H00&H00&H00&H00&H00&H00&H01][ &H30&H30&H30&h30]
The bits for Auto and Ready are &H01.
This means that AutoMode is ON and in Ready state. You can execute the command.
Example2: [ACK]
'S[&H00&H00&H01&H01&H00&H00&H00&H00&H00&H01&H00][ &H30&H35&H31&h37]
This means the warning occurs during the operation. Take appropriate action according to the warning code. (In this case, warning code is 0517)
| Flag | Contents |
|---|---|
| Test | Turn ON in the TEST mode |
| Teach | Turn ON in the TEACH mode |
| Auto | Turn ON in the remote input acceptance condition |
| Warning | Turn ON in the warning condition Task can be executed as usual even a warning condition. However, take action for the warning as soon as possible. |
| SError | Turns ON when critical error occurs. When a critical error occurs, "Reset input" does not function. Reboot the controller to recover. |
| Safeguard | Turn ON with safety door open |
| EStop | Turn ON in the emergency condition |
| Error | Turns ON when an error occurs. Use "Reset input" to recover from the error. |
| Paused | Turn ON with paused task |
| Running | Turn ON with task executing Turn OFF when "Paused output" is ON |
| Ready | Turn ON with the Controller completed the startup and no task executing |
*4 It returns values of specified number in the Number to acquire.
*5 Binary data. If you convert it to the specified data type after acquisition, conversion process is required.
Error response
When the Controller cannot receive the remote command correctly, the error response is shown in the following format.
NAK 1 Byte | Command 1 Byte | Error code 2 Byte | ETX 1 Byte | BCC 1 Byte |
NAK : &H15
ETX : &H03
BCC : Checksum of sent and received data
XOR value from the command to ETX per 1Byte
| Error code | Contents |
|---|---|
| 10 | Remote command does not begin with $ |
| 11 | Remote command is wrong Login is not executed |
| 12 | Remote command format is wrong |
| 13 | Login command password is wrong |
| 14 | Specified number to acquire is out of range (1 or more and 100 or less) Number to acquire is omitted Specified a string parameter |
| 15 | Parameter is not existed Dimension of parameter is wrong Element out of range is called |
| 16 | BCC is wrong |
| 19 | Request time out |
| 20 | Controller is not ready |
| 21 | Cannot execute since the Execute is running |
| 99 | System error , Communication error |