Bosch Rexroth SFE, Manual, Page: 70 / 92

70 Interface description
6
en
6.7 Example communication
Received position:
Sent Received
GET;POSE GET;POSE;-0.004|0.003|0.003|-
0.003|0.003|0.005;OK
If this command is listed in a loop, a constant deflection or position monitoring of the SFE Tool Centre
Point may take place.
With this command, you can write many different programs, e.g. for joining.
Checking the version
The following communication may serve as an example for checking the current version of the
embedded software:
Sent Received
GET;VERSION GET;VERSION;1.9.2
The version can only be updated via the desktop software.
You can find a more detailed description of the desktop software in the Initialization section.
Changing and checking the lock state
Sent Received
SET;MOT_LOCK_STATE;LOCK SET;MOT_LOCK_STATE;OK
GET;MOT_LOCK_STATE GET;MOT_LOCK_STATE;LOCKED
Here, the first command is for locking, whereupon the SFE response states that the command was
received and carried out.
The second command is for querying the current status, whether the device is locked or unlocked. It is
locked in the example.