Command Reference
MagnaTran 7.1 User’s Manual
Command and Response Structure
MN-003-1600-00
Brooks Automation
8-10
Revision 2.2
Example :
RQ < > POS < > ABS < > ARM < > A < > R < > T <Return>
POS < > ABS < > ARM < > A < > 185000 < > 1340530 < > <Return>
The command instructs the MagnaTran 7 robot to return the absolute
position of the ‘A’ arm for the R and T axes. The response shows the
type of response, the arm the data is being provided for, and the data
requested. If the arm is not specified, the robot will use Arm ‘A’ as the
default arm. Note that the example just given shows all spaces as “< >”
and the carriage return as “<Return>”, all remaining examples within
this manual will show all spaces as “ “ with a carriage return implied at
the end of the command.
The number and order of the data-fields within a response is variable and the
response will follow the order provided in the command. If the “ALL” speci-
fier was used the order of the variables being returned will be the order pre-
sented in the command description.
Response Syntax
The syntax for a response varies depending upon the type of response being
generated, however in all cases the robot will issue a carriage return after the
response.
Request Response
The response to a Request Command mirrors the format of the Request.
The command illustrated below shows several requests for the Commu-
nication parameters and the format of the response that will be gener-
ated. The response shown below indicates that it is in response to a RQ
COMM command, the Command Mode is “Packet”, and the Operating
Mode is “Background” in both cases.
Request
RQ COMM M/B FLOW
RQ COMM ALL
Response
COMM PKT BKG
COMM PKT BKG
