MagnaTran 7.1 User’s Manual
Appendices
MN-003-1600-00
Appendix D: Robot Compatibility
Brooks Automation
Revision 2.2
11-13
Configuration Compatibility Commands
The following commands may be used to ensure the communication protocol of the
MagnaTran 7 to be the same as the MT5/VT5 (Arm A and B Theta positions for a
given station are 180° apart/servos freewheel at HALT).
shows the commands used to configure the standard VT5/MT5 compati-
bility for the MagnaTran 7.
Table 11-6: Standard VT5/MT5 Compatibility
Parameter Type
Setting
Command to
SET
Command to
STORE
Command to
REQUEST
Communications
Protocol
RS-232
none (with Dip
Switch)
none
none
Serial Communi-
cations Mode
Monitor
SET COMM M/B
MON
STORE COMM
M/B
RQ COMM M/B
Command Flow
Mode
Sequential
SET COMM FLOW
SEQ
STORE COMM
FLOW
RQ COMM FLOW
Terminal Echo
Mode
ON
SET IO ECHO Y
STORE COMM
ECHO
RQ COMM ECHO
Linefeed After
Carriage Return
ON
SET COMM LF ON
STORE COMM LF
RQ COMM LF
Error Reporting
Level
2
SET COMM
ERRLVL 2
STORE COMM
ERRLVL
RQ COMM
ERRLVL
Data Reporting
REQ
SET COMM
DREP REQ
STORE COMM
DREP
RQ COMM DREP
Terminal Echo
Compatibility
VT5
SET
COMPATIBILITY
ECHO VT5
STORE
COMPATIBILITY
ECHO
RQ
COMPATIBILITY
ECHO
Theta Coordinate
Compatibility
VT5
SET
COMPATIBILITY
COORDT VT5
STORE
COMPATIBILITY
COORDT
RQ
COMPATIBILITY
COORDT
Theta coordinate system defines theta HOME for Arm A as 0°/
Arm B as 180°.
HALT Compati-
bility
VT5
SET
COMPATIBILITY
HALT VT5
STORE
COMPATIBILITY
HALT
RQ
COMPATIBILITY
HALT
