MagnaTran 7.1 User’s Manual
Command Reference
MN-003-1600-00
Command and Response Structure
Brooks Automation
Revision 2.2
8-11
Error Response
Errors fall into two categories; Command Specific Errors, and Generic
or Multi-Command Errors. In either case, return codes for all errors are
unique. A complete listing of the error codes appears at the end of this
chapter. If an error occurs during either command processing or opera-
tion, the robot sends an error signal to the host controller followed by a
carriage return. The response shown below indicates that the response
is a Packet Mode error response (_ERR), and the error (0002).
_ERR 0002
Ready Responses
Regardless of whether an error has occurred, the robot returns a Ready
string at the time the command is acknowledged. The response shown
below indicates that the response is a Packet Mode ready response.
_RDY
Command and Response Compatibility
The following guidelines have been established by Brooks Automation to ensure
compatibility between customer software programs and future revisions of the Mag-
naTran 7 Robot’s command and response structure.
1.
Old command mnemonics and data fields will not be deleted.
New functions may be added to the command tree by providing additional
options on any mnemonic level. Customer controller software should not,
therefore, interpret unknown mnemonics as errors.
New variables may be added to existing commands. When using ALL in a
REQUEST command, the software will return the increased number of vari-
ables. Customer controller software should not, therefore, interpret extra
returned variables as errors.
2.
The list of error codes may be extended.
New error messages may be added as support for existing commands or to
support new commands. Customer controller software should not, therefore,
