Command Reference
MagnaTran 7.1 User’s Manual
Request Position Target
MN-003-1600-00
Brooks Automation
8-96
Revision 2.2
Request Position Target
Purpose
Returns, for the specified axis, the position in absolute coordinates to which the robot
arm has been commanded.
Format
RQ POS TRG [[ARM]arm] [R] [T] [Z]
or
RQ POS TRG [[ARM]arm] ALL
Response
POS TRG [[ARM]arm] [r-location] [t-location] [z-location]
or
POS TRG [[ARM]arm] r-location t-location z-location
Arguments
ALL:
Specifies R, T, and Z in the order presented in the command format.
ARM arm:
Field size: 1
The arm that has been commanded to move to the specified location. If
unspecified, information will be returned for the default arm, Arm A.
The “ARM” identifier is optional.
r-location:
Response field size: 7
The target R axis location of the robot arm in microns (m) or “------” if
unreferenced.
t-location:
Response field size: 6
The target T axis location of the robot arm in 0.001 degrees or “------” if
unreferenced.
z-location:
Response field size: 6
The target Z axis location of the arm in microns (m) or “------” if unrefer-
enced.
