MagnaTran 7.1 User’s Manual
Command Reference
MN-003-1600-00
Description
Brooks Automation
Revision 2.2
8-3
NOTE:
In Sequential Mode, the Host should not attempt to send another command
string until it receives the READY string from the robot.
Background Mode
In Background mode, for certain commands, the MagnaTran 7 will return a
READY string immediately after it has received the command and typically
before the command has been completed. This command task is then placed in
the “background” and other “foreground” commands may be executed
sequentially while the background command is in progress.
Only certain commands have been assigned to the “background” and “fore-
ground” categories. All Action commands can be placed in the “background”;
all Request commands and the HALT command can be executed in the “fore-
ground” while a command is executing in the “background”.
A typical
sequence of communications in Background Mode appears below.
•
Host sends an Action (motion) command to the robot.
•
The robot sends a READY signal immediately, while beginning the
requested action.
•
Host requests information.
•
Robot returns information.
•
Robot completes background action.
•
Host requests operational status.
•
Robot sends message that the Action operation has been completed,
including an error code if an error occurred during the operation.
NOTE:
Background tasks do not stack. If the Host Controller sends a second back-
ground command before the first background command is complete, the
robot will send an error message.
While a command is in background, foreground commands are handled in a
normal, sequential manner. To determine when the background command is
complete, use the RQ BG command. This command returns the busy status of
the background command (Y|N) and (if RDY) any errors that may have
occurred.
