Command Reference
MagnaTran 7.1 User’s Manual
Command and Response Structure
MN-003-1600-00
Brooks Automation
8-6
Revision 2.2
Command and Response Structure
A software command to the robot consists of a string of ASCII characters (letters or
numbers) which are subdivided into “fields”. A software response from the robot
consists of a string of ASCII characters (letters and numbers) which are also subdi-
vided into “fields”. These fields are for commands, variables, and data, which indi-
cate the type of command, specify a variable name, or contain data.
•
Command Fields
consist of the name of the command and the logical branch
of the command (if required).
•
Data Fields
consist of the data required by a variable or the data being
returned for a variable.
•
Variable Fields
consist of a variable name used to specify a specific item for the
command.
In the following command example the “SET” is the command, the “STN” is the log-
ical branch, the “T” is a variable, and the “4” and “270000” are the data fields.
SET STN 4 T 270000
In the following response example the “STN” is a variable indicating the type of
response and the type of data following, the “ARM” is also a variable indicating the
type of data following, and the “4”, “A”, and “270000” are the data fields.
STN 4 ARM A 270000
The robot’s commands have a multi-level, tree-like structure. Each level may have
data fields and/or a logical branch to a lower level. This approach to the command
structure allows great flexibility in designating commands, and unlimited ability to
add commands in the future as customer needs arise. Adding a new branch to the
tree can provide a whole new category of control or information retrieval.
The example of a typical command tree shown in
provides the tree for the
RQ POS (Request Position) command. In the example the RQ POS is the command,
the ABS, STN, and TRG are the logical branches of the command, and ARM, R, T,
SLOT, and Z are the variables that may be specified by the command. Note that this
command (POS) is just one of the logical branches of the request (RQ) command type.
