Toshiba TSL3000 Communications Manual page 88

series Robot Controller
: Current position information acquisition (Host computer → Controller) PS
Format
PS
Description
The PS command is used to transfer current position information (motion status,
execution line number, current position) to the host computer.
For details on the contents of current position information, see the FL (File)
command.
Protocol
Controller
(1) Normal response
FL, current position information
(2) Error (Cannot receive request)
NG CR
Negative response
Note
Put in a delay of about 50 msec until the host computer sends an affirmative
response OK to the controller after the host computer has received the file contents.
CR
– 83 –
COMMUNICATION MANUAL
Host computer
CR
PS
CR
OK Affirmative response
STE 80722