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Controller Response to DATA
The DMC-21x5 returns a : for valid commands and a ? for invalid commands.
For example, if the command
bg
?
When the controller receives an invalid command the user can request the error code. The error code will specify
the reason for the invalid command response. To request the error code type the command TC1. For example:
TC1
?
1 Unrecognized command
There are many reasons for receiving an invalid command response. The most common reasons are: unrecognized
command (such as typographical entry or lower case), command given at improper time (such as during motion),
or a command out of range (such as exceeding maximum speed). A complete listing of all codes is listed in the
command in the Command Reference section.
Interrogating the Controller
Interrogation Commands
The DMC-21x5 has a set of commands that directly interrogate the controller. When the command is entered, the
requested data is returned in decimal format on the next line followed by a carriage return and line feed. The
format of the returned data can be changed using the Position Format (PF), Variable Format (VF) and Leading
Zeros (LZ) command. See Chapter 7 Application Programming and the Command Reference.
For example, the following example illustrates how to display the current position of the X axis:
TP
A
0
TP
AB
0,0
Chapter 5 Command Basics ▫ 34
is sent in lower case, the DMC-21x5 will return a ?.
BG
invalid command, lower case
DMC-21x5 returns a ?
Tell Code command
Returned response
COMMAND
RP
RL
SC
TA
TB
TC
TD
TE
TI
TP
TR
TS
TT
TV
Table 5.1: List of interrogation commands to request information from the controller.
Tell position A
Controllers Response
Tell position A and B
Controllers Response
DESCRIPTION
Report Command Position
Report Latch
Stop Code
Tell Amplifier Error
Tell Status
Tell Error Code
Tell Dual Encoder
Tell Error
Tell Input
Tell Position
Trace
Tell Switches
Tell Torque
Tell Velocity
TC
DMC-21x5 User Manual 1.0a1
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