Hudson Robotics LabLinx - Manual (Page 26)

StackLink User Manual Hudson Robotics, Inc.
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currently unspecified. There is currently no message indicating that the command queue
has been overloaded.
The following example would send the DISPENSE command, with an argument
indicating to dispense from Stack 1.
DISPENSE 1<13><10>
Command Responses
The controller will echo every byte of the command back to the sender as it is received.
Upon detecting the two bytes <13><10>, the controller will execute the command. Upon
completing execution, the controller will respond in one of two ways:
1. For query commands, where a data response is required, it will return:
{data response}<13><10>
2. For action commands or invalid queries, it will return:
{error code} {error description}<13><10>
If an action is requested, or an error occurs the response will be a 4 digit error code, a
space (ASCII character 32), and a short description of the error that occurred. A response
of “0000 Success" represents a correctly executed command. Other responses will
indicate an error.
As examples:
1. Valid query command:
Command: READINPUT 0,2<13><10>
Echo: READINPUT 0,2<13><10>
Response: 0<13><10> (i.e., input no. 2 is OFF)
2. Valid action command:
Command: CLOSE <13><10>
Echo: CLOSE <13><10>
Response: 0000 Success<13><10> (i.e., action successfully executed)
3. Invalid query command ("WASHER" is an unknown position):
Command: GETPOINT WASHER<13><10>
Echo: GETPOINT WASHER<13><10>
Response: 0002 Invalid Parameter<13><10> (invalid point name)
Note: If any command contains an error, the StackLink sends the response immediately,
otherwise the response is sent at the completion of execution.