Applied Motion RS-232 - Manual (Page 172)

172 920-0002 Rev. I
2/2013
Host Command Reference
QU - Queue Upload
Compatibility: Q drives only
See also:
QL, QE, QS, QX, PW commands
Uploads a stored program segment from the drive’s non-volatile memory to the serial port. This command is
used to retrieve stored program segments from the drive. When using this command the drive responds with
either a “positive” or a “negative” response. A “positive” response consists of a normal acknowledge (“ack”)
followed by the contents of the requested program segment with each line number separated by a carriage
return. Program segments 1 to 12 can be uploaded, as well as the contents of the queue. A “negative” response
from the drive consists of a normal acknowledge (“ack”) followed by one of four error codes: 0, -1, -2, or -3. A
negative acknowledge (“nack” / “?”) will be sent from the drive if the command is not understood by the drive. See
Appendix D for more information on acknowledge and negative acknowledge responses.
Positive response format:
“ack” (“%”)
First line = “QU##” where “##” = the number of lines in the segment + 1
Second line = command at line 1 of the segment
Next line = command at line 2 of the segment
...
Last line = command at last line of segment
Negative Responses:
“ack” (“%”)
QU0 = No segment at specified location
QU-1 = Program Running (Cannot upload at this time)
QU-2 = Upload currently in process
QU-3 = Password Protected (Protection must be unlocked using PW command)
Command Details:
Structure QU(Parameter #1)
Type IMMEDIATE
Usage READ ONLY
Non-Volatile NO
Register Access None
Parameter Details:
Parameter #1 Program segment location
- units integer
- range 1 - 12, or 0 to upload queue
Examples:
Command Drive sends Notes
QU0 (queue contents) Uploads contents of queue to the serial port
QU3 (segment #3 contents) Uploads contents of segment from non-volatile memory
location #3