U511 User’s Manual Remote Mode Operations
Version 1.1 Aerotech, Inc. 6-5
6.4.4. Service Request Mode (SRQ)
SR1: Turn ON
SR0: Turn OFF
SRc: Set Service Request Character to “c”
UNIDEX 511 can be put into service request mode (SRQ). SRQ mode sends a character
to the host when an event has occurred. The host should then pol the U511 to determine
its status.
In GPIB mode, “SRQ” is an intrinsic function. The controller should Serial Pol the U511
to clear SRQ. In RS-232 mode, the SRQ is generated with a programmable character.
These commands turn service request mode on or off. They are also used to set the SRQ
character for RS-232 mode to “c.” Table 6-5 shows the communication sequence for the
Service Request On command. The communication sequence for the Service Request Off
command is shown in Table 6-6. Table 6-7 shows the communication sequence for the
Set Service Request Character command. Table 6-8 shows the communication sequence
for a service request response operation.
The U511 will generate a SRQ under the following conditions:
1. Program is finished executing in AUTO mode.
2. Block has finished executing in BLOCK mode.
3. Immediate command has finished execution.
4. Runtime error in the program.
5. Syntax error in the program. This will occur immediately after the ‘AR’ or
‘BR’ command since the program is syntax-checked before execution.
6. An axis error such as a limit or position error occurs.
7. An illegal remote command is sent. The normal response to a service request
is to Serial Pol the U511 (“Q” or GPIB Serial Pol function). The user can then
determine the source of the error from the status byte.
8. When the U511 has finished saving parameters to flash memory using the SP
command.
Table 6-5. Service Request On Sequence
Direction of Transfer Command Description
Host→U511
SR1 Service Request On code
Host→U511
EOS character End of string character (LF)
U511→Host
ACK/NAK character Acknowledge character (0x06)
Example: SR1 <EOS character>
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