AutoCrib RoboCrib 2000 E - Appendix I; RoboCrib Controller Commands; Response; Comments

Appendix
38 | P a g e
Appendix I
RoboCrib Controller Commands
PC Command Description Response Comments
TST [M/L/S]
Test
M – Main Platter
L – Large Subplatter
S – Small Subplatter
W – wrap count decremented by 1 from previous value
d – direction always =-1
r – ref error is internal position when ref mark encounter as platter moves CCW
e –value reported has no meaning for this command
s – stall error values have same meaning as FET
TST commands always turn
motors counter clockwise
(CCW) when looking into
backshaft of motor.
CAL [M/L/S]
Calibrate
w – wrap count set to 1
d – direction always =1
r – reference error has no meaning for this command
e –value reported has no meaning for this command
s – stall error values have same meaning as FET
CAL commands always turn
motors clockwise (cw) when
looking into backshaft of
motor.
RSA
Request Status All
Returns status of all platters using codes shown above for FET
RDS
Request Door Status
DO-Pxxxx – Door Open where xxxx is HC11 internal MP position in hex
DC – Door Closed
RCS
Request Calibration
Status
CC – Calibration Complete – all platters OK
CI – Calibration Incomplete – some or all platters not calibrated
CE – Calibration Error – at least 1 platter has reported a “c-n” error
LON nn
Activate Solenoid nn
Solenoid nn activated, all other solenoids deactivated
LOF
Deactivate Solenoids
All solenoids deactivated
RVN
Read Version Number
Returns the version number and date of the HC11 software.
Note: All values are decimal unless otherwise noted.
FET abc d
Fetch command
abc-Bin to be fetched
a-LSP number
b-SSP number
c-Bin number on
platter
d-Baffle position
c – calibration status
0-not calibrated since power on
1-calibrated
-2-encoder B error so internal position is wrong
-3-platter reference mark not detected so wrap count may be wrong
-4-platter reference mark was detected but was not within ref error limit
-5-baffle pot voltage out of range
w – wrap count (0 or 1)
d – direction (1 for cw/ -1 for ccw)
r – reference error reported when passing ref mark
e – position error between targeted vs actual position
s – stall errors
1 platter never moved or sensors not connected
2 platter started to move, then stopped
3-xxxx platter speed too slow during full-speed part of move
4-xxxx unexpected platter decel during full-speed part of move
5-door open kept platter from moving or stopped it during move
6-baffle motor not working/baffle jammed/pot bad
7-wrap pot voltage limit hit – power to MP/LSP motors cut
8-xxxx platter stall check right after power to motor 1
st
check pt.
9-xxxx platter stall check right after power to motor 2
nd
check pt.
where xxxx is the stall value that caused the stall
The stall values can be
adjusted using the CSn
commands. If a stall
recurs several times
without an obvious cause,
the stall value should be
increased. However,
increasing the value too
much may keep the
platter from stalling when
it should.
An s7 error means that
both MP and LSP motor
power has been turned
off regardless of which
platter has exceeded the
voltage limit. Use
maintenance panel lights
and switches to get the
offending platter back
within legal limits.