E Series Automated Dispensing System
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Appendix B, RS-232 Communication Protocol
(continued)
Communication Specifications
• Baud rate 115200
• Data bit 8
• Parity None
• Stop bits 1
• Flow control None
Commands
• Commands sent are terminated with a carriage return (0x0D). The robot evaluates each received command and
then sends a response.
• Responses are preceded by the pound symbol (#).
Command Description Function Command Sequence Response
Simulate START button Use to start or pause the
robot
:S<CR> Not applicable
Change program number Use to open a different
program by specifying the
number
:Pxx<CR>
where xx = the program
number (1–99) to open
#xx<CR>
where xx = the program
number opened (1–99)
Query program number Use to determine the
currently open program
number
?P<CR> #xx<CR>
where xx = the currently
open program number
(1–99)
Query machine status Use to determine the
operating status of the
robot
?M<CR> #xx<CR>
where xx = a decimal
number to convert to a
binary number; refer to
the table below (“Query
Machine Status Response
Values”)
Query Machine Status Response Values
Bit 7 6 5 4 3 2 1 0
Description Reserved Wait Start Homing Reserved Emergency Running Reserved
Teach (1)
Run (0)
Example responses from the robot:
Response
from Robot
Response
Converted to
Binary Number
Meaning of Response
#82 0101 0010 The robot is Homing in the Run Mode.
#19 0001 0011 The robot is Idle in the Teach Mode.
#7 0000 0111 The robot is Running in the Teach Mode.
#22 0001 0110 The robot is Running in the Run Mode.
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