SICK PLOC2D 4.1 - Page 80

•
Command data
•
Result data
Table 10: Command control bits
Bit Command Description
0 Locate Locate the part described by the job described in the job
data field, see the command Run.Locate in table 2.
1 Align Perform an alignment, see the command
Alignment.Align in table 2.
2 Verify align Check that the work plane alignment is still valid, see
"Verify alignment", page 46.
3 Teach Configure a job.
4 Verify teach Check that a part is located in the same position as
when the job was configured.
5-12 Not used
13 FTP export Export the most recent images to an external FTP server,
see the command System.Ftp.Export in table 2.
14 Restart Restart the device software, see the command
System.Restart.Software in table 2.
15 Command Run the command specified by the command data field.
See table 12.
Table 11: Result control bits
Bit Command Description
0
READY
The device is ready to accept a new command.
1
ACK
Command was accepted.
2
NACK
Negative ACK. Command was not accepted.
3
PROC
The command is being processed.
4
OK
The most recent result was OK. Data can be read from the output
data field.
5
NOK
The most recent result was NOT OK. Data can be read from the
output data field.
6
ERROR
A device error occurred.
7-16 Not used
Table 12: Command data
Byte(s) Parameter Interpretation
0-1
command
A 16-bit unsigned integer representing the ID of a command. See
table 7.
2-3
job
A 16-bit unsigned integer representing the selected job ID for com‐
mands that need it. Set job = 0 to locate all configured jobs and
return the first result, see the command Run.Locate in table 2.
4
alignment
An 8-bit unsigned integer representing the alignment ID for commands
that need it.
5
match
An 8-bit unsigned integer representing the match number in prioritized
order (for the command Run.Locate).
6-39 Not used
40-43
x
A 32-bit signed integer representing the x value of the robot frame in
thousands of a millimeter.
44-47
y
A 32-bit signed integer representing the y value of the robot frame in
thousands of a millimeter.
12 APPENDIX
80
O P E R A T I N G I N S T R U C T I O N S | PLOC2D 4.1 8020736/1K3Z/2023-06 | SICK
Subject to change without notice