Toshiba TS3100 - Page 99

STE 80722
– 94 –
COMMUNICATION MANUAL
series Robot Controller
: Motion status request (Host computer → Controller) SM
Format
SM, version
CR
Function
The SM command is used to transfer the motion status of the controller to the host
computer.
For details on the contents of the motion status, see the FL (File) command.
Specify the following number for the version.
1: TS3000 series robot controller
Protocol
Controller Host computer
(1) Normal response
FL, motion status
(2) Error (Cannot receive request)
NG
CR
Negative response
SM, version
CR
OK
CR
Affirmative response
Note
Put in a delay of about 50 msec until the host computer sends an affirmative
response OK to the controller after the host computer has received the status.