Instruction Manual

Syntax • Response Syntax 293
Publication 1398-PM601A-EN-P — October 2000
HOST MODE
Response Syntax
A response is returned to all command types unless the ULTRA Plus or IQ is not echoing in a multi-
drop mode. In this case, it is up to the controller to take any action required to determine compliance
with the command. For instance, a global command could be issued to start motion of all axes, and then
each axis could be selected and checked for proper program execution. There are three main types of
responses:
• Acknowledge
• Val ue
• Error.
WS WS (white space) may be an ASCII space or tab. It is
ignored except where required to differentiate between
data items associated with the command.
data The data field is present in all assignment commands
and specifies the value of the associated parameter. This
field is most often numeric although a few commands
use text strings as data. Numeric data is decimal unless
specified otherwise for a specific command. Flag values
are set as 1 = TRUE and 0 = FALSE. The equal sign “=”
is optional in assignment commands. When a command
requires multiple parameters, the parameters are sepa-
rated by white space or a comma.
SUM SUM is an optional field consisting of a caret “^” fol-
lowed by two hexadecimal characters. If present, the
SUM is the eight bit binary sum of all characters in the
command line up to but not including the “^”. When the
sum is summed with the preceding characters, the result
must be zero. Any characters between the sum and the
END field are ignored. Any letters in the sum must be in
upper case. If data is being requested, it will be returned
with a SUM check only if one was present in the request-
ing command.
If the SUM indicates an error in the command line, the
command line will not be processed and the appropriate
error response will be returned.
WARNING: To guarantee data integrity, the checksum
must be used in host communications with the ULTRA
Plus or IQ.
END The END field consists of an ASCII carriage return
(^M) followed by an optional linefeed character (^J).
Remarks
Items in brackets indicate optional parameters.