Scalar DLC Reference Guide 281
Command Structure
The command itself contains the following fields:
• Command header
•Command
• Acknowledge
• Returned code
• System
• Robot
•Device
• Volser
• Status
• 1st param
• 2nd param
•Time stamp
• Orig. Host ID
• Orig. Request ID
The details in command format are shown in Table 43
.
Table 43 Command format
Field Length Value/Description Example
Command
header
9 Command header with information about sender and
requester (refer to Command Header
on page 280).
A1H5A00,
M875
Command 4 Name of the command or NTFY for an asynchronous
notification.
A01
Acknowledge 1 Message specific response: P
P Positive (command successful)
N Negative (command unsuccessful)
D Data (message in a block command)
E End (end of block command)
M Asynchronous message ROBS
Return code 4 Error or Status message in the answer/number of the
notification.
N005
System 1 (2) Library (if larger than 9, replaces the comma with the
second digit of the system).
2
Robot 1 Robot number for a twin robot system (1 or 2). 1
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