Applied Motion RS-232 - Manual (Page 250)

250 920-0002 Rev. I
2/2013
Host Command Reference
velocity request
1VE 1VE=50 Drive responds with address “1” and velocity to specific
velocity request from drive at address “1”
Bit 2 - Ack/Nack (always send acknowledge character)
This option causes the drive to acknowledge every transmission from a host, whether the command is
requesting data or not. If a host requests data (for example a DI command with no parameter), the response is
considered the acknowledgement. However, if the host sends commands that do not request data from the drive,
the drive will still respond with one of the following characters:
“%” - The “percent” character is a Normal Acknowledge (Ack) character that means the drive accepted the
command and executed it.
“*” - The “asterisk” character is an Exception Acknowledge (Ack) character that means the drive accepted
the command and buffered it into the queue. Depending on the status of the queue, execution of the exception
acknowledged command(s) can occur at any time after the acknowledge.
“?” - The “question mark” character is a Negative Acknowledge (Nack) character that means a parsing error
occurred while the drive was receiving the command. A second character may follow the question mark, which
provides an error code describing the type of parsing error. Here is the list of error codes:
Negative Acknowledge Codes
1 Command timed out
2 Parameter is too long
3 Too few parameters
4 Too many parameters
5 Parameter out of range
6 Command buffer (queue) full
7 Cannot process command
8 Program running
9 Bad password
10 Comm port error
11 Bad character
12 I/O point already used by current Command Mode, and cannot be changed (Flex I/O
drives only)
13 I/O point configured for incorrect use (i.e., input vs. output) (Flex I/O drives only)
14 I/O point cannot be used for requested function - see HW manual for possible I/O function
assignments. (Flex I/O drives only)
Acknowledge characters are always sent out of the RS-232 port. When operating on a 2-wire or 4-wire RS-
485 network, the acknowledge characters are sent out under the following conditions:
1. An acknowledge character is sent when the received command has an address character at the
beginning.
2. An acknowledge character is NOT sent when global commands (commands without addresses) that
do not request data from the drive are used.
3. Global commands that request data will cause data to be returned from the drive(s). This can cause
data collisions if there are more than one drive on a network. NOTE: Always use addresses with
commands in multi-drop networks to avoid data collisions.
NOTE: When possible avoid using Acknowledge characters (%, *, ?) as drive addresses in multi-drop
networks to prevent confusion.
Good command Example:
Command Drive Sends Notes
DI8000 % Drive sends normal Ack (over RS-232 port only) in response
to global set distance to 8000