Yaskawa LEGEND-MC - Manual (Page 261)

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LEGEND-MC User’s Manual
Controller Response to Commands
For each valid command entered, the LEGEND-MC returns a colon (:). If the LEGEND-MC decodes a
command as invalid, it returns a question mark (?).
NOTE: The LEGEND-MC returns a : for valid commands.
NOTE: The LEGEND-MC returns a ? for invalid commands.
For example, if the command bg is sent in lower case, the LEGEND-MC will return a ?.
VERY IMPORTANT!
The command Tell Code, TC1, will return the reason for the “?” received for the last invalid command.
There are several coded reasons for receiving a ?. Example codes include unrecognized command (such
as typographical entry or lower case), a command given at improper time, or a command out of range,
such as exceeding maximum speed. A complete listing of all codes is listed in the TC command in the
Command Reference section.
For interrogation instructions such as Tell Position (TP) or Tell Status (TS), the LEGEND-MC returns
the requested data on the next line followed by a carriage return and line feed. The data returned is in
decimal format.
The format of the returned data can be set using the Position Format (PF) and Variable Format (VF)
command.
:bg <enter> Invalid command (lower case)
? LEGEND-MC returns a ?
:TC1 <enter> Tell Code command
1 Unrecognized command Returned response
Tell Position X :TP X <enter>
data returned 0000000000
Tell Position X and Y :TP XY <enter>
data returned 0000000000,0000000000
:PF 4 <enter> Position Format is 4 integers
:TP X <enter> Tell Position
0000 returned data