Page 139 - Welding Robots Technology, System Issues, and Applications

126 Welding Robots
Table 4.2. Commands considered with the TCP/IP socket server example

Command Parameters Error code Answers
motor_on - 0 – OK -
-1 - Failure
motor_off - 0 – OK -
-1 – Failure
program_run Par_1: “name of 0 – OK
routine” -1 - Failure
program_run_pp - 0 – OK
-1 – Failure
program_stop - 0 – OK
-1 - Failure
system_state 0 – OK Answer_1: controller
-1 - Failure 1 – unknown
2 – stand by
3 – run
4 – emergency

Answer_2: memory
-1 – unknown
Value – free memory

Answer_3: program
1 – unknown
2 – ready
3 – executing
4 – stopped

Answer_4: operational
1 – unknown
2 – manual
3 – auto
4 – emergency

variable_read Par_1: “name” 0 – OK Answer_1: value
Par_2: type -1 - Failure
variable_write Par_1: “name” 0 – OK
Par_2: type -1 - Failure
Par_3: value
io_read Par_1: “name” 0 – OK Answer_1: value
Par_2: type -1 - Failure
io_write Par_1: “name” 0 – OK
Par_2: type -1 - Failure
Par_3: value
Note: if the server returns the error_code = -9999 that means that an illegal or non-
existent command was sent.