SRV image processing sensor

The SRV image processing sensor can receive commands in Motion Protocol format via its serial RS- 232 interface. On the one hand, only a limited selection of Motion Protocol commands are available, while on the other hand a small number of commands are available exclusively for the SRV.

The SRV understand the following ,,Standard'' commands:

• ,,CHECK PC MC COMMUNICATION''
• ,,CHECK MC PC COMMUNICATION''
• ,,GET CONFIG'':
  • Identification (inquiry without parameters)
  • Module ID
  • Group ID
  • RS232 baud rate
  • Communication interface
  • Unit system
    • Integer: Micrometers (for lengths) or milli-degrees (for angles)
    • Float: Millimeters (for lengths) or degrees (for angles)
• ,,SET CONFIG''
  • Module ID
  • Group ID
  • RS232 baud rate
  • Unit system
    • Integer: Micrometers (for lengths) or milli-degrees (for angles)
    • Float: Millimeters (for lengths) or degrees (for angles)
• ,,CMD DIO''
• ,,TOGGLE IMPULSE MESSAGE''
• ,,GET STATE''
  • Status: currently the only information transmitted in Bit 2 is whether the PC application "SRV-GUI'' is connected with the SRV sensor via USB. This is important, because no program change can be initiated via the SCHUNK protocol via RS232 for as long as the connection to the SRV-GUI remains in effect. Error messages are not transmitted.
  • Switching regular messages on and off.
• ,,CMD INFO''

The SRV also understands the following specific commands:

• ,,CAMAT CHANGE PROGRAM''
• ,,CAMAT SETTINGS CHANGED'' (Only as Slave (SRV) -> Master response)
• ,,CAMAT RES MEASUREMENT BLOCK'' (Only as Slave (SRV) -> Master response)
• ,,CAMAT TRIGGER''

The upper 3 commands are available only for the SRV, but not for other modules such as gripping or swiveling units.