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74
In the last figure, you can clearly see why you must update the transformation chain cyclically with
GET;POSE, as the TCP experiences a displacement when contact is made with a component.
The blue line represents the undeflected SFE, the red line shows the displacement.
7.2
Handling
7.2.1
Initial temperature compensation when starting up and after each restart
Before using the SFE for the first time and after each restart, a locking procedure should be carried
out using SET;MOT_LOCK_STATE;LOCK before working with the device. During this kind of locking
procedure, the temperature compensation, activated by default, is carried out, which allows the
greater temperature-related position deviations which occur due to the temperature dependency of the
sensors to be avoided.
7.2.2
Handling errors
In principle, there are two scenarios in which an error may occur:
Error category 1: Error when executing a command, e.g. if the command has been entered
incorrectly or cannot be executed correctly. The response value then contains an indication of an
error, e.g. GET;MOT_LOCK_STATE;ERROR.
The following table lists general errors which may occur in principle when executing each command:
Error class
ERROR;UNKNOWN_CMD
ERROR;WRONG_MODE
ERROR;WRONG;CRC
ERROR;STORAGE_PROTECTIO N
ERROR;SYNTAX
ERROR;INVALID_PARAMETER
Errors also exist which are unique to each command. They then only occur if, for example, a
parameter in a specific case is invalid (e.g. SET;BAUD;100 → SET;BAUD;ERROR). In the example
stated here, the command form is correct "SET;BAUD;UINT32", but a baud rate of 100 baud cannot
be set.
en
Range of functions
Description
• Command class or command does not exist
• No permission for the command
o
Calibration mode
Digital mode
o
• The checksum sent in the request is incorrect
• Protection of the EEprom due to too frequent
writing
• The number of transmitted parameters does
not match the command definition
• Error in the command syntax
• Parameters outside of the range (e.g.
UINT8=256)
• Example: SET;BAUD;4294967296
(command form not correct, as there is an
overflow of UINT32)
7
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