Below is a sample telnet session which shows the API controller responses to several commands. The user first logs in and types the stat command. Notice that the command appears twice because both the telnet program and the controller echo what has been typed. Note also that the controller command language is not case sensitive.

Three verify commands are typed to display the bit values of I1 and I2, the API input bits, and of O1, the output bits.

The set and reset commands are used to change the state of output bit 1.

Lastly, CTRL-] (the control key and the right bracket key pressed simultaneously) is used to leave the session and get the TELNET prompt. Then the quit command is used to exit telnet. Note that if you logged into a remote computer first, then used TELNET to log in to a controller, the CTRL-] and quit will log you completely out of the first session throwing you back into the shell on lrisserver.

Sample Session

lrisserver{lrisdev}61: telnet tsblue 3015
Trying 192.9.200.29...
Connected to tsblue.
Escape character is '^]'.

0>
stat
stat
 E - ENCODER POSITION      = 0          ER - ENCODER RESOLUTION    = 4000
 P - POSITION              = 1027603    MR - MOTOR RESOLUTION      = 5000
UP - USER POSITION         = 1027603    UR - USER RESOLUTION       = 5000
 A - ACCELERATION TIME(ms) = 1000        D - DECELERATION TIME(ms) = 1000
 B - BASE SPEED            = 500         H - MAXIMUM SPEED LIMIT   = 20000
 M - MAXIMUM SLEW SPEED    = 20000       J - JOG SPEED             = 50
 N - LAST INDEX DISTANCE   = 50000      RD - USER RAMP DATA FILE # = -1
PE - MAX. POSITION ERR.(E) = 400        ME - CURRENT MOTOR ERR.(M) = 0
DW - DEADBAND WINDOW (E)   = 10         CG - POSITION CORRECT GAIN = 100
CV - MAX CORRECT VELOCITY  = 1000       EF - ENCODER FUNCTIONS     = 00000000
SP - STALL DET. PROGRAM#   = -1         UA - UNITS ACT(0=M,1=E,2=U)= 0
I1 - STATES, INPUT SET 1   = 00111110   ID1- INPUT DEFINITION 1    = 11111111
I2 - STATES, INPUT SET 2   = 11100111   ID2- INPUT DEFINITION 2    = 11111111
O1 - STATES, OUTPUT SET 1  = 10000000   OD1- OUTPUT DEFINITION 1   = 11111111
JP - JOG PLUS INPUT #      = 0          JM - JOG MINUS INPUT #     = 0
SI - STOP INPUT #          = 0          HI - HOLD INPUT #          = 0
LA - LIMIT ACTION SETTINGS = 10000000   OF - OTHER FUNCT. ENABLES  = 00000001
 F - FREE SPACE            = 22524       G - AUTOSTART PROGRAM #   = -1
 Q - POWER UP TIME  (10ms) = 10          R - LOW POWER TIME (10ms) = 0
 S - NO POWER TIME  (10ms) = 100         U - UNIT DESIGNATION      = 0
 W - CURRENT PROGRAM #     = 0           X - INSTRUCTION ADDR      = 0
 Y - LOOP COUNTER          = 0           Z - CURRENT LINE NUMBER   = 0
 T - LINES TO DISPLAY      = 25         SC - SCREEN WIDTH          = 80
0>


0> 
ver i2
ver i2
0 "I2 = 11100111"
0> 


0> 
ver i1
ver i1
0 "I1 = 00111110"
0> 


0> 
reset 1
reset 1
0> 
ver o1
ver o1
0 "O1 = 00000000"
0> 
set 1
set 1
0> 
ver o1
ver o1
0 "O1 = 10000000"
0> 
^]
telnet> quit