Remote Commands¶

1. Overview¶

Remote Commands (RCMD) allow the host to control equipment operations. Commands are sent via S2F41 and acknowledged via S2F42.

2. Command Execution Requirements¶

2.1 Prerequisites¶

For remote commands to be accepted: - Equipment must be in ON-LINE REMOTE control state - Equipment must be in appropriate processing state - No safety interlocks active

2.2 Command Rejection¶

Commands are rejected (HCACK ≠ 0) if: - Equipment is in ON-LINE LOCAL or OFF-LINE state - Equipment is not in valid processing state for the command - Invalid command name or parameters - Safety or interlock violation

3. Remote Command Definitions¶

3.1 Process Control Commands¶

RCMD	Description	Valid States	Parameters
START	Start processing	IDLE	RecipeID (optional)
STOP	Stop at safe point	EXECUTING	None
ABORT	Immediate abort	EXECUTING, PAUSED, SETTING UP	None
PAUSE	Pause processing	EXECUTING	None
RESUME	Resume from pause	PAUSED	None

3.2 Recipe Commands¶

RCMD	Description	Valid States	Parameters
PP_SELECT	Select process program	IDLE	RecipeID
PP_CLEAR	Clear selected recipe	IDLE	None

3.3 Equipment Commands¶

RCMD	Description	Valid States	Parameters
INIT	Initialize equipment	Any	None
RESET	Reset equipment	Any	None
HOME	Home all axes	IDLE	None

3.4 Custom Commands¶

RCMD	Description	Valid States	Parameters
`[CMD1]`	`[Description]`	`[States]`	`[Params]`
`[CMD2]`	`[Description]`	`[States]`	`[Params]`

4. Command Parameters¶

4.1 START Command Parameters¶

CPNAME	Type	Required	Description
RecipeID	A	No	Recipe to execute (uses current if not specified)
LotID	A	No	Lot identifier for tracking
`[CustomParam]`	`[Type]`	`[Yes/No]`	`[Description]`

4.2 PP_SELECT Command Parameters¶

CPNAME	Type	Required	Description
RecipeID	A	Yes	Recipe identifier to select

5.1 S2F41 - Host Command Send¶

Structure:

S2F41 W
<L[2]
  <RCMD>              // Remote command name
  <L[n]               // Command parameters
    <L[2]
      <CPNAME>        // Parameter name
      <CPVAL>         // Parameter value
    >
    ...
  >
>

5.2 S2F42 - Host Command Acknowledge¶

Structure:

S2F42
<L[2]
  <HCACK>             // Command acknowledge code
  <L[n]               // Parameter acknowledge (per parameter)
    <L[2]
      <CPNAME>
      <CPACK>         // Parameter acknowledge code
    >
    ...
  >
>

6. Response Codes¶

6.1 HCACK - Host Command Acknowledge¶

Value	Description
0	Acknowledge, command accepted
1	Denied, invalid command
2	Denied, cannot perform now
3	Denied, parameter error
4	Acknowledge, command will be executed later
5	Rejected, already in desired state
6	Denied, no such object

6.2 CPACK - Command Parameter Acknowledge¶

Value	Description
1	Parameter name invalid
2	CPVAL illegal value
3	CPVAL out of range

7. Command Execution Sequences¶

7.1 START Command¶

sequenceDiagram participant Host participant Equipment Note over Equipment: State: IDLE Host->>Equipment: S2F41 (RCMD="START", RecipeID="RECIPE001") Equipment-->>Host: S2F42 (HCACK=0) Note over Equipment: State: SETTING UP Equipment->>Host: S6F11 (ProcessStateChange) Host-->>Equipment: S6F12 Note over Equipment: State: EXECUTING Equipment->>Host: S6F11 (ProcessStarted) Host-->>Equipment: S6F12

7.2 PAUSE and RESUME¶

sequenceDiagram participant Host participant Equipment Note over Equipment: State: EXECUTING Host->>Equipment: S2F41 (RCMD="PAUSE") Equipment-->>Host: S2F42 (HCACK=0) Note over Equipment: State: PAUSED Equipment->>Host: S6F11 (ProcessPaused) Host-->>Equipment: S6F12 Host->>Equipment: S2F41 (RCMD="RESUME") Equipment-->>Host: S2F42 (HCACK=0) Note over Equipment: State: EXECUTING Equipment->>Host: S6F11 (ProcessResumed) Host-->>Equipment: S6F12

7.3 ABORT Command¶

sequenceDiagram participant Host participant Equipment Note over Equipment: State: EXECUTING Host->>Equipment: S2F41 (RCMD="ABORT") Equipment-->>Host: S2F42 (HCACK=0) Note over Equipment: State: ABORTING Equipment->>Host: S6F11 (ProcessStateChange) Host-->>Equipment: S6F12 Note over Equipment: Abort complete Note over Equipment: State: IDLE Equipment->>Host: S6F11 (ProcessAborted) Host-->>Equipment: S6F12

7.4 Command Rejected¶

sequenceDiagram participant Host participant Equipment Note over Equipment: State: EXECUTING (cannot START) Host->>Equipment: S2F41 (RCMD="START") Equipment-->>Host: S2F42 (HCACK=2, Cannot perform now) Note over Equipment: No state change

8. Command State Matrix¶

RCMD	IDLE	SETTING UP	READY	EXECUTING	PAUSED	ABORTING
START	✓	-	-	-	-	-
STOP	-	-	-	✓	-	-
ABORT	-	✓	✓	✓	✓	-
PAUSE	-	-	-	✓	-	-
RESUME	-	-	-	-	✓	-
PP_SELECT	✓	-	-	-	-	-
INIT	✓	✓	✓	✓	✓	✓
RESET	✓	-	-	-	-	-

✓ = Command accepted, - = Command rejected (HCACK=2)

CEID	Name	Description
`[6001]`	RemoteCommandReceived	Remote command received from host
`[6002]`	RemoteCommandCompleted	Remote command execution completed
`[6003]`	RemoteCommandFailed	Remote command execution failed

10. Implementation Notes¶

10.1 Command Queuing¶

Commands are not queued by default
If a command cannot be executed immediately, it is rejected (HCACK=2)
Exception: HCACK=4 indicates command will be executed later

10.2 Asynchronous Execution¶

S2F42 acknowledges command receipt, not completion
Command completion is indicated via Collection Events
Host should monitor events for command status

10.3 Command Timeout¶

Command	Typical Timeout	Notes
START	30 sec	Until EXECUTING state
STOP	60 sec	Until IDLE state
ABORT	10 sec	Until IDLE state
PAUSE	30 sec	Until PAUSED state