Manual

Error Codes
If the Kangaroo is unable to respond appropriately to a readback command, it will respond with an error
code instead of the usual return. Error codes begin with either an uppercase or a lowercase letter e.
Error Code
Result
Example
E1
Not started. The channel has not been
started, or the Kangaroo has lost power during
operation
1,getpi
\r\n
might return
1,E1
E2
Not homed. The channel has been started
successfully, but has not homed in a mode
that requires homing, so absolute commands
are not meaningful
2,getp
\r\n
might return
2,E2
e2
Homing in progress. The home command for
this axis has been sent, but has not completed
yet.
2,getp
\r\n
might return
2,e2
E3
Control error, channel disabled. Check to
make sure your feedback sources are working
and the system matches how it was set up
during the tune.
2,getp
\r\n
might return
2,E3
E4
System is in the wrong mode. You must tune
again to use this mode.
2,gets
\r\n
might return
2,E4
E5
Readback Command not recognized. The
kangaroo is unable to understand this
command.
2,getmeasandwich
\r\n
will return
2,E5
E6
Signal lost. The Kangaroo lost communication
with the PC or microcontroller since the last
command.
2,getp
\r\n
might return
2,E6
Note:
\r\n
is not visible in a terminal program, but must be included when using a function such as scanf
to designate the end of the message
Packet Serial
With packet serial input, a 0-3V or 0-5v binary serial signal with robust checksum is used to command
position, velocity or combined moves, report the current position or velocity, set up and execute tuning
and change units and parameters. This is used with microcontrollers, PCs or PLCs for position or velocity
control tasks. Open-source libraries for Arduino and PC are available. For serial input, set DIP switch 1 to
ON. The packet serial protocol is described fully in a separate document.