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SPEC Macro documentation:
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| hexapod850.mac | ||||||
| [ source code | installed at | configured at ] | ||||||
| See other macros in category: Positioning | ||||||
Description:
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Documentation:
The Physik Instrument Hexapod M850 is a hexapod controller with a serial line interface. The Physik Instrument Hexapod C887 is a hexapod controller with a serial line and socket interfaces. Both of them can be used with this set of macros. OVERVIEW These macros offer full functionality to this device if connected through a Serial Line device server ( VME ). It would be possible to modify the macros for a generic SPEC serial interface but then the polling routine has to be redesigned. If a movement is stop before the final position is reached the controller position register will always show the setpoint value ( and not the real one ). For security the hexapod is then marked as disabled. This state has to be manually reset. To get to a safe position you have to move the hexapode to any position different from the saved one. This is all done from the macro hexareset In normal operation we strongly recommend to include the lines hexasetup and the necessary hexamot lines in setup. EXAMPLE | ||||||
Macros:
Usage: hexa850 Opens a menu with full functionality to all hexapod functions hexa850setup Usage: hexa850setup [ device-name description ] Define the device used to talk to the PI controller. Could be a serial line TACO device server or an hostname over ethernet. hexa850reset Usage: hexa850reset Resets error flag after control-C hexa850on Usage: hexa850on Activates pseudo motors hexa850off Usage: hexa850off Deactivates pseudo motors hexa850show Usage: hexa850show Show current state of hexapod hexa850mot Usage: hexa850mot [ mnemonic type ] Defines a pseudo motor on hexapod Withous parametes will just show help on usage hexa850setrot Usage: hexa850setrot hexa850stop Usage: hexa850stop hexa850cmd Usage: hexa850cmd GCS_cmd args... Send GCS commands to controller and print answer for query comamnds (ended with "?"). For the binary GCS commands, use "#" character. For instance "#5" (do not forget the quotes) hexa850debug Usage: hexa850debug [on|off] hexa850unsetup Usage: hexa850unsetup remove cdefs of pi hexapod | ||||||
| Internal Macros: | ||||||
Usage: hexa850_showcmds() hexa850body Usage: hexa850body(mode) hexa850hwinit Usage: hexa850hwinit hexa850init Usage: hexa850init _hexa850on_cdef Usage: _hexa850on_cdef Activates pseudo motors _hexa850off_cdef Usage: _hexa850off_cdef Deactivates pseudo motors hexa850header Usage: hexa850header hexa850motorsmv Usage: hexa850motorsmv hexa850motorspoll Usage: hexa850motorspoll hexa850motorsget Usage: hexa850motorsget hexamot850add Usage: hexamot850add(mne,type) hexa850move Usage: hexa850move _hexa850wait Usage: _hexa850wait _hexa850move Usage: _hexa850move(newpos) _hexa850showpos Usage: _hexa850showpos _hexa850_put Usage: _hexa850_put (GCS_cmd) _hexa850_putget Usage: _hexa850_putget (GCS_cmd) _hexa850cmd Usage: _hexa850cmd (GCS_cmd) _hexa850clearerr Usage: _hexa850clearerr() The controller keeps in memory the last error, therefore it must be cleared to avoid mis-interpretation. _hexa850checkerr Usage: _hexa850checkerr() _hexa850poll Usage: _hexa850poll() Returns 0 if motor is moving, returns 1 otherwise _hexa850readpos Usage: _hexa850readpos _hexa850getrot Usage: _hexa850getrot _hexa850check Usage: _hexa850check(newpos) | ||||||
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