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Beamline Instrument Software Support
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PI_861.MAC
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Description:
    PI_861.MAC - Macros to control the Physik Instrumente NEXACT Motor Controller E-861. %BR% $Revision: 1.2 $
Documentation:
    DESCRIPTION
    To define a macro motor controller you must define a pi861 controller in config, ADDR is the serial line index number defined in spec:    MOTORS       DEVICE    ADDR   <>MODE      NUM               <>TYPE       YES       pi861     4                   1         Macro Motors Then declare a motor with that controller.

    SETUP
    The default serial line speed is 38.4 kB.

    ATTENTION
    The present controller used for development didn`t have an encoder. Thus it is being used in open-loop operation, in the so-called "servo-off state". All movements arein steps, whichdocumentation says are about 10 micro-meters, depending on the load!

    DEPENDENCIES
    stlocal.mac, pseudo.mac

    BUGS
    Bugs ? What bugs ??

Macros:
    pi861_debug
    Usage: pi861_debug
    toggle debug mode for the present macros.

Internal Macros:
    __pi861_put
    Usage: __pi861_put(sline, send)


    __pi861_get
    Usage: __pi861_get(sline)


    __pi861_io
    Usage: __pi861_io(sline, send)


    pi861_config
    Usage: pi861_config(mne, type, unit, module, channel)


    pi861_par
    Usage: pi861_par(mne, cmd, p1, p2)


    pi861_cmd
    Usage: pi861_cmd(mne, cmd, p1, p2)


    __pi861_version
    Usage: __pi861_version()
    Returns identification message from the controller.

    __pi861_geterr
    Usage: __pi861_geterr(sline)
    Returns identification message from the controller.

Filename: pi_861.mac
Author: Holger (BLISS) for ID18.
Last mod.: 11/12/2009 11:26 by witsch