esrf

Beamline Instrument Software Support
SPEC Macro documentation: [ Macro Index | BCU Home ]

PI_861.MAC
[ source code | installed at | configured at ]
See other macros in category: All
Description:
    PI_861.MAC - Macros to control the Physik Instrumente NEXACT Motor Controller E-861 alternatively in open- and closed-loop mode. %BR% $Revision: $
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
    When being used in open-loop operation, in the so-called "servo-off state". All movements are in steps, which, documentation 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.

    pi861_mode
    Usage: pi861_mode motor [open/close]
    changes the controller from open- to closed-loop mode and vice versa

Internal Macros:
    __pi861_io
    Usage: __pi861_io(sline, send)


    pi861_sim
    Usage: pi861_sim


    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_closed_loop.mac
Author: Holger (BLISS) for ID18.
Last mod.: 19/10/2009 12:15 by witsch