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| pi_e517.mac $Revision: 1.6 $ | ||||||
| [ source code | installed at | configured at ] | ||||||
| See other macros in category: All | ||||||
Description:
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Documentation:
This macro file allows to connect a piezo to a macro motor in SPEC. SETUP In order to configure a macro motor: | ||||||
Macros:
Usage: pi_e517debug [<personal msg>] Switch on or off the print of debug messages pi_e517_put Usage: pi_e517_put (<tcp_dev>, <cmd>) Sends <cmd> to a tcp device. Adds "\n" at end of <cmd> Uses tcp/ip device : <tcp_dev>. pi_e517_get Usage: pi_e517_get (<tcp_dev>) Reads and returns the socket. pi_e517_infos Usage: pi_e517_infos <mot_num> Prints out infos read from controller of motor <mot_num> pi_e517_get_parameters Usage: pi_e517_get_parameters (<mot_num>) Returns the list of all available parameters. pi_e517_get_parameter Usage: pi_e517_get_parameter (<mot_num>, <parma>) Returns the value of parameter <param> pi_e517_help Usage: pi_e517_help () pi_e517_get_model Usage: pi_e517_get_model (<tcp_dev>) Returns the *controller* model name (should be E-517) | ||||||
| Internal Macros: | ||||||
Usage: pi_e517_err <msg> Prints error message <msg> in bold with a red header. pi_e517_send Usage: pi_e517_send (<mot_num>, <cmd>) Sends <cmd> to the controller corresponding to motor <mot_num> and returns the answer. -<mot_num> : motor number -<cmd> : string pi_e517_send_no_ans Usage: pi_e517_send_no_ans (<mot_num>, <cmd>) Sends <cmd> to the controller corresponding to motor <mot_num> without wating for an answer. -<mot_num> : motor number -<cmd> : string Returns 0 in case of success. Returns -1 in case of error. pi_e517_get_tcp_dev_by_mot Usage: pi_e517_get_tcp_dev_by_mot (<mot_num>) Returns the ip address/name of the controller corresponding to motor <mot_num> Returns -1 in case of error. pi_e517_get_chan_letter Usage: pi_e517_get_chan_letter (<mot_num>) Returns the channel letter of axis of motor <mot_num>. Returns -1 in case of failure. pi_e517_get_chan_nb Usage: pi_e517_get_chan_nb (<mot_num>) Returns the channel NUMBER of axis of motor <mot_num>. Returns -1 in case of failure. pi_e517_get_read_pos Usage: pi_e517_get_read_pos (<mot_num>) Read the position from the controller axis corresponding to motor <mot_num> using command "POS? <N>" Returns the position read. Returns "ERROR" in case of error. pi_e517_get_pos Usage: pi_e517_get_pos (<mot_num>) Read the target position from the controller axis corresponding to motor <mot_num> using command "MOV? <N>" Returns the target position read. Returns "ERROR" in case of error. pi_e517_set_pos Usage: pi_e517_set_pos (<mot_num>, <position>) Sends to controller of axis corresponding to <mot_num> a move to <position> command. Sends "MOV A/B/C <position>" cannot do MOV in open loop : must use voltage. Returns -1 in case of error. pi_e517_get_voltage Usage: pi_e517_get_voltage (<mot_num>) Read the voltage from the controller axis corresponding to motor <mot_num> using command "? <N>" Returns the voltage read. Returns "ERROR" in case of error. pi_e517_get_closed_loop_status Usage: pi_e517_get_closed_loop_status(mot_num) pi_e517_get_status Usage: pi_e517_get_status (<mot_num>) Returns the individual "on-target status" of axis corresponding to motor <mot_num> Uses "ONT?" command ONT? return 1 if device is on-target Usable only in closed-loop ie if SVO? returns 1. Returns 0 if not on target and closed-loop active. Returns 1 if on target or closed-loop is disabled. pi_e517_stop Usage: pi_e517_stop (mot_num) Sends to controller of motor <mot_num> a stop command. Sends "STP" is it better to use HLT ? HLT -> stop smoothly. STP / 24 -> stop asap. !!! on a HLT or STP, the PI controller updates the target !!! position using real position... pi_e517_get_tolerances Usage: pi_e517_get_tolerances pi_e517_set_offline Usage: pi_e517_set_offline(mot_mne) pi_e517_set_online Usage: pi_e517_set_online(mot_mne) pi_e517_check_ctrl Usage: pi_e517_check_ctrl(mot_num) Checks if controller is responding sending it "IDN?". Returns 1 if controller is responding. Returns 0 if controller is NOT responding. Returns -1 in case of error. pi_e517_getch Usage: pi_e517_getch(ch) Converts channel from digit to single char. 1 -> "A" 2 -> "B" 3 -> "C" pi_e517_config Usage: pi_e517_config(mot_num, type, p1, p2, p3) Called by spec after reading the config file pi_e517_par Usage: pi_e517_par(mot_num, key, todo, p1) Called by spec on motor operation. p1 = ? pi_e517_cmd Usage: pi_e517_cmd(mot_num, key, p1, p2) MACRO MOTOR: Called by spec on motor operation. pi_e517_c_config Usage: pi_e517_c_config(count_num, type, p1, p2, p3) Called by spec after reading the config file pi_e517_c_cmd Usage: pi_e517_c_cmd(count_num,key,p1,p2) Called by spec on counter operation. pi_e517_v_config Usage: pi_e517_v_config(count_num, type, p1, p2, p3) Called by spec after reading the config file pi_e517_v_cmd Usage: pi_e517_v_cmd(count_num,key,p1,p2) Called by spec on counter operation. | ||||||
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