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t2mh.MAC
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Description:
    Macros for operating tables with 2 independent legs. Can be used for any 2 actuators device (ex : mirror) %PRE% This macro set allows you to define macros motors on tab2s. Angles are considered smalls and in miliradians. a tab2 controller in config (one controller will work on one pair of legs) MOTORS DEVICE ADDR <>MODE NUM <>TYPE YES tab2 2 Macro Motors motors in config referring to that controller. Channel assignment will decide on the motor role as follow: Channel 0 - theta angle 1 - offset The reference point for rotation and offset is defined via the 'lup' and 'ldown' properties. Different pairs of tab2s can be defined by using additional module numbers in the motor unit/module/channel assignment. Config file The following motor parameters have to be associated in config file to the channel 0 of the controller/module. Example: MOT000 = MAXE:0/0 [...] motup MOT001 = MAXE:0/1 [...] motdwn MOT006 = MAC_MOT:0/0/0 [....] tht MOTPAR:legup = motup MOTPAR:legdown = motdwn MOTPAR: lup = 30 MOTPAR: ldown = 50 MOTPAR: back_opp = 1 new new MOT007 = MAC_MOT:0/0/1 [....] offset Note: requested by ID26: 3/5/17 on the microjacks If back_opp is defined (with any value <>0), that means that legdown will reverse its config backlash value when a motion on tht is required. On all other motions, tht will keep its config backlash value %PRE%
Documentation:
    OVERVIEW
    global tab2_DEBUG ##################################################################### ########################### ########################### ########################### MACRO MOTOR ########################### ########################### ########################### #####################################################################

Macros:
    tab2
    Usage: tab2 <mne>
    Ask for infos on a tab2 set. Provide as argument one of the calc motors.

    tab2_debug
    Usage: tab2_debug
    Toggles the debug mode. if (!(whatis("__tab2_debug") & 2)) rdef __tab2_debug \'#$*\'

Internal Macros:
    tab2_config
    Usage: tab2_config (<mot_num>, <type>, <unit>, <module>, <chan>)
    calc macromotor: config

    tab2_calc
    Usage: tab2_calc (<mot_num>, <mode>, <master0>)
    calc macromotor: calc

    tab2_checkmove
    Usage: tab2_checkmove (master)
    To lock positions for calc. Provide as parameter a tab2 master (the one at channel 0).

Filename: t2mh.mac
Author: mcd july 2011
Last mod.: 10/08/2017 15:26 by domingue