Beamline Instrument Software Support |
|
SPEC Macro documentation:
[ Macro Index |
BCU Home ]
|
HEXAPODSM.MAC | ||||||
[ source code | installed at | configured at ] | ||||||
See other macros in category: All | ||||||
Description:
| ||||||
Documentation:
This macro set allows you to define macro motors for each hexapod virtual axis. Translation axis are in mm and rotations in degree First, declare an hexapod controller in config. The ADDR field must be set to the network hostname of the SMARACT MCS controller: MOTORS DEVICE ADDR <>MODE NUM <>TYPE YES hexasm smhexid06 6 Macro Motors Configure then motors in config referring to that controller. Channel assignment will decide on the motor role as follow: Channel 0 - X 1 - Y 2 - Z 3 - RotX 4 - RotY 5 - RotZ | ||||||
Macros:
Usage: hexasm [hexapod-number] Opens an interactive menu for hexapod control hexasmmenu Usage: hexasmmenu [hexapod-number] Same as "hexasm" and just for users used to standard hexapod macros hexasmshow Usage: hexasmshow [hexapod-number] Does a full reset on one hexapod hexasmdump Usage: hexasmdump [hexapod-number] Dump hexapod controller internal informations hexasmhwinit Usage: hexasmhwinit [hexapod-number] Does a full reset on one hexapod hexasmpivot Usage: hexasmpivot [hexapod-number] Set a new pivot point | ||||||
Internal Macros: | ||||||
Usage: hexasm_config (mne, type, unit, module, channel) Macro motor implementation hexasm_cmd Usage: hexasm_cmd (mne, cmd, p1, p2) Macro motor implementation _hexasm_preread_all Usage: _hexasm_preread_all (dev) Macro motor implementation _hexasmselect Usage: _hexasmselect() Utility macro to select which hexapod to use if several ones have been configured. _hexasm_putget Usage: _hexasm_putget (dev, cmd) Returns string ".error.xxxxx." in case of timeout or command failure. _hexasm_put Usage: _hexasm_put (dev, cmd) Returns string ".error.xxxxx." in case of timeout or command failure. _hexasm_err Usage: _hexasm_err (dev, cmd) Cosmetics macro | ||||||
|