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PI_861.MAC | ||||||
[ source code | installed at | configured at ] | ||||||
See other macros in category: All | ||||||
Description:
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Documentation:
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:
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: | ||||||
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. | ||||||
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