PARAMETERS

motor_par(mne, "reset")

Sends the RESET command. That command is needed after certain parameters are changed and recommended after certain other parameters are changed, as specified in the Aerotech documentation.

motor_par(mne, "commit")

Sends the COMMITPARAMETERS command, which saves current RAM parameter values to nonvolatile flash memory.

motor_par(mne, "pars" [, pattern])

With no argument, displays all the available parameters for motor mne, giving the parameter name and its value as read from the controller. If an argument is present, only parameters that have a description that matches the pattern are shown. The pattern search is case insensitive.

The pattern may contain the *, ? and [] metacharacters. A * matches any string, while a ? matches any single character. With the [...] pattern, any string that contains the characters within the square brackets is matched. Two characters separated by a hyphen specify a range of characters that will match. An initial ^ negates the enclosed character set.

In the list of parameters, those that require a RESET command when changed are shown with an asterisk (*) and those for which a RESET is recommended are shown with an at sign (@).

motor_par(mne, parname [, value])

Sets or retrieves one of the parameters from the list of available parameters, as displayed with the "pars" option. The parameter name is case insensitive.

Aerotech requires or recommends a RESET after particular parameters are modified. If new values are set for any of the parameters that require a reset, spec will send a RESET command before moving, reading or syncing any of the motors on the associated controller. Alternatively, the motor_par() "reset" command can be issued from the command line.

spec provides command pass through to send and receive all possible commands and responses from the Aerotech controllers.

motor_par(mne, "send", cmd)

Sends the string cmd to motor mne. If cmd contains the "%d" characters, the axis ID will be substituted. A terminating newline is added. Note, the Ensemble syntax requires an at sign, so use "@%d" to include the axis ID. Or the ID can be explicitly used, as in @2 for axis 2.

motor_par(mne, "read", cmd)

As above, but will return the controller's response.

motor_par(mne, "usend", cmd)

Sends the string cmd to the controller unit associated with motor mne adding a terminating newline. No axis ID is inserted.

motor_par(mne, "uread", cmd)

As above, but will return the controller's response.

NOTES

The network connection often drops. The spec code will attempt to reopen the connection automatically. Warning messages concerning the socket connection will be displayed if DEBUG bit 0x800 is set.

The controller does not return a response to the HOME command until the home search is completed. Normally, the controller sends an immediate response after every command. Thus in the case of a home search, it is impossible to read the position or status while the controller is doing the home search. To poll the controller, spec checks whether a message is available. One can type a w to wait until the search is completed.

The support assumes default values for the parameters CommandTerminatingCharacter (\n), CommandSuccessCharacter (%), CommandInvalidCharacter (!) and CommandFaultCharacter (#). Make sure these values are set via the Configuration Manager application provided by Aerotech.