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Beamline Instrument Software Support |
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| HEXAPODE_TANGO.MAC | ||||||
| [ source code | installed at | configured at ] | ||||||
| See other macros in category: All | ||||||
Description:
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Documentation:
This macro set allows you to macro motors hexapode that will be driven using the conda tango device server.
To define macro motors you must define:
an hexapod controller in config:
MOTORS DEVICE ADDR <>MODE NUM <>TYPE
YES hexa id28/hexapode/01 6 Macro Motors
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 - RotZ
4 - RotY
5 - RotX
Caution : take care not to swap RotZ and RotX...
for the time being motors defined on arbitrary translations/rotations
can only be defined as old-style pseudo motors with old taco server.
EXAMPLE
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Macros:
Usage: hexamenu Tool for hexapode calibration hexashow Usage: hexashow [ hexapode-number ] Macro to visualize state/position/lengths of hexapode hexastop Usage: hexastop hexareset Usage: hexareset [ hexapode-number ] Does a soft reset on one hexapode hexasim Usage: hexasim [ hexapode-number ] Set operation mode to SIMULATION hexahard Usage: hexahard [hexapode-number] Does a full reset on one hexapode hexacalc Usage: hexacalc Enters a loop to prompt for positions to check No motion is done with this macro | ||||||
| Internal Macros: | ||||||
Usage: hexa_config (mne, type, unit, module, channel) Macro motor implementation hexainit Usage: hexainit hexa_cmd Usage: hexa_cmd (mne, cmd, p1, p2) Macro motor implementation hexaselect Usage: hexaselect() Utility macro for other macros hexa_showcmds Usage: hexa_showcmds() _hexadesc Usage: _hexadesc(hxn) _hexalength Usage: _hexalength(hxn) _hexapos Usage: _hexapos(hxn) | ||||||
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