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Beamline Instrument Software Support
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HEXAPODSM.MAC
See other macros in category: All
Description:
    Macros to control SMARACT piezo hexapod from Spec.
Documentation:
    DESCRIPTION
    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:
    hexasm
    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:
    hexasm_config
    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

Filename: hexapodsm.mac
Author: MP / BLISS / (Original May2017)
$Revision: 1.2 $ / $Date: 2017/05/12 10:53:18 $
Last mod.: 12/05/2017 12:53 by perez