ophyd_devices/ophyd_devices/galil/readme.md

Summary on communication commands for SGalilMotor

sgalil_y - vertical axis (samy)

• Axis 2, C
• in motion: "MG _BG{axis_char}", e.g. "MG _BGC" , 0 or 1
• limit switch not pressed: "MG _LR{axis_char}, _LF{axis_char}" , 0 or 1
• position: "MG _TP{axis_char}/mm" , position in mm
• Axis referenced: "MG allaxref", 0 or 1
• stop all axis: "XQ#STOP,1"
• is motor on: "MG _MO{axis_char}", 0 or 1
• is thread active: "MG _XQ{thread_id}", 0 or 1 Specific for sgalil_y
• set_motion_speed: "SP{axis_char}=2*mm", 2mm/s is max speed
• set_final_pos: "PA{axis_char}={val:04f}*mm", target pos in mm
• start motion: "BG{axis_char}", start motion

sgalil_y - horizontal axis (samx) - due to hardware modifications a bit more complicated

• initiate with Axis 4, E Specific for sgalil_x
• set_final_pos: "targ{axis_char}={val:04f}", e.g. "targE=2.0000"
• start motion: "XQ#POSE,{axis_char}"
• For in motion and limit switch not pressed commands, the key changes to AXIS 5 || F, e.g. "MG _BGF"
• For position switch to Axis 0 || A, e.g. "MG _TPA/mm"