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23 lines
1.0 KiB
Markdown
23 lines
1.0 KiB
Markdown
# Summary on communication commands for SGalilMotor
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## sgalil_y - vertical axis (samy)
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- Axis 2, C
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- in motion: "MG _BG{axis_char}", e.g. "MG _BGC" , 0 or 1
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- limit switch not pressed: "MG _LR{axis_char}, _LF{axis_char}" , 0 or 1
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- position: "MG _TP{axis_char}/mm" , position in mm
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- Axis referenced: "MG allaxref", 0 or 1
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- stop all axis: "XQ#STOP,1"
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- is motor on: "MG _MO{axis_char}", 0 or 1
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- is thread active: "MG _XQ{thread_id}", 0 or 1
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**Specific for sgalil_y**
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- set_motion_speed: "SP{axis_char}=2*mm", 2mm/s is max speed
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- set_final_pos: "PA{axis_char}={val:04f}*mm", target pos in mm
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- start motion: "BG{axis_char}", start motion
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## sgalil_y - horizontal axis (samx) - due to hardware modifications a bit more complicated
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- initiate with Axis 4, E
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**Specific for sgalil_x**
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- set_final_pos: "targ{axis_char}={val:04f}", e.g. "targE=2.0000"
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- start motion: "XQ#POSE,{axis_char}"
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- For *in motion* and *limit switch not pressed* commands,
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the key changes to AXIS 5 || F, e.g. "MG _BGF"
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- For *position* switch to Axis 0 || A, e.g. "MG _TPA/mm"
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