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Tango Server for controlling Hexapods from Physik Instrument:
The Server uses three classes: HexapodCtrl (Socket interface), HexapodConfig (with attributes for all axis), HexapodMotor (for controlling every single axis).
The code of the HexapodMotor class includes the HexapodCtrl and HexapodConfig classes. These two classes are used to generate the corresponding libraries (libHexapodCtrl.a and libHexapodConfig.a).
The use of one or another command syntax is set in the property GCSVersion of the HexapodConfig and HexapodMotor, the default value is 1, corresponding to the version 1.0. The value 2 has to be set for using the GCS version 2.0.
The M-850 and M-840 hexapods, can have two piezos (treatead as additional axes, named H and M) additional to the 6 ones (X, Y, Z, U, V, Z). The Server also controls submodules only with the 2 piezos (axes X and Z). This has to be given in a property of the motor class, since the commands are different. If the Hexapod controls the 2 piezos submodule, the class HexapodConfig has not sense and it can not be used.