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| State | DEV_VOID | DEV_STATE | OPERATOR | This command gets the device state (stored in its device_state data member) and returns it to the caller. |
| Status | DEV_VOID | CONST_DEV_STRING | OPERATOR | This command gets the device status (stored in its device_status data member) and returns it to the caller. |
| AxisState | DEV_ULONG | DEV_USHORT | OPERATOR | Returns 16-bit value describing channel state: 0 SA_CTL_CH_STATE_BIT_ACTIVELY_MOVING 0x0001 1 SA_CTL_CH_STATE_BIT_CLOSED_LOOP_ACTIVE 0x0002 2 SA_CTL_CH_STATE_BIT_CALIBRATING 0x0004 3 SA_CTL_CH_STATE_BIT_REFERENCING 0x0008 4 SA_CTL_CH_STATE_BIT_MOVE_DELAYED 0x0010 5 SA_CTL_CH_STATE_BIT_SENSOR_PRESENT 0x0020 6 SA_CTL_CH_STATE_BIT_IS_CALIBRATED 0x0040 7 SA_CTL_CH_STATE_BIT_IS_REFERENCED 0x0080 8 SA_CTL_CH_STATE_BIT_END_STOP_REACHED 0x0100 9 SA_CTL_CH_STATE_BIT_RANGE_LIMIT_REACHED 0x0200 10 SA_CTL_CH_STATE_BIT_FOLLOWING_LIMIT_REACHED 0x0400 11 SA_CTL_CH_STATE_BIT_MOVEMENT_FAILED 0x0800 12 SA_CTL_CH_STATE_BIT_IS_STREAMING 0x1000 14 SA_CTL_CH_STATE_BIT_OVER_TEMPERATURE 0x4000 15 SA_CTL_CH_STATE_BIT_REFERENCE_MARK 0x8000 |
| GetPosition | DEV_ULONG | DEV_LONG64 | OPERATOR | returns current position in encoder steps |
| SetMoveMode | DEVVAR_LONGARRAY | DEV_VOID | OPERATOR | set move mode 0 : closed loop absolute 1 : closed loop relative 2 : scan mode absolute 3 : scan mode relative 4 : step mode |
| GetMoveMode | DEV_ULONG | DEV_LONG | OPERATOR | get move mode 0 : closed loop absolute 1 : closed loop relative 2 : scan mode absolute 3 : scan mode relative 4 : step mode |
| GetStepAmplitude | DEV_ULONG | DEV_LONG | OPERATOR | Gets step amplitude for open-loop movements. Value range: 1 - 65535 65535 corresponds to 100V |
| SetStepAmplitude | DEVVAR_LONGARRAY | DEV_VOID | OPERATOR | Sets step amplitude for open-loop movements. Value range: 1 - 65535 65535 corresponds to 100V |
| GetStepFrequency | DEV_ULONG | DEV_LONG | OPERATOR | Gets step frequency for open-loop movements. Value range: 1 - 20000 Hz |
| SetStepFrequency | DEVVAR_LONGARRAY | DEV_VOID | OPERATOR | Sets step frequency for open-loop movements. Value range: 1 - 20000 Hz |
| SetPosition | DEVVAR_LONG64ARRAY | DEV_VOID | OPERATOR | moves axis the effect of writing a position value depends on the set move mode |
| SetAutoZero | DEVVAR_ULONGARRAY | DEV_VOID | OPERATOR | sets auto zero property |
| GetAutoZero | DEV_ULONG | DEV_BOOLEAN | OPERATOR | gets auto zero property |
| GetVelocity | DEV_ULONG | DEV_LONG64 | OPERATOR | Gets closed loop velocity. |
| SetVelocity | DEVVAR_LONG64ARRAY | DEV_VOID | OPERATOR | Sets closed loop velocity Value range: 0 - 100000000000 |
| GetHoldTime | DEV_ULONG | DEV_ULONG | OPERATOR | Gets hold time for closed -loop movements. |
| SetHoldTime | DEVVAR_ULONGARRAY | DEV_VOID | OPERATOR | Sets hold time (time in ms the position is actively held after reaching the target posi-tion) for closed-loop movements. Value range: 0 - 4294967295 (0 disables holding, max value is for infinite, i.e. hold until motor is stopped) |
| GetPositionKnown | DEV_ULONG | DEV_BOOLEAN | OPERATOR | Finds out whether the physical position of this axis is known. If false and the motor has an encoder with reference mark, run command `Home`. |
| GetAxisType | DEV_ULONG | DEV_ULONG | OPERATOR | None. |
| GetMaxFrequency | DEV_ULONG | DEV_LONG | OPERATOR | Gets maximumfrequency for closed-loop movements. |
| SetMaxFrequency | DEVVAR_LONGARRAY | DEV_VOID | OPERATOR | Sets maximum frequency for closed-loop movements. Value range: 50 - 20000 Hz |
| GetSensorType | DEV_ULONG | DEV_ULONG | OPERATOR | Get sensor type number, check with hardware doc |
| GetMaxStepLimit | DEV_ULONG | DEV_LONG64 | OPERATOR | None. |
| GetMinStepLimit | DEV_ULONG | DEV_LONG64 | OPERATOR | None. |
| SetMaxStepLimit | DEVVAR_LONG64ARRAY | DEV_VOID | OPERATOR | None. |
| SetMinStepLimit | DEVVAR_LONG64ARRAY | DEV_VOID | OPERATOR | None. |
| Calibrate | DEV_ULONG | DEV_VOID | OPERATOR | Perform calibration for channnel if setup was changed (e.g. new / different positioner connected). Requires encoded positioner, encoder has to be enabled. |
| SetCalibrationOptions | DEVVAR_ULONGARRAY | DEV_VOID | OPERATOR | Set calibration option (used with Calibrate command) bit 0: Direction bit 1: Detect Distance Code Inversion bit 2: Advanced Sensor Correction bit 8: Limited Travel Range all other bits are reserved |
| GetCalibrationOptions | DEV_ULONG | DEV_ULONG | OPERATOR | Get calibration option (used with Calibrate command) bit 0: Direction bit 1: Detect Distance Code Inversion bit 2: Advanced Sensor Correction bit 8: Limited Travel Range all other bits are reserved |
| HoldPosition | DEV_ULONG | DEV_VOID | OPERATOR | Enables holding the current position by setting the move mode to closed loop relative movement and then driving by 0 encoder steps. (c.f. programmer manual, 2.6.4) |
| Stop | DEV_ULONG | DEV_VOID | OPERATOR | Stop movement on axis |
| SetSensorMode | DEVVAR_LONGARRAY | DEV_VOID | OPERATOR | None. |
| GetSensorMode | DEV_ULONG | DEV_LONG | OPERATOR | None. |
| GetAcceleration | DEV_ULONG | DEV_LONG64 | OPERATOR | Gets closed loop acceleration |
| SetAcceleration | DEVVAR_LONG64ARRAY | DEV_VOID | OPERATOR | Sets closed loop acceleration |
| GetActuatorMode | DEV_ULONG | DEV_LONG | OPERATOR | Gets currently set actuator mode |
| SetActuatorMode | DEVVAR_LONGARRAY | DEV_VOID | OPERATOR | None. |
| Home | DEV_ULONG | DEV_VOID | OPERATOR | None. |
| GetFollowingErrorLimit | DEV_ULONG | DEV_LONG64 | OPERATOR | Gets currently set following error limit |
| SetFollowingErrorLimit | DEVVAR_LONG64ARRAY | DEV_VOID | OPERATOR | Sets following error limit Value range: 0 - 100000000000000 |
| StartStreaming | DEV_VOID | DEV_VOID | OPERATOR | Start trajectory streaming. Make sure attribute TrajectoryData has been written before calling this. Smaract commands: SA_CTL_OpenStream/SA_CTL_StreamFrame/SA_CTL_CloseStream |
| SetSearchDirection | DEVVAR_ULONGARRAY | DEV_VOID | OPERATOR | sets search direction property |
| GetSearchDirection | DEV_ULONG | DEV_BOOLEAN | OPERATOR | gets search direction property |
| GetSensorName | DEV_ULONG | DEV_STRING | OPERATOR | Get description of sensor type number, check with hardware doc |
| GetSensorReferenceType | DEV_ULONG | DEV_ULONG | OPERATOR | Get sensor reference mark type: no reference mark: 0 end stop: 1 single mark: 2 distance coded: 3 |
| SetConversion | DEVVAR_DOUBLEARRAY | DEV_VOID | OPERATOR | Internal use only |
| AbortStreaming | DEV_VOID | DEV_VOID | OPERATOR | Immediately abort trajectory streaming. Smaract command: SA_CTL_AbortStream |
| SetSensorType | DEVVAR_ULONGARRAY | DEV_VOID | OPERATOR | Sets sensort type code (use with care!) |
| SetOffset | DEVVAR_LONG64ARRAY | DEV_VOID | OPERATOR | Set logical scale offset in encoder steps (Property SASA_CTL_PKEY_LOGICAL_SCALE_OFFSET) |
| GetOffset | DEV_ULONG | DEV_LONG64 | OPERATOR | returns current logical scale offset (Property SASA_CTL_PKEY_LOGICAL_SCALE_OFFSET) |
| SetLogicalScaleOffset | DEVVAR_LONG64ARRAY | DEV_VOID | OPERATOR | Since it`s almost impossible to set the offset to a precise value using the axis devices Calibrate command (because the positioner will constantly waggle a bit and the current position is used to calculate the offset) you can use this to set the offset to an absolute value. |
| SetLogicalScaleInversion | DEVVAR_ULONGARRAY | DEV_VOID | OPERATOR | sets logical scale inversion (SA_CTL_PKEY_LOGICAL_SCALE_INVERSION), 0 = not inverted, 1 = inverted |
| GetLogicalScaleInversion | DEV_ULONG | DEV_BOOLEAN | OPERATOR | Gets currently set logical scale inversion, 0 = inverted, 1 = not inverted |
| GetLogicalScaleOffset | DEV_ULONG | DEV_LONG64 | OPERATOR | currently set offset |