Commands

Here are a few commands that can be used to test the controller. They can be entered in a telnet session.

 
AC ?,?,?,?        - display acceleration
BN,BP,BV          - burn params (e.g.: KI), program, variables
DC ?,?,?,?        - display decceleration
EO 0              - echo off
IA 131,169,66,173 - set IP address
KD 0,0,0,0
KI 1,1,1,1        
KP 10,10,10,10    - PID parameters
PA ?,?,?,?        - queries the commanded positions
PA 1,2,3,4;BG;AM  - moves all 4 axes (BG: begin, AM: after move)
RS                - power-on reset
SH                - servo here
SP ?,?,?,?        - display speed
ST                - stop
TP X              - tell actual x position (x,y,z,w)

The following lines display the log of a small session. The ipAdress and portNo can be found in the properties of the Tango controller (GalilDMCCtrl class device server).

 
$ telnet ipAdress portNo
Trying NodeName
Connected to NodeName
Escape character is '^]'.
:PA ?,?,?,?
 0, 0, 0, 0
:SP ?,?,?,?
 5000, 5000, 5000, 5000
:PA 10000,10000,10000,10000;BG;AM
:PA ?,?,?,?
 10000,10000,10000,10000
:^]