RGH25F (Encoder, TCP/IP, Renishaw)

A Renishaw encoder module of type RGH25F is defined in the following way:

define/dev=encoder/mod=rgh25f/host="131.169.39.63" enc1

Notice that the host is specified using the dot notation.

The RGH25F is part of a Beckhoff/ADS system. It is operated by the following functions:

* = encoder( enc1, position)

* = encoder( enc1, status)
  1  after 'init'
  10 after 'doref'

* = encoder( enc1, doref)
  Activates the zero mode, e.g.:
    move mot12 55.0
    * = encoder( enc1, doref)
    * = encoder( enc1, status)  
      -> 10
    move mot12 54.5
    * = encoder( enc1, status)  
      -> 1
  
* = encoder( enc1, init)
* = encoder( enc1, offset)
* = encoder( enc1, offset, intVal)
* = encoder( enc1, conversion)
* = encoder( enc1, conversion, floatVal)

* = encoder( enc1, calibrate, floatVal)
  changes the encoder offset to produce floatVal at the 
  current position, e.g.:
  * = encoder( enc1, calibrate, gmup( mot12))

* = get_position( enc1)

The position is calculated by: pos = (encoder - offset)/conversion