T - Selects Transparent mode.
1 - Selects mode ON.
· 0 - Selects PFIP,
Y - Indicates Yes.
The display should now show Transparent mode: ON for PFIP.
It is now not possible for any PFIP mechanisms to be controlled via
the network, it is therefore important to disable Transparent mode on completion.
Each time the. (period) key is pressed you will get the prompt 'Transparent
command >', at which point you can type a string of up to 25 characters
which will be transmitted to the Limpit which has Transparent mode ON selected.
When a string is transmitted to a Limpit it will be displayed as the appropriate 'Tx last :'and the reply received will be displayed as 'Rx last:'
A (-)ve reply indicates an error, refer to pages 20 to 28 for Limpit error code descriptions. If there appears to be any problems communicating with the Limpit, see part 3 page 4 (Resetting the Limpit).
Reset the Limpit
...........command > SMCM(0,64)
...........expected reply > 0
Selecting the motor
...........command > SMCM(0,2) Selects Channel number 2.
...........expected reply > 2
Enabling/Stalling the motor
............command > SMCM(0,6) Applies stall current to motor
............expected reply > 2
Set motor speed
command > PARAM(0,Min-velocity,Max-Velocity,Acceleration)
expected reply > 0
Recommended values
PARAM(0,200,500,500)
Min-Velocity = 200 Start velocity in steps/sec
Max -velocity = 500 Maximum velocity in steps/sec
Acceleration = 500 Acceleration rate in steps/sec/sec
Moving the motor/mechanism
command > RMOVE(0,Steps)
expected reply > 0
Where Steps is the number of steps to move from current position, e.g.
RMOVE(0,5000) Move 5000 steps in the (+)ve direction
RMOVE(0,-3000) Move 3000 steps in the (-)ve direction
Total range of mechanism is 14100 um. There is 10 step per um.
Stopping the motor
..........command > STOP(0)
..........expected reply > 0
Mechanism position
This mechanism has a linear encoder which is read every 20 secs, the
current position is updated in the Position field in urn units to a resolution
of 10um, when a change in position of 50um or greater is detected.
The direct encoder reading is always updated on completion.
Reset the limpit
command > SMCM(0,64)
expected reply > 0
Disable Transparent mode
Type T and select 0 for Transparent mode OFF.
This must be done before any network commands will be able to control the limpit.
T - Selects Transparent mode.
1 - Selects mode ON.
0 - Selects PFIP.
Y- Indicates Yes.
The display should now show Transparent mode: ON for PFIP.
It is now not possible for any PFIP mechanisms to be controlled via
the network, it is therefore important to disable Transparent mode on completion.
Each time the . (period) key is pressed you will get the prompt 'Transparent
command >', at which point you can enter a string of up to 25 characters
which will be transmitted to the limpit which has Transparent mode ON selected.
When a string is transmitted to a limpit it will be displayed as the appropriate
'Tx last :'and the reply received will be displayed as 'Rx last :'
A (-)ve reply indicates an error, refer to page 20 to 28 for Limpit error code descriptions.
If there appears to be any problems communicating with the limpit, see part 3 page 4 (Resetting the limpit).
Reset the limpit
............command > SMCM(0,64)
............expected reply > 0
Selecting the motor
............command > SMCM(0, 1) Selects Channel number 2,
............expected reply >1
.............command> SMCM(0,2 1) Selects multiplexer channel 4
............expected reply > 1
Enabling the motor
command > SMCM(0,6) Applies stall current to motor
expected reply> 1
command> SMCM(0, 14) Releases the motor brake
expected reply > 1
Set motor speed
command > PARAM(0,Min-velocity,Max_velocity,Acceleration) expected reply > 0
Recommended values
PARAM(O, 1 000,2000, 1 000)
Min_velocity=1000 Start velocity in steps/see
Max_velocity = 2000 Maximum velocity in steps/see
Acceleration= 1000 Acceleration rate in steps/sec/sec
Moving the motor/mechanism
command > MOVE(0,Steps)
expected reply > 0
Where Steps is the number of steps to move from current position, e.g.
RMOVE(0,5000) Move 5000 steps in the (+)ve direction
RMOVE(0,-3000) Move 3000 steps in the (-)ve direction
Total range of mechanism is 110000 um. There is 1 step per 2um.
Stopping the motor
.........command > STOP(0)
.........expected reply > 0
Mechanism position
This mechanism has a linear encoder which is read every 20 secs, the current position is updated in the Position field in um units to a resolution of 10um, when a change in position of 50um or greater is detected, the direct encoder reading is always updated.
Applying the motor brake
..........command > SMCM(0, 15)
..........expected reply> 1
On completion.
Reset the limpit
command > SMCM(0,64)
expected reply > 0
Disable Transparent mode
Type T and select 0 for Transparent mode OFF.
T - Selects Transparent mode.
I - Selects mode ON.
0 - Selects PFIP.
Y - Indicates Yes.
The display should now show Transparent mode: ON for PFIP.
It is now not possible for any PFIP mechanisms to be controlled via
the network, it is therefore important to disable Transparent mode on completion.
Each time the . (period) key is pressed you will get the prompt'
Transparent command >', at which point you can type a string of up to 25
characters which will be transmitted to the limpit which has Transparent
mode ON selected. When a string is transmitted to a limpit it will be displayed
as the appropriate 'Tx last :'and the reply received will be displayed
as 'Rx last :'
A (-)ve reply indicates an error, refer to pages 20 to 28 for Limpit error code descriptions. If there appears to be any problems communicating with the Limpit see, part 3 page 4 (Resetting the limpit).
Reset the limpit
..............command > SMCM(0,64)
..............expected reply > 0
Selecting the motor
..............command>SMCM(0,1) Selects Channel number2.
..............expected reply > 1
..............command > SMCM(0,19) Selects multiplexer channel 2
..............expected reply > 1
Enabling the motor
command > SMCM(0,6) Applies stall current to motor
expected reply> 1
command> SMCM(0, 14) Releases the motor brake
expected reply > 1
Set motor speed
command > PARAM(0,Min_Velocity,Max_Velocity,Acceleration)
expected reply > 0
Recommended values
PARAM(O, 1 000,2000, 1 000)
Min_Velocity = 1000 Start velocity in steps/sec
Max_Velocity = 2000 Maximum velocity in steps/sec
Acceleration = 1000 Acceleration rate in steps/sec/sec
Moving the motor/mechanism
..........command > RMOVE(0,Steps)
.........expected reply > 0
Where Steps is the number of steps to move from current position. e.g.
RMOVE(0,5000) Move 5000 steps in the (+)ve direction
RMOVE(0,-3000) Move 3000 steps in the (-)ve direction
Total range of mechanism is 24000 um. There is 1 step per um.
Stopping the motor
command > STOP(0)
expected reply > 0
Mechanism position
This mechanism has a linear encoder which is read every 20 secs, the current position is updated in the Position field in um units to a resolution of 10um, when a change in position of 50um or greater is detected.
Applying the motor brake
command > SMCM(0, 15)
expected reply > I on completion.
Reset the limpit
command > SMCM(0,64)
expected reply > 0
Disable Transparent mode
Type T and select 0 for Transparent mode OFF.
This must be done before any network commands will be able to control the limpit.
T - Selects Transparent mode.
1 - Selects mode ON.
· 0 - Selects PFIP.
Y - Indicates Yes.
The display should now show Transparent mode: ON for PFIP.
It is now not possible for any PFIP mechanisms to be controlled via
the network, it is therefore important to disable Transparent mode on completion.
Each time the . (period) key is pressed you will get the prompt'
Transparent command >', at which point you can type a string of up to 25
characters which will be transmitted to the limpit which has Transparent
mode ON selected. When a string is transmitted to a limpit it will be displayed
as the appropriate 'Tx last :'and the reply received will be displayed
as 'Rx last :'
A (-)ve reply indicates an error, refer to pages 20 to 28 for Limpit error code descriptions. If there appears to be any problems communicating with the Limpit, see part 3 page 4 (Resetting the limpit).
Reset the limpit
..........command > SMCM(0,64)
..........expected reply > 0
Selecting the motor
..........command > SMCM(0,2) Selects Channel number 2.
..........expected reply > 2
..........command -> SMCM(0, 19) Selects multiplexer channel 2
..........expected reply > 2
Enabling the motor
...........command > SMCM(0,6) Applies stall current to motor
...........expected reply > 2
Set motor speed
command > PARAM(0)
expected reply > 0
Recommended values
PARAM(0,200,500,500)
Min_velocity = 200 Start velocity in steps/see
Max_velocity = 500 Maximum velocity in steps/sec
Acceleration = 500 Acceleration rate in steps/sec/sec
Moving the motor/mechanism
command > RMOVE(0,Steps)
expected reply > 0
Where Steps is the number of steps to move from current position, e.g.
RMOVE(0,5000) Move 5000 steps in the (+)ve direction
RMOVE(0,-3000) Move 3000 steps in the (-)ve direction
Total range of mechanism is 6 filter positions There are 1000 steps between filter position. This mechanism is rotary and therefore there is also 1000 steps between positions 6 and 1.
Stopping the motor
..........command > STOP(0)
..........expected reply > 0
Mechanism position
This mechanism is not encoded, the position field will therefore not be updated.
Moving to the datum (Position 1)
command > SMCM(0, 12) Enables the datum sensor.
expected reply > 2
command > RMOVE(0,-6100) Drives into the datum sensor, motor stopped when
expected reply > 0 ( sensor reached. ) command > WHERE(0)
Returns the number of steps moved.
expected reply > If any value other than -6 1 00 then the datum sensor has been reached, if 61 00 returned then the datum sensor was not located, see part 3 page 14
command > SMCM(0, 1 3) Disables the datum sensor
expected reply > 2
On completion.
Reset the limpit
command > SMCM(0,64)
expected reply > 0
Disable Transparent mode
Type T and select 0 for Transparent mode OFF.
This must be done before any network commands will be able to control the limpit.
T - Selects Transparent mode.
1 - Selects mode ON.
· 0 - Selects PFIP.
Y - Indicates Yes.
The display should now show Transparent mode: ON for PFIP.
It is now not possible for any PFIP mechanisms to be controlled via
the network, it is therefore important to disable Transparent mode on completion.
Each time the . (period) key is pressed you will get the prompt'
Transparent command >', at which point you can type a string of up to 25
characters which will be transmitted to the limpit which has Transparent
mode ON selected. When a string is transmitted to a limpit it will be displayed
as the appropriate 'Tx last :'and the reply received will be displayed
as 'Rx last :'
A (-)ve reply indicates an error, refer to pages 20 to 28 for Limpit error code descriptions. If there appears to be any problems communicating with the Limpit ,see part 3 page 4 (Resetting the limpit).
Reset the limpit
............command > SMCM(0,64)
............expected reply > 0
Selecting the detent motor
...........command > SMCM(1,4) Selects Channel number 4. (Detent driver)
...........expected reply > 4
Selecting the filter wheel motor
............command> SMCM(0,1) Selects Channel number 1
............expected reply > 1
............command -> SMCM(0,20) Selects multiplexer channel 3
............expected reply > 1
Set detent motor speed
command > PARAM(1,Min_velocity,Max_velocity,Acceleration)
expected reply > 0
Recommended values
PARAM(1,50,100,100)
Min velocity= 50 Start velocity in steps/sec
Max velocity= 100 Maximum velocity in steps/sec
Acceleration = 100 Acceleration rate in steps/sec/sec
Set filter wheel motor speed
Command> PARAM(0,Min_velocity,Max_velocity,Acceleration)
expected reply > 0
Recommended values
PARAM(0,500,1000,500)
Min-Velocity = 500 Start velocity in steps/sec
Max - velocity= 1000 Maximum velocity in steps/sec
Acceleration = 500 Acceleration rate in steps/sec/sec
Moving the detent motor/mechanism out
command > RMOVE(1,Steps)
expected reply > 0
Where Steps is the number of steps to move from current position, e.g.
RMOVE(1,-1000) Will move the detent fully out.
Moving the filter wheel
command > RMOVE(0,Steps) expected reply > 0
Where Steps is the number of steps to move from current position, e.g.
RMOVE(0,-1000) Will move to the previous filter position.
RMOVE(0, 1000) Will move to the next filter position
Total range of mechanism is 7 filter positions
There are 1 000 steps per filter position.
This mechanism is rotary and therefore there is also 1000 steps between positions 7 and 1.
Moving to the datum (Position 1)
command >SMCM(0, 12) Enables the datum sensor.
expected reply > 1
command > RMOVE(0,-7 I 00) Drives into the datum sensor, motor stopped when
expected reply > 0 ( sensor reached. )
command > WHERE(0) Returns the number of steps moved.
expected reply > If any value other than -7 1 00 then the datum sensor has been reached, if 7 1 00 returned then the datum sensor was not located, see part 3 page 14
command> SMCM(0, 13) Disables the datum sensor
expected reply> 1
Moving the detent motor/mechanism in.
command > RMOVE(1,Steps)
expected reply > 0
Where Steps is the number of steps to move from current position, e.g.
RMOVE(1, 1 000) Will move the detent fully in
Stopping the motor
command > STOP(0)
expected reply > 0
command > STOP(1)
expected reply > 0
Reading the barcode
Stops the filter wheel
Stops the detent
command > BARCODE(0, 1)
expected reply > Barcode value
It may take up to 10 seconds before the barcode value is returned, a negative value indicates that a valid barcode read was not possible.
Reading the detent status
command > IN()
expected reply > The value returned represents an 8 bit value. Bit 7 set indicates that the detent is fully in (engage in the wheel).
Mechanism position
This mechanism is not encoded, the position field will therefore not be updated.
On completion.
Reset the limpit
command > SMCM(0,64)
expected reply > 0
Disable Transparent mode
Type T and select 0 for Transparent mode OFF.
This must be done before any network commands will be able to control the limpit.
T - Selects Transparent mode.
1 - Selects mode ON.
· 0 - Selects PFIP.
Y - Indicates Yes.
The display should now show Transparent mode: ON for PFIP.
It is now not possible for any PFIP mechanisms to be controlled via
the network, it is therefore important to disable Transparent mode on completion.
Each time the . (period) key is pressed you will get the prompt'
Transparent command >', at which point you can type a string of up to 25
characters which will be transmitted to the limpit which has Transparent
mode ON selected.
When a string is transmitted to a limpit it will be displayed as the appropriate 'Tx last :'and the reply received will be displayed as the 'Rx last :'
A (-)ve reply indicates an error, refer to pages 20 to 28 for Limpit error code descriptions. If there appears to be any problems communicating with the Limpit, see part 3 page 4 (Resetting the limpit).
Enabling the motor
command > SMDC(0,6) Applies stall current to motor
expected reply > 0
Set motor speed
command > PARAM(0,Min_velocity,Max_velocity,Acceleration)
expected reply > 0
Recommended values
PARAM(0,500,1000,500)
Min_velocity = 500 Start velocity in steps/sec
Max_velocity = 1000 Maximum velocity in steps/sec
Acceleration = 500 Acceleration rate in steps/sec/sec
Moving the motor/mechanism
command > RMOVE(0,Steps)
expected reply > 0
Where Steps is the number of steps to move from current position, e.g.
RMOVE(0,5000) Move 5000 steps in the (+)ve direction
RMOVE(0,-3000) Move 3000 steps in the (-)ve direction
Total range of mechanism is -90.0 degrees to +90.0 degrees. There is 8 steps per 0.1 degrees.
Stopping the motor
command > STOP(0)
expected reply > 0
Disabling the motor
command > SMDC(0,7) Removes stall current from motor
expected reply > 0
Mechanism position
This mechanism has a rotary encoder which is read every 20 secs, the current position is updated in the Position field in 0.1 degree units.
On completion.
Disable Transparent mode
Type T and select 0 for Transparent mode OFF.
This must be done before any network commands will be able to control the limpit.
T - Selects Transparent mode.
I - Selects mode ON.
I - Selects ADC.
y - Indicates Yes.
The display should now show Transparent mode : ON for ADC.
It is now not possible for any ADC mechanisms to be controlled via the
network, it is therefore important to disable Transparent mode on completion.
Each time the . (period) key is pressed you will get the prompt 'Transparent
command >', at which point you can type a string of up to 25 characters
which will be transmitted to the limpit which has Transparent mode ON selected.
When a string is transmitted to a limpit it will be displayed as the appropriate 'Tx last :'and the reply received will be displayed as 'Rx last :'
A (-)ve reply indicates an error, refer to pages 20 to 28 for error code descriptions. If there appears to be any problems communicating with the Limpit, see part 3 page 4 (Resetting the limpit).
Enabling the motor
command > SMDC(1,6) Applies stall current to motor
expected reply > 1
Set motor speed
command > PARAM(1,Min_velocity,Max_velocity,Acceleration)
expected reply > 0
Recommended values
PARAM(1,500,1000,500)
Min-velocity = 500 Start velocity in steps/sec
Max - velocity= 1000 Maximum velocity in steps/sec
Acceleration = 500 Acceleration rate in steps/sec/sec
Moving the motor/mechanism
command > RMOVE(1,Steps)
expected reply > 0
Where Steps is the number of steps to move from current position, e.g.
RMOVE(1,5000) Move 5000 steps in the (+)ve direction
RMOVE(1,-3000) Move 3000 steps in the (-)ve direction
Total range of mechanism is -90.0 degrees to +90.0 degree's. There is 8 steps per 0.1 degrees.
Stopping the motor
command > STOP(1)
expected reply > 0
Disabling the motor
command > SMDC(1,7) Removes stall current from motor
expected reply > 1
Mechanism position
This mechanism has a rotary encoder which is read every 20 secs, the current position is updated in the Position field in 0.1 degree units.
On completion
Disable Transparent mode
Type T and select 0 for Transparent mode OFF.
This must be done before any network commands will be able to control the limpit.
PFIP Limpit
SMCM(Axis,Command)
Axis
Either of the two axis available on the SMDC can be used to control any mechanism
Once a drive is selected on an axis then all commands issued on that axis will relate to the mechanism connected to the drive.
Valid values
Decimal Longhand
0 X
I Y
Description
Because the PFIP limpit uses a SMCM, the axis have no pre-defined connections.
Command
Refer to the mechanism information section for information on drive, multiplexer settings etc. required for each mechanism.
Valid values
Decimal or Longhand
0 RESET
1 DRIVE1
2 DRIVE2
3 DRIVE3
4 DRIVE4
6 ENABLE_DRIVE
7 DISABLE_DRIVE
8 FULL_STEP
9 HALF_STEP
10 ENABLE_INTERLOCK
11 DISABLE_INTERLOCK
12 ENABLE_HOME
13 DISABLE_HOME
14 RELAY_ON
15 RELAY_OFF
16 USER_ON
17 USER_OFF
18 MULTIPLEXER1
19 MULTIPLEXER2
20 MULTIPLEXER3
21 MULTIPLEXER4
64 CHANNEL_RESET
95 CARD_RESET
Descriptions
0 or RESET Resets the selected drive to its default state: Drive disabled, Half step mode, Interlock enabled, Home disabled, Relay off, User bit off, Multiplexer 1.
1 or DRIVE 1 Selects Drive 1 on given axis, APY, MFW and APX use this drive
2 or DRIVE2 Selects Drive 2 on given axis, AFS and AFW use this drive
3 or DRIVE3 Selects Drive 3 on given axis, this drive is not used.
4 or DRIVE4 Selects Drive 4 on given axis, the MFW detent uses this drive
6 or ENABLE_DRIVE Enables the selected drive.
7 or DISABLE_DRIVE Disables the selected drive.
8 or FULL-STEP Sets the selected drive to Full step mode.
9 or HALF_STEP Sets the selected drive to Half step mode.
10 or ENABLE_INTERLOCK Enables any interlocks on drive.
11 or DISABLE_INTERLOCK Disables any interlocks on drive.
12 or ENABLE_HOME Enables the Home or Datum sensor.
13 or DISABLE_HOME Disables the Home or Datum sensor.
14 or RELAY_ON Closes the relay, therefore releasing any drive brake.
15 or RELAY_OFF Opens relay contacts, therefore enabling any drive brake.
16 or USER_ON Sets the user output to on.
17 or USER_OFF Sets the user o/p to off.
18 or MULTIPLEXER1 Selects the power multiplexer channel 1, AFS uses this channel.
19 or MULTIPLEXER2 Selects the power multiplexer channel 2, APY and AFW use this channel
20 or MULTIPLEXER3 Selects the power multiplexer channel 3, MFW uses this channel.
21 or MULTIPLEXER4 Selects the power multiplexer channel 4, APX uses this channel.
64 or CHANNEL_RESET Resets the selected drive to its default state and then deselects the drive.
95 or CARD_RESET Resets all drives and deselects any selected drives.
The value returned should represent the value of the drive selected on the axis used, i.e. values
1,2,3 and 4 are valid if they equal the drive you expected the command to have effected.
0 is also a valid return for the 64 and 95 reset commands.
Error
All negative values indicate an error.
-1 Invalid command, Limpit did not understand command or parameters given
-2 Invalid command parameter, the command parameter given is out of range.
-3 Parity error, an error has occurred between the SMDC and the SMCM, see mechanism error 1A - Parity error.
-4 No response from SMCM, see mechanism error 1B - No acknowledgement.
-5 No drive selected, select a drive before issuing command or see mechanism error 1D - No channel selected
-7 Invalid Axis, the axis given is out of range.
BARCODE(Axis,Drive)
Axis
Valid values
Decimal Longhand
0 X
1 Y
Description
The Axis used will have been selected when the drive command was used, a mechanism must
be fully connected before the barcode can be read, i.e. a drive must be selected and then the Multiplexer switched over if necessary.
Drive
Valid values
This is the drive that you have previously connected to using the drive commands, it is only used by the limpit to check that the axis
is already connected to the expected drive, otherwise an error will be issued, the value of drive can therefor be 1,2,3 or 4.
Valid Replies
Success
The value returned should represent the value of the drive selected on the axis used, i.e. values
1,2,3 and 4 are valid if they equal the drive you expected the command to have effected.
0 is also a valid return for the 64 and 95 reset commands.
Error
All negative values indicate an error.
-1 Invalid command, Limpit did not understand command or parameters given
-2 Invalid command parameter, the command parameter given is out of range.
-3 Parity error, an error has occurred between the SMDC and the SMCM, see mechanism error 1A - Parity error.
-4 No response from SMCM, see mechanism error 1B - No acknowledgement.
-5 No drive selected, select a drive before issuing command or see mechanism error 1D - No channel selected
-6 Channel selected error, the drive number given does not match that which has been previously selected, select/give correct drive or see mechanism error 1C - Wrong channel selected.
-7 Invalid Axis, the axis given is out of range.
-9 Barcode parity error, see mechanism error 16 - Barcode read error.
Valid Replies
Success
If the return value is between 0 and 255 then this value represents the bit pattern on the input bits, as shown below:
Bit Decimal Connection Bit = 0 Bit = 1
0 1 Used by SMCM
1 2 X axis Drive status Drive error Drive OK
2 4 X axis User input I/P is high I/P is low
3 8 X axis Interlock Interlock clear Interlock set
4 16 Used by SMCM
5 32 Y axis Drive status Drive error Drive OK
6 64 Y axis User input I/P is high I/P is low
7 128 X axis Interlock Interlock clear Interlock set
Error
All negative values indicate an error.
-1 Invalid command, Limpit did not understand command or parameters given
ADC Limpit
SMDC(Axis,Command)
Axis
Decimal Longhand
0 X
I y
Descriptions
0 or X This axis is allocated to the ADO mechanism.
1 or Y This axis is allocated to the ADI mechanism.
Command
Decimal Longhand
0 RESET
6 ENABLE_DRIVE
7 DISABLE_DRIVE
12 ENABLE_HOME
13 DISABLE_HOME
Descriptions
0 or RESET Resets the selected drive to its default state: Drive disabled, Home disabled.
6 or ENABLE_DRIVE Enables the drive on the axis given.
7 or DISABLE_DRIVE Disables the drive on the axis given.
12 or ENABLE_HOME Enables the Home or Datum sensor.
13 or DISABLE_HOME Disables the Home or Datum sensor.
Valid Replies
Success
The reply given should be the command given.
Error
All negative values indicate an error.
-1 Invalid command, Limpit did not understand command or parameters given
-2 Invalid command parameter , the command parameter given is out of range.
-7 Invalid Axis, the axis given is out of range.
Valid Replies
Success
If the return value is between 0 and 255 then this value represents the bit pattern on the input bits, as shown below:
Bit Decimal Connection Bit = 0 Bit = I
0 1
1 2 ADO Drive status Drive error Drive OK
2 4 ADO Home sensor No home sensed Home sensor detected
3 8
4 16
5 32 ADI Drive status Drive error Drive OK
6 64 ADI Home sensor No home sensed Home sensor detected
7 128
Error
All negative values indicate an error.
-1 Invalid command, Limpit did not understand command or parameters given
ADC and PFIP Limpits
In the following commands Axis is defined as in SMCM or SMDC above depending on the limpit used.
RMOVE(Axis,Steps)
Refer to the section mechanism info for information on step size for each mechanism.
Steps
The number of steps to move the mechanism from its current position.
Valid Replies
Success
0 indicates success
Error
All negative values indicate an error.
-1 Invalid command, Limpit did not understand command or parameters given
-7 Invalid Axis, the axis given is out of range.
PARAM(Axis,StartVel,MaxVel,Accel)
Set the velocities and acceleration/deceleration rates for the given axis.
See the section mechanism into for recommend settings for each mechanism.
Startvel
The start velocity in steps per second. MaxVel
The maximum velocity in steps per second. Accel
The acceleration and deceleration rate in steps per second per second.
Valid replies
Success
0 indicates success
1 indicates parameters are incompatible
Error
**WHM"- indicate an error.
**parameters given
DMOVING(Axis)
Read status of axis, indicating if axis is attempting a move, this does not indicate if drive is selected and enabled.
Valid Replies
Success
0 indicates mechanism is not moving 1 indicates the mechanism is moving
Error
All negative values indicate an error.
- 1 Invalid command, Limpit did not understand command or parameters given
-7 Invalid Axis, the axis given is out of range.
DSTOP(Axis)
Stop any drive connected to axis given, this is an abrupt stop for emergency purposes only, DHALT(Axis) should be used where
possible,
Valid Replies
Success
0 indicates success
Error
All negative values indicate an error.
-1 Invalid command, Limpit did not understand command or parameters given
-7 Invalid Axis, the axis given is out of range.
DHALT(Axis)
Halts any drive connected to the given axis, this causes the drive to ramp down to an eventual stop.
Valid Replies
Success
0 indicates axis was not previously moving.
1 indicates axis was previously moving.
Error
All negative values indicate an error.
-1 Invalid command, Limpit did not understand command or parameters given
-7 Invalid Axis, the axis given is out of range.
LIMIT(Axis)
Reads the status of the limit sensors.
This command is only for engineering use, as it has an adverse effect of interrupting any move active on the other axis.
Valid Replies
Success
0 No limit sensor active
1 Positive limit sensor active.
-1 Negative limit sensor active.
Error
-2 Invalid command.
DISPLAY(Command)
Change the amount of information displayed on the Limpit LCD, usually Display is OFF and only a small amount of information is displayed. It is important that Display is returned to OFF when under 4MS control, With Display ON a message is written to the LCD for all commands.
Command
Decimal Longhand
1 OFF
2 ON