(Created page with "{| !Command !Request !Response |- |''device ready'' |axis_id, FF |01 (ready, guiding) or 00 (slewing) |- |''read encoder'' |axis_id, F1 + byte number [0..3] (must start with F...")
 
(No difference)

Latest revision as of 02:14, 19 February 2013

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Message definition (MCMTII)
{|
!Command
!Request
!Response
|-
|''device ready''
|axis_id, FF
|01 (ready, guiding) or 00 (slewing)
|-
|''read encoder''
|axis_id, F1 + byte number [0..3] (must start with F4, as it copies the value in the 4 byte buffer for subsequent requests)
|the requested byte from the int32 value
|-
|''stop slewing'' (interrupts the positioning loop)
|axis_id, F0
|06 (ACK) or nothing if not in slewing mode
|}
Command Request Response
device ready axis_id, FF 01 (ready, guiding) or 00 (slewing)
read encoder axis_id, F1 + byte number [0..3] (must start with F4, as it copies the value in the 4 byte buffer for subsequent requests) the requested byte from the int32 value
stop slewing (interrupts the positioning loop) axis_id, F0 06 (ACK) or nothing if not in slewing mode
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