Specifications
TCP communication with main computer in system.
CC will be server side
We will use a custom message protocol on top of TCP
Protocol should fail safely when malformed messages are received.
Will return error if movement command is sent before movement is completed.
Use a version of Daniel Yanke 's “F” code for motion control.
Move to absolute position
Simultaneous or sequential
Move to relative position
Home single Axis
Home all Axis
Investigate Faster deceleration when hitting limit switches.
Available Commands
Command | Format(s) | Description |
|---|---|---|
MA | MA {Axis}{Value} [Axis][Value]… \n | Move to an absolute value on the specified axes. Movement will be triggered simultaneously on all specified axes. (Axes must be listed in the order specified by the valid axes class variable.) |
MR | MR {Axis}{Value} [Axis][Value]… \n | Move relative to current position on the specified axes by the specified value. Movement will be triggered simultaneously on all specified axes. (Axes must be listed in the order specified by the valid axes class variable.) |
CS | CS\n | Config Set, switch into config loading mode or exit config loading mode |
ES | ES\n | Emergency stop, software triggered. Cancel all current movement. |
?P | ?P\n | Query current absolute position. |
?C | ?C\n | Query current config setting. |
?A | ?A\n | Query current valid axis designations and show the order of axes in the valid axes class variable. |
?S | ?S\n | Query system status (motor faults, other errors) |
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