59
Additional RS232 Commands
S
S
e
e
n
n
d
d
A
A
n
n
y
y
T
T
r
r
a
a
c
c
k
k
R
R
a
a
t
t
e
e
T
T
h
h
r
r
o
o
u
u
g
g
h
h
R
R
S
S
2
2
3
3
2
2
T
T
o
o
T
T
h
h
e
e
H
H
a
a
n
n
d
d
C
C
o
o
n
n
t
t
r
r
o
o
l
l
1. Multiply the desired tracking rate (arcseconds/second) by 4. Example: if the desired trackrate is 150
arcseconds/second, then TRACKRATE = 600
2. Separate TRACKRATE into two bytes, such that (TRACKRATE = TrackRateHigh*256 +
rackRateLow). Example: TrackRateHigh = 2 TrackRateLow = 88
3. To send a tracking rate, send the following 8 bytes:
a. Positive Azm tracking: 80, 3, 16, 6, TrackRateHigh, TrackRateLow, 0, 0
b. Negative Azm tracking:80, 3, 16, 7, TrackRateHigh, TrackRateLow, 0, 0
c. Positive Alt tracking: 80, 3, 17, 6, TrackRateHigh, TrackRateLow, 0, 0
d. Negative Alt tracking: 80, 3, 17, 7, TrackRateHigh, TrackRateLow, 0, 0
4. The number 35 is returned from the handcontrol
Send A Slow-Goto Command Through RS232 To The Hand Control
(note: Only valid for motorcontrol version 4.1 or greater)
1. Convert the angle position to a 24bit number. Example: if the desired position is 220°, then
POSITION_24BIT = (220/360)*2
24
= 10,252,743
2. Separate POSITION_24BIT into three bytes such that (POSITION_24BIT = PosHigh*65536 +
PosMed*256 + PosLow). Exampe: PosHigh = 156, PosMed = 113, PosLow = 199
3. Send the following 8 bytes:
a. Azm Slow Goto: 80, 4, 16, 23, PosHigh, PosMed, PosLow, 0
b. Alt Slow Goto: 80, 4, 17, 23, PosHigh, PosMed, PosLow, 0
4. The number 35 is returned from the handcontrol
Reset The Position Of Azm Or Alt
1. Convert the angle position to a 24bit number, same as Slow-Goto example.
2. Send the following 8 bytes:
a. Azm Set Position: 80, 4, 16, 4, PosHigh, PosMed, PosLow, 0
b. Alt Set Position: 80, 4, 17, 4, PosHigh, PosMed, PosLow, 0
3. The number 35 is returned from the handcontrol
4. Note: If using Motorcontrol version less than 4.1, then send:
a. Azm Set Position: 80, 3, 16, 4, PosHigh, PosMed, PosLow, 0
b. Alt Set Position: 80, 3, 17, 4, PosHigh, PosMed, PosLow, 0
To Next Page
Loading...
