7.8.2 Description
This example opens a TCP connection, kills the XY group, then initializes and homes
the group. It enables the jog mode and sets the parameters to move a positioner in the
positive direction with a velocity of 10 units/s for 1.5 seconds. Then, during the 2 next
seconds, the positioner moves in the reverse direction with a velocity of -20 units/s, and
finally stops (velocity set to 0). The jog functionality is then disabled and the program
ends by closing the socket.
Please see the sections:
4 Principle of a Tcl script redirection to a telnet session.
6 Proposed function for error handling.
7.8.3 TCL code
# Set channel’s name to be used for telnet.
# In this example we assume it is passed to the script as the
# first argument, if not specified output to stdio.
# Open the channel for read mode and get its id,
# this is the id that will be passed to puts function.
if {$tcl_argv(0) != 0} {
set telnetOut [ open "/dev/$tcl_argv(0)" r+]
} else {
set telnetOut stdout
}
# Initialization
set TimeOut 60
set Group "XY"
set Positioner "XY.X"
set Velocity1 10
set Velocity2 -20
set Acceleration 80
set code 0
# Open TCP socket
set code [catch "OpenConnection $TimeOut socketID"]
if {$code != 0} {
puts $telnetOut "OpenConnection failed => $code"
# Force transfer to channel’s output buffer
flush $telnetOut
} else {
# Kill group
set code [catch "GroupKill $socketID $Group"]
if {$code != 0} {
DisplayErrorAndClose $socketID $code "GroupKill" $telnetOut
return
}
# Initialize group
EDH0307En1041 — 10/17
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