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- $(MOTOR):SE
- Reads Se from Mcode
- Pulse picking mode select
- $(MOTOR):SET_SE
- Writes Se to Mcode, values 0 to 100 are allowed
- Pulse picking mode select
- $(MOTOR):MCODE:INIT
- Sends a hard reset to the Mcode
- Sets Se to 99
- Executes program 1
- $(MOTOR):RESET_PG
- Soft reset of Mcode software
- Executes program 1
- $(MOTOR):RUN_MODE<num>
- Runs specified pulse picking mode
- Sets Se to <num>
- Turns output 4 on
- $(MOTOR):UPDATE_ALL
- Updates all Mcode parameters for the pulse picker
- $(MOTOR):UPDATE_STATUS
- Updates specific mcode parameters
- They include MV, P, C1, C2, I1, I2
- $(MOTOR):S_OPEN
- Moves shutter to open position
- Sets Se to 4
- Reads Se from Mcode
- Reads Ad from Mcode
- $(MOTOR):S_CLOSE
- Moves shutter to close position
- Sets Se to 5
- Reads Se from Mcode
- Reads Ad from Mcode
- $(MOTOR):ULV
- Upper Limit Violation in raw motor counts
- On I/O Intr, looks for "ULV=<counts>" sting
- Waiting for interruption from Mcode if upper limit is violated
- Process UD, #########TODO: Find what UD is
- $(MOTOR):LLV
- Lower Limit Violation in raw motor counts
- On I/O Intr, looks for "LLV=<counts>" sting
- Waiting for inturption from Mcode if lower limit is violated
- Process UD, #########TODO: Find what LD is
- $(MOTOR):S_POS_CLOSE
- Last reported close position
- On I/O Intr, looks for "CLOSE=<counts>" string
- $(MOTOR):S_POS_OPEN
- Last reported open position
- On I/O Intr, looks for "OPEN=<counts>" string
- $(MOTOR):PLUS_DEGREES
- Conversion of N1 from motor counts to degrees
- ##########TODO: find what N1 is
- $(MOTOR):MINUS_DEGREES
- Conversion of N2 from motor counts to degrees
- ###########TODO: Find what N2 is
- $(MOTOR):PLUS_DEGREE_CNTS
- Conversion of N3 from encoder counts to degrees
- ###################TODO: find what N3 is
- $(MOTOR):MINUS_DEGREES_CNTS
- Conversion of N4 from encoder counts to degrees
- ###############TODO: find what N4 is
- $(MOTOR):DEADBAND_DEGREES
- Conversion of Sd from encoder counts to degrees
- ###### Currently Sd is save deadband, and Karl is planning on using it as a status indicator.
- $(MOTOR):SETUP_30HZ
- Write parameters to motor for 30Hz operation
- Sets A, D, VI, VM to $(LOC):30HZ:<A ... VM>:01
- Sets A, D, VI, VM to $(LOC):30HZ:<A ... VM>:02
- ###############TODO: unsure of why values need to be set to 02 after being set to 01, Also these settings from epics may not be needed
- $(MOTOR):SETUP_60HZ
- Sets A, D, VI to $(LOC):60HZ:<A ... VI>:01
- Sets A, D, VI to $(LOC):60HZ:<A ... VI>:02
- Sets A, D, VI to $(LOC):60HZ:<A ... VI>:03
- Sets A, D, VI to $(LOC):60HZ:<A ... VI>:04
- Sets A, D, VI to $(LOC):60HZ:<A ... VI>:05
- Sets A, D, VI to $(LOC):60HZ:<A ... VI>:06
- Sets VI to $(LOC):50HX:VI:07
- Sets VI to $(LOC):50HX:VI:08
- ###############TODO: unsure of why values need to be set to 02 after being set to 01, Also these settings from epics may not be needed
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