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Wiki Markup
Se \- Pulse Picker mode \[Se\]lect. Refer to Mode List for a complete list of Se modes.

Sd - Status indicator register. Used for debugging. Refer to Status List for a complete list of statuses.

Wiki Markup
Sw \- \[Sw\]eep distance. Number of steps/encoder counts to equal 11.25 degrees of motion.

Wiki Markup
Dr \- Motor-encoder \[Dr\]ift, or the difference between the encoder count and the motor count. Equals C2-P. Added to P0, P1, P2 for robustness in case of slippage.

P0 - Center (open) position.
P1 - Positive closed position, nominally P0+Sw. (Repurposed from standard MCode program.)
P2 - Negative closed position, nominally P0-Sw.
Ec - Error checking flag. (0=OFF, 1=ON)
Ns - Pulse Picker MCode version. (Repurposed from standard MCode program.)
Hb - Heartbeat counter, incremented approx. every 100ms.

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Signal state change to 50 (Fast close init)
Load fast close speeds
Calculate target position using drift of current position (X9)
If neither at position P1 (positive closed) nor at position P2 (negative closed), then
- Move (MA) to the positive closed position (P1)
- Hold until movement complete
EndIf
Signal state change to 51 (Fast close complete)
Goto mode select

Mode/State Tables

Se - Mode Select

Se	Mode Description
0	Soft Reset - interpreted at start-up to bypass hard reset initialization routine
1	One-Shot mode: one pulse on the input line results in a single sweep of the pulse picker. Does not automatically return to mode select.
2	Flip-Flop mode: will sweep the pulse picker each time a pulse is received on the input line. Does not automatically return to mode select.
3	Burst mode: will open the pulse picker on the first input pulse received, and close on the second. Does not automatically return to mode select.
4	Fast Open: moves the pulse picker to the full open position (P0). Automatically returns to mode select.
5	Fast Close: moves the pulse picker to the positive closed position (P1). Automatically returns to mode select.