gtos_configure_device

The format of the message can take one of two forms:

1. gtos_configure_device motorName position upperLimit lowerLimit lowerLimitOn upperLimitOn motorLockOn units
   • motorName is the name of the motor to configure.

   • position is the scaled position of the motor.

   • upperLimit is the upper limit for the motor in scaled units.

   • lowerLimit is the lower limit for the motor in scaled units.

   • lowerLimitOn is a boolean (0 or 1) indicating if the lower limit is enabled.

   • upperLimitOn is a boolean (0 or 1) indicating if the upper limit is enabled.

   • motorLockOn is a boolean (0 or 1) indicating if the motor is software locked.

2. gtos_configure_device motoName position upperLimit lowerLimit scaleFactor speed acceleration backlash lowerLimitOn upperLimitOn motorLockOn backlashOn reverseOn

   where

   • motor is the name of the motor to configure

   • position is the scaled position of the motor

   • upperLimit is the upper limit for the motor in scaled units

   • lowerLimit is the lower limit for the motor in scaled units

   • scaleFactor is the scale factor relating scaled units to steps for the motor

   • speed is the slew rate for the motor in steps/sec

   • acceleration is the acceleration time for the motor in seconds

   • backlash is the backlash amount for the motor in steps

   • lowerLimitOn is a boolean (0 or 1) indicating if the lower limit is enabled

   • upperLimitOn is a boolean (0 or 1) indicating if the upper limit is enabled

   • motorLockOn is a boolean (0 or 1) indicating if the motor is software locked

   • backlashOn is a boolean (0 or 1) indicating if backlash correction is enabled

   • reverseOn is a boolean (0 or 1) indicating if the motor direction is reversed

This command requests that the configuration of a real motor be changed. DCSS updates the device configuration in its internal database (database.dat) and forwards the message to the appropriate hardware server.

Note: This message should probably be two separate messages gtos_configure_real_motor and gtos_configure_pseudo_motor.