stoh_configure_real_motor

The format of the message is

stoh_configure_real_motor 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 hardware server change the configuration of a real motor.