Leica TPS1200 Series Reference Manual page 135

GeoCOM Reference Manual
15.4.4 MOT_SetVelocity – driving the instrument with a constant speed
MOT_SetVelocity.............................................................................................................................................................................................................................................................................. ................................................................................................................................................................................................................................................................................................................................................................................................................................................................................................................................................................................................................................................................................................ 6004
6004 ................................................................................................................................................................................................................................................................MOT_SetVeloci ty
C-Declaration
MOT_SetVelocity(MOT_COM_PAIR RefOmega)
VB-Declaration
VB_MOT_SetVelocity(RefOmega As MOT_COM_PAIR)
ASCII-Request
%R1Q,6004:HZ-Speed[double],V-Speed[double]
ASCII-Response
%R1P,0,0:RC
Remarks
This command is used to set up the velocity of motorization. This function is valid only if
MOT_StartController(MOT_OCONST)
denotes the vertical velocity setting.
RefOmega[1]
Parameters
RefOmega
Return-Code Names and Return-Code Values
GRC_OK
GRC_IVPARAM
GRC_MOT_NOT_CONFIG
GRC_MOT_NOT_OCONST
GRC_NOT_IMPL
See Also
MOT_StartController
MOT_StopController
AUS_SetUserLockState
Example
GRC_TYPE
MOT_COM_PAIR
// set parameter
RefOmega.adValue[0] = 0.05;
RefOmega.adValue[1] = 0.05;
// stop controller and any possible movements
(void) MOT_StopController(MOT_NORMAL);
// wait at least 5 sec.
wait(5);
// start controller; the only valid mode
// for SetVelocity is MOD_OCONST
rc = MOT_StartController(MOT_OCONST);
if (rc == GRC_OK)
{
rc = MOT_SetVelocity(RefOmega);
// insert here a time delay or a wait for user
// action; the movement stops by calling
// MOT_StopController
}
// stop controller and movements abruptly
rc = MOT_StopController(MOT_SHUTDOWN);
// restart controller with default setting
rc = MOT_StartController(MOT_MANUPOS);
if (rc != GRC_OK)
Leica TPS1200 – Version 1.50
has been called previously.
In
0
2
1795
1794
5
rc;
RefOmega;
RefOmega[0]
The speed in horizontal and vertical direction in rad/s. The
maximum speed is +/- 3.14 rad/s each for TM30 TS30
instruments and 0.79 rad/s each for TPS1200 instruments.
Execution successful.
RefOmega.adValue[HZ]
values are not within the boundaries.
System is not in state
MOT_CONFIG
(e.g. missing 'start controller').
Drive is not in mode
MOT_OCONST
MOT_StartController
No motorization available (no automated instrument).
Motorisation – MOT
denotes the horizontal and
and/or
RefOmega.adValue[V]
or
MOT_BUSY_OPEN_END
(set by
).
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