Xeryon commands relevant to the motorRecord

Table of Contents

Setup

The driver will set INFO=0 to switch off the status streaming of the ontroller.

This is a list of commands used by the driver. It’s only a subset of the full command set. Refer to the controller manual for details.

Note	`STOP` seems dagerous, as it requires `CONT` to resume operation. As the motorRecord isfamous for blaring stop all the time, this might need some attention.

ASCII command	action	reply	motorRecord	field
INFO	set verbosity	0..6	n/a	n/a
INDX	find index	0..1	home()	HOM{F,R}
DPOS	target position	26 bits	move() abs	VAL
STEP	incremental position	26 bits	move() rel
SCAN	move velocity	-1..1	move() vel	JOG{F,R}
EPOS	encoder position	26 bits	poll()	RBV
SSPD	velocity	24 bits		VELO
ISPD	referencing velocity	24 bits		HVEL
ACCE	acceleration	16 bits		HVEL
STOP	stop movement	1 bit	stop()	STOP
CONT	continue movement after stop	1 bit