AXIS

Enables or disables the axis servo amplifiers, or returns state of axis servo amplifiers.

Mnemonic:

AXIS amplifier enable/disable.

Syntax:

AXIS $<$n$>$ [, s]

n: axis number (0:azimuth or 1:elevation)

s: Servo amplifier switch flag. 0: Disables the servo amplifier. 1: Enables the servo amplifier.

Return value:

Success:

AXIS 1, n, s

Failure:

AXIS 0[, n], err_msg

n: Axis value

s: New or current amplifier state flag.

err_msg: Should the command fail, this value will be an error message string, explaining the cause of failure.

Remarks:

When the ZY computers first comes up, or when it is re-booted, the servo amplifiers for both axes will be disabled. This is to prevent the servo motors from running away while not under control because of a bad amplifier offset adjustment. This condition should not be confused with the LM628 Motor Off condition! In that case, the LM628 stops controlling the servo motors but the amplifiers are still on, whereas when the amplifiers are disabled, the LM628 may or may not be attempting to control the motors. If the ZY is to use the servos to point to the laser, the servo amplifiers must first be enabled with this command.

Example:

     send: AXIS 0, 1     ;turns on axis 0 (azimuth) servo amplifier.
  receive: AXIS 1, 0, 1  ;ZY confirms axis 0 enabled.

     send: AXIS 1        ;request axis 1 (elevation) servo amplifier status.
  receive: AXIS 1, 1, 0  ;ZY reports axis 1 is currently disabled.

See also:

AXS, ERL, STS, STW