CWT

Waits for servos to settle on the specified cube.

Mnemonic:

Cube WaiT

Syntax:

CWT $<$n$>$

n: Cube name or number.

Return values:

Success:

CWT 1, n

Failure:

CWT 0, [n,]err_msg

n: Cube number.

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

• The wrong number of parameters is used
• A specified cube does not exist in the ZY's cube collection
• The wait failed, because the hardware never settled down.

Remarks:

CWT will block while the laser beam is not settled on the cube. It decides whether a laser is settled on target by continuously reading the actual position of the servo. To return, it must read a pre-set number straight readings within a specified tolerance, and within a specified time period. If CWT times out, it may still return a success status code if WMD was last used with a parameter of `0'. WTOL is used to set the settling tolerance, WCNT is used to set the number of straight readings that must be within tolerance and WTMO is used to set the time-out value. This is a cube object based command, therefore INI should have been called sometime prior to using CWT. If not, CWT will report an error.

Example:

     send: CWT 3
  receive: CWT 1, 3

  Typical sequence:

           WCNT 0, 5
           WTOL 0, 5
           WTMO 0, 18
           WMD 0, 0 
           ...
           CIL 3
           CWT 3
           ...

See also:

CIL, CMEAS, WAI, WCNT, WMD, WTMO, WTOL