Server API, Pendant control emulation (ru)

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Server API, Pendant control emulation

Server API has a command to simplify Pendant control emulation. This command can be used for writing third-patry Pendant control device drivers.

Command Description
SetPendant

Format:
SetPendant Parameter1;Parameter2

Parameter1 - Emulated Handwheel position. It's supposed the handwheel has reolution "100", position range can be (0...99)
Parameter2 - 16bit value, high byte is Step selector, low byte is Axis selector.
Step selector values -
0 -> "x0.001" (1 wheel step = 0.001 unit)
1 -> "x0.01" (1 wheel step = 0.01 unit)
2 -> "x0.1" (1 wheel step = 0.1 unit)
3 -> "x1" (1 wheel step = 1 unit)
Axis selector values -
0 -> "OFF"
1 -> "X"
2 -> "Y"
3 -> "Z"
4 -> "A"
5 -> "B"
6 -> "C"
   Example:
  SetPendant 50;0x0300 <Axis=OFF, Mul=1, Wheel=50 - initial position>
SetPendant 50;0x0301 <Axis=X, Mul=1, Wheel=50 - Turn ON X axis>
SetPendant 55;0x0301 <Axis=X, Mul=1, Wheel=55 - Rotate wheel +5 "clicks", will move X +5*1.0=5.0 mm>
SetPendant 55;0x0302 <Axis=Y, Mul=0.01, Wheel=55 - Switch to Y axis>
SetPendant 65;0x0302 <Axis=Y, Mul=0.01, Wheel=65 - Rotate wheel +10 "clicks", will move Y +10*0.01=+0.1 mm>
SetPendant 65;0x0302 <Axis=Z, Mul=0.1, Wheel=65 - Switch to Z axis>
SetPendant 50;0x0302 <Axis=Z, Mul=0.1, Wheel=50 - Rotate wheel -15 "clicks", will move Z -15*0.1=-1.5 mm>

 

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