for Ver 1.7, 22 Feb 2000

file: shndlcmd.html

Commands:

• all commands preceded by # and terminated with CR (ENTER)
• Note: for power controlling commands, 0 = ON and 1 = OFF

AD[0-6] - Get A/D from channel 0 - 6

• i.e. AD2 requests reading from third A/D channel

APWR[0-1][=0,1] - request current status or power ON/OFF for A/D channel 0 or 1 device

• eg: APWR1 requests status of power for A/D channel 1 device
• eg: APWR0=1 turns OFF power for channel 0 device
• Note: A/D channels 0 and 1 are used for Flow Meters

CAD[0-6] - request continuous A/D readings from channel 0 to 6

• updates at about 1 Hz rate
• ESC to exit

CAL[0-6] - request cal constants set for channel 0 - 6

CPOS - request continuous position readings from turntable encoder

• ESC to exit
• returns position from 0 to 359.9 degrees
• a reading of 360.0 indicates a problem and is invalid
• NOTE: ESC also kills Motor 1 power (turntable motor)

GOCWp,ss - move sample #ss clockwise to position #p, as follows:

• Sample numbers are 0 to 23
• Position numbers are:
  • 0 - home position (at access plates)
  • 1 - intake position
  • 2 - XRF analysis position
• Position digit must be followed by comma, then 1 or 2 digit sample number.
• Note 1: Main motor power must be enabled (MPWR command).
• Note 2: Motor2 and Motor3 must be in open (CCW) position (i.e. MLIM1 = 1 and MLIM3 = 1) or command will abort with error.
• Note 3: Motor1 must NOT be running from another command.

H - request HELP menu

ITK[=0,1] - request or control motor 2 (intake position)

• 0 = CLOSE and 1 = OPEN
• Reports 255 if position unknown.
• Aborts after 30 seconds.
• Note 1: Main motor power must be enabled (MPWR command).
• Note 2: Motor1 must NOT be running from another command.

L - request INFO (serial number, cal constants, etc)

MDIR[1-3][=0,1] - request or set motor 1 - 3 direction

• 0 = CW and 1 = CCW
• NOTE: CW closes motor 2 and 3
• eg: MDIR1=0 sets motor 1 to turn CW

MEN[1-3][=0,1] - request current status or power ON/OFF motors 1 - 3

• eg: MEN3=0 starts motor 3 (the XRF analysis position motor)
• Motor 1 = sample turntable motor
  • NOTE: Motor 1 CANNOT be enabled (MEN1=0) unless limit switches 1 and 3 are activated (MLIM1 and MLIM3 indicate 1) - i.e. unless Motors 2 and 3 have cranked their respective mechanisms fully OPEN
• Motor 2 = intake position motor
• Motor 3 = XRF analysis position motor
• NOTE: Only one motor may be enabled at any given time

MLIM[0-3] - request limit switch status

• 1 = switch activated and 0 = switch NOT activated
• Switch 0 = Motor 2, CW limit (position closed)
• Switch 1 = Motor 2, CCW limit (position open)
• Switch 2 = Motor 3, CW limit (position closed)
• Switch 3 = Motor 3, CCW limit (position open)
• eg: MLIM2 requests status of Motor 3 CW limit switch

MPWR[=0,1] - request current status or power ON/OFF for main motor power

• NOTE: this applies power to all of the motor control circuits;
  the MEN[1-3] command powers ON/OFF the individual motors

POS - request position reading from turntable encoder

• returns position from 0 to 359.9 degrees
• a reading of 360.0 indicates a problem and is invalid

PUMP[=0,1] - request current status or power ON/OFF for air pumps

PV[=0,1] - request current status or power ON/OFF for purge valve

ROCWnnnn - rotate turntable clockwise to absolute position of encoder

• Position is degrees * 10 for .1 degree resolution.
• Positions may be from 1 degree to 359 degrees (10 - 3590).
• Note 1: Main motor power must be enabled (MPWR command).
• Note 2: Motor2 and Motor3 must be in open (CCW) position (i.e. MLIM1 = 1 and MLIM3 = 1) or command will abort with error.
• Note 3: Motor1 must NOT be running from another command.

STAT - request current status in computer-readable format

• responds with 4 space-separated values;
  • decimal position number (from last GOCW) [0-2]; 255 = uninitialized
  • decimal sample number (from last GOCW) [0-23]; 255 = uninitialized
  • decimal encoder position in degrees * 10; -1 = encoder failed to respond
  • hex status word (16 bits)
    • power bits: LOW = ON
    • limit sw: HI at limit
    • DIR bits: LOW = CW

    • bit 0 - purge valve (p1.1)
    • bit 1 - APWR0 (p0.5)
    • bit 2 - APWR1 (p0.6)
    • bit 3 - encoder (p0.7)
    • bit 4 - M2_CW (p3.2)
    • bit 5 - M2_CCW (p3.3)
    • bit 6 - M3_CW (p3.4)
    • bit 7 - M3_CCW (p3.5)

    • bit 8 - M1_DIR (p2.0)
    • bit 9 - M1_EN (p2.1)
    • bit 10 - M2_DIR (p2.2)
    • bit 11 - M2_EN (p2.3)
    • bit 12 - M3_DIR (p2.4)
    • bit 13 - M3_EN (p2.5)
    • bit 14 - PUMP (p2.6)
    • bit 15 - MPOWER (p2.7)
  • status word is FFF7 immediately after power up (only encoder is ON)

• Example 1: typical power up return: 255 255 1901 FFF7
• Example 2: after GOCW1,12 command: 1 12 647 7EF7
• terminated with CRLF

T[0-23] move sample # 0 - 23 to home position (for servicing)

• moves the requested sample number to the access (home) position for installation/removal of filter holders
• actually uses GOCW0,ss where ss is sample number from 0-23

UOK - handle EEPROM; check or update values

• Q - quit without update
• WOK - write new values to EEPROM then quit
• A[=addr] - request or set address (currently unused)
• C[0-6][A-D][=fpnum] - request or set cal constant sets 0-6 parameters A-D
  • sets 0-6 correspond to A/D channels 0-6
  • parameters A-D are used in polynomial as follows:
    A + Bx + Cx^2 + Dx^3
• D[=text] - request or set manufacturing date
• M[=text] - request or set model info
• O[=nnn] - request or set encoder offset in degrees * 10
  • Values may range +/- 3 degrees; i.e. -30 to 30
  • operational hint: if position after GOCW is overshooting, ADD offset here
• S[=text] - request or set serial number
• SFL[=nnn] - request or set speed factor low (Motor1 ON time in 10ms slices)
• SFH[=nnn] - request or set speed factor high (Motor1 OFF time in 10ms slices)
  • Good default values are SFL = 1 and SFH = 2.
  • New values do not take effect until system restart.

XRF[=0,1] - request or control motor 3 (xrf position)

• 0 = CLOSE and 1 = OPEN
• Reports 255 if position unknown.
• Aborts after 30 seconds.
• Note 1: Main motor power must be enabled (MPWR command).
• Note 2: Motor1 must NOT be running from another command.

ERROR CODES

4001 - range error; the value entered is out of range.

4002 - running error; the motor is already running.

4003 - no motor power error; main power to the motors is not enabled.

4004 - no response error; the position encoder is not responding;

4005 - sample range error; the sample number is not 0 to 23. (GOCW command)

4006 - position range error; the position number is not 0 to 2. (GOCW command)

4101 - motor 1 error; motor 1 cannot start because motor 2 and 3 "open" limit switches are not active.

• MLIM1 and MLIM3 must both indicate 1 (open) or motor 1 will not run.